A review of ground-based robotic systems for the characterization of nuclear environments

Tsitsimpelis, Ioannis; Taylor, C. James; Lennox, Barry; Joyce, Malcolm J.

doi:10.1016/j.pnucene.2018.10.023

Cited by 172 publications

(112 citation statements)

References 63 publications

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“…In general, search and rescue missions are complex tasks in which autonomous robots must safely explore the disaster sites and provide rescue teams with important information, such as victim locations and status, environmental conditions, and the locations of dangerous objects [8,10,11]. While designing robots capable of addressing these tasks, several strategies can be taken into consideration.…”

Section: Introductionmentioning

confidence: 99%

Modelling of Autonomous Search and Rescue Missions by Interval-Valued Neutrosophic WASPAS Framework

Semėnas

Baušys

2020

Symmetry

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The application of autonomous robots in search and rescue missions represents a complex task which requires a robot to make robust decisions in unknown and dangerous environments. However, imprecise robot movements and small measurement errors obtained by robot sensors can have an impact on the autonomous environment exploration quality, and therefore, should be addressed while designing search and rescue (SAR) robots. In this paper, a novel frontier evaluation strategy is proposed, that address technical, economic, social, and environmental factors of the sustainable environment exploration process, and a new extension of the weighted aggregated sum product assessment (WASPAS) method, modelled under interval-valued neutrosophic sets (IVNS), is introduced for autonomous mobile robots. The general-purpose Pioneer 3-AT robot platform is applied in simulated search and rescue missions, and the conducted experimental assessment shows the proposed method efficiency in commercial and public-type building exploration. By addressing the estimated measurement errors in the initial data obtained by the robot sensors, the proposed decision-making framework provides additional reliability for comparing and ranking candidate frontiers. The interval-valued multi-criteria decision-making method combined with the proposed frontier evaluation strategy enables the robot to exhaustively explore and map smaller SAR mission environments as well as ensure robot safety and efficient energy consumption in relatively larger public-type building environments.

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Section: Introductionmentioning

confidence: 99%

Modelling of Autonomous Search and Rescue Missions by Interval-Valued Neutrosophic WASPAS Framework

Semėnas

Baušys

2020

Symmetry

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“…A significant number of nuclear facilities around the world have reached the end of their useful life and hence are in the process of decommissioning. Since it is environmentally unfriendly and dangerous for plant workers, many decommissioning tasks are accomplished with robots, for which direct tele-operation is standard [1]. With constrained spaces and highly-contaminated facilities, fully autonomous solutions are unlikely to be considered safe or cost-effective in the near future.…”

Section: Introductionmentioning

confidence: 99%

Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties*

Albrecht¹,

Sánchez²,

Monk³

et al. 2020

UK-RAS Conference for PhD and Early Career Researchers Proceedings

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The research behind this article is motivated by robotic operations in radiologically contaminated environments, notably for nuclear decommissioning. However, the experiments reported within are based on a recently reconfigured, hydraulically-actuated, dual manipulator robot that is being used for R&D into both tele-operation and autonomy in a non-active laboratory setting. One element of this research concerns the development of novel control systems to address time-delay and deadband uncertainties. The article briefly discusses some preliminary results and plans in this regard. Recent improvements to the hardware demonstrator are also described.

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“…Compared with the normal embedded systems, the system dedicated to the nuclear environments need to be able to operate in the environments with much higher radiation levels. For example, the radiation level was more than 10 Sv/h during the three mile island nuclear accident [14]. In such high radiation environments, system failures occur within a short time and operation time also decreases drastically.…”

Section: Introductionmentioning

confidence: 99%

A self-scrubbing scheme for embedded systems in radiation environments

Zhai

Saha

et al. 2020

2020 IEEE 26th International Symposium on on-Line Testing and Robust System Design (IOLTS)

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SRAMs are very sensitive to radiation effects. When embedded systems working in the extreme radiation environments, bit flips may occur frequently and decrease the reliability of the systems significantly. In this paper, a self-scrubbing scheme is proposed for embedded systems in extreme radiation environments. In the proposed scheme, both scrubbing and error correcting codes are used to mitigate a large number of the errors in the RAMs. Along with this, a separate scrubber is designed to scrub the RAM independently, when the CPUs are busy. In addition, the scrubber is a portable module and the hardware cost does not grow with the size of the available RAM. The results of the experiments show that, in the neutron radiation environments where the error rate in the unhardened RAMs is approximately 1.2bit/(KB•h), while the error rate of the self-scrubbing RAMs is less than 8.7 × 10 −5 bit/(KB•h), which is one fifth of the error rate of the conventional ECC RAMs.

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A review of ground-based robotic systems for the characterization of nuclear environments

Cited by 172 publications

References 63 publications

Modelling of Autonomous Search and Rescue Missions by Interval-Valued Neutrosophic WASPAS Framework

Modelling of Autonomous Search and Rescue Missions by Interval-Valued Neutrosophic WASPAS Framework

Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties*

A self-scrubbing scheme for embedded systems in radiation environments

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