Visual classification of waste material for nuclear decommissioning

Shaukat, Affan; Gao, Yang; Kuo, Jeffrey A.; Bowen, Bob; Mort, Paul E.

doi:10.1016/j.robot.2015.09.005

Cited by 27 publications

(23 citation statements)

References 47 publications

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“…It is implemented in the Robot Operating System (ROS) [16]. Computer vision identifies items on a tray [19]. These identities and locations are published to a ROS topic -a communication channel.…”

Section: An Autonomous Robotic Armmentioning

confidence: 99%

Agent-Based Autonomous Systems and Abstraction Engines: Theory Meets Practice

Dennis

Aitken

Collenette

et al. 2016

Towards Autonomous Robotic Systems

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Abstract. We report on experiences in the development of hybrid autonomous systems where high-level decisions are made by a rational agent. This rational agent interacts with other sub-systems via an abstraction engine. We describe three systems we have developed using the EASS BDI agent programming language and framework which supports this architecture. As a result of these experiences we recommend changes to the theoretical operational semantics that underpins the EASS framework and present a fourth implementation using the new semantics.

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Section: An Autonomous Robotic Armmentioning

confidence: 99%

Agent-Based Autonomous Systems and Abstraction Engines: Theory Meets Practice

Dennis

Aitken

Collenette

et al. 2016

Towards Autonomous Robotic Systems

Self Cite

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“…Record keeping in the early days was not rigorous by modern standards, and there are now many waste storage containers with unknown contents or contents of mixed contamination levels. At the UK Sellafield site, 69,600m 3 of legacy ILW waste must be placed into 179,000 storage containers. To avoid wastefully filling expensive high-level containers with low-level waste, many old legacy containers must be cut open, and their contents sorted and segregated [3].…”

Section: Introductionmentioning

confidence: 99%

“…At the UK Sellafield site, 69,600m 3 of legacy ILW waste must be placed into 179,000 storage containers. To avoid wastefully filling expensive high-level containers with low-level waste, many old legacy containers must be cut open, and their contents sorted and segregated [3]. This engenders an enormous requirement for complex remote manipulations, since all of this waste is too hazardous to be approached by humans.…”

Section: Introductionmentioning

confidence: 99%

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Towards Advanced Robotic Manipulations for Nuclear Decommissioning

Marturi¹,

Rastegarpanah²,

Rajasekaran³

et al. 2017

Robots Operating in Hazardous Environments

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Despite enormous remote handling requirements, remarkably very few robots are being used by the nuclear industry. Most of the remote handling tasks are still performed manually, using conventional mechanical master-slave devices. The few robotic manipulators deployed are directly tele-operated in rudimentary ways, with almost no autonomy or even a pre-programmed motion. In addition, majority of these robots are under-sensored (i.e. with no proprioception), which prevents them to use for automatic tasks. In this context, primarily this chapter discusses the human operator performance in accomplishing heavy-duty remote handling tasks in hazardous environments such as nuclear decommissioning. Multiple factors are evaluated to analyse the human operators' performance and workload. Also, direct human tele-operation is compared against human-supervised semi-autonomous control exploiting computer vision. Secondarily, a vision-guided solution towards enabling advanced control and automating the undersensored robots is presented. Maintaining the coherence with real nuclear scenario, the experiments are conducted in the lab environment and results are discussed.

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“…nareshmarturi@kuka-robotics.co.uk 2 Extreme Robotics Lab, University of Birmingham, Edgbaston, Birmingham, B15 2TT, UK. 3 National Nuclear Laboratory (NNL) Ltd., Birchwood Park, Warrington, WA3 6AE, UK.…”

Section: Introductionmentioning

confidence: 99%

Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy

Marturi

Rastegarpanah

Takahashi

et al. 2016

2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)

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We present early pilot-studies of a new international project, developing advanced robotics to handle nuclear waste. Despite enormous remote handling requirements, there has been remarkably little use of robots by the nuclear industry. The few robots deployed have been directly teleoperated in rudimentary ways, with no advanced control methods or autonomy. Most remote handling is still done by an aging workforce of highly skilled experts, using 1960s style mechanical Master-Slave devices. In contrast, this paper explores how novice human operators can rapidly learn to control modern robots to perform basic manipulation tasks; also how autonomous robotics techniques can be used for operator assistance, to increase throughput rates, decrease errors, and enhance safety. We compare humans directly teleoperating a robot arm, against humansupervised semi-autonomous control exploiting computer vision, visual servoing and autonomous grasping algorithms. We show how novice operators rapidly improve their performance with training; suggest how training needs might scale with task complexity; and demonstrate how advanced autonomous robotics techniques can help human operators improve their overall task performance. An additional contribution of this paper is to show how rigorous experimental and analytical methods from human factors research, can be applied to perform principled scientific evaluations of human test-subjects controlling robots to perform practical manipulative tasks. Gripper CameraSample test rig 7 DOF Robot Test objects for stacking task

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Visual classification of waste material for nuclear decommissioning

Cited by 27 publications

References 47 publications

Agent-Based Autonomous Systems and Abstraction Engines: Theory Meets Practice

Agent-Based Autonomous Systems and Abstraction Engines: Theory Meets Practice

Towards Advanced Robotic Manipulations for Nuclear Decommissioning

Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy

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