Daniel Mitchell
Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments
Mitchell, Daniel; Emor Baniqued, Paul Dominick; Zahid, Abdul; West, Andrew; Nouri Rahmat Abadi, Bahman; Lennox, Barry; Liu, Bin; Kizilkaya, Burak; Flynn, David; Francis, David John; Pulgarin, Erwin Jose Lopez; Zhao, Guodong; Kivrak, Hasan; Blanche, Jamie Rowland Douglas; David, Jennifer; Wang, Jingyan; Bolarinwa, Joseph; Yao, Kanzhong; Groves, Keir; Qi, Liyuan; Shawky, Mahmoud A.; Giuliani, Manuel; Sandison, Melissa; Popoola, Olaoluwa; Marjanovic, Ognjen; Bremner, Paul; Harper, Samuel Thomas; Nandakumar, Shivoh; Watson, Simon; Agrawal, Subham; Lim, Theodore; Johnson, Thomas; Ahmad, Wasim; Xu, Xiangmin; Meng, Zhen; Jiang, Zhengyi
Authors
Paul Dominick Emor Baniqued
Abdul Zahid
Andrew West
Bahman Nouri Rahmat Abadi
Barry Lennox
Bin Liu
Burak Kizilkaya
David Flynn
David John Francis
Erwin Jose Lopez Pulgarin
Guodong Zhao
Hasan Kivrak
Jamie Rowland Douglas Blanche
Jennifer David
Jingyan Wang
Joseph Bolarinwa
Kanzhong Yao
Keir Groves
Liyuan Qi
Mahmoud A. Shawky
Manuel Giuliani Manuel.Giuliani@uwe.ac.uk
Co- Director Bristol Robotics Laboratory
Melissa Sandison
Olaoluwa Popoola
Ognjen Marjanovic
Paul Bremner Paul2.Bremner@uwe.ac.uk
Associate Professor in Human Robotics Interactions
Samuel Thomas Harper
Shivoh Nandakumar
Simon Watson
Subham Agrawal
Theodore Lim
Thomas Johnson
Wasim Ahmad
Xiangmin Xu
Zhen Meng
Zhengyi Jiang
Abstract
AbstractNuclear facilities have a regulatory requirement to measure radiation levels within Post Operational Clean Out (POCO) around nuclear facilities each year, resulting in a trend towards robotic deployments to gain an improved understanding during nuclear decommissioning phases. The UK Nuclear Decommissioning Authority supports the view that human‐in‐the‐loop (HITL) robotic deployments are a solution to improve procedures and reduce risks within radiation characterisation of nuclear sites. The authors present a novel implementation of a Cyber‐Physical System (CPS) deployed in an analogue nuclear environment, comprised of a multi‐robot (MR) team coordinated by a HITL operator through a digital twin interface. The development of the CPS created efficient partnerships across systems including robots, digital systems and human. This was presented as a multi‐staged mission within an inspection scenario for the heterogeneous Symbiotic Multi‐Robot Fleet (SMuRF). Symbiotic interactions were achieved across the SMuRF where robots utilised automated collaborative governance to work together, where a single robot would face challenges in full characterisation of radiation. Key contributions include the demonstration of symbiotic autonomy and query‐based learning of an autonomous mission supporting scalable autonomy and autonomy as a service. The coordination of the CPS was a success and displayed further challenges and improvements related to future MR fleets.
Journal Article Type | Article |
---|---|
Acceptance Date | Oct 30, 2023 |
Online Publication Date | Dec 26, 2023 |
Publication Date | Dec 31, 2023 |
Deposit Date | Jan 2, 2024 |
Publicly Available Date | Jan 2, 2024 |
Journal | IET Cyber-Systems and Robotics |
Electronic ISSN | 2631-6315 |
Publisher | Institution of Engineering and Technology (IET) |
Peer Reviewed | Peer Reviewed |
Volume | 5 |
Issue | 4 |
Article Number | e12103 |
DOI | https://doi.org/10.1049/csy2.12103 |
Keywords | Artificial Intelligence, Computational Theory and Mathematics, Computer Networks and Communications, Hardware and Architecture, Human-Computer Interaction, Information Systems |
Public URL | https://uwe-repository.worktribe.com/output/11533303 |
Files
Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments
(2.7 Mb)
PDF
Licence
http://creativecommons.org/licenses/by/4.0/
Publisher Licence URL
http://creativecommons.org/licenses/by/4.0/
You might also like
The use of different feedback modalities and verbal collaboration in tele-robotic assistance
(2019)
Presentation / Conference Contribution
An RGB-D based social behavior interpretation system for a humanoid social robot
(2014)
Presentation / Conference Contribution
Ghost-in-the-Machine reveals human social signals for human-robot interaction
(2015)
Journal Article
Downloadable Citations
About UWE Bristol Research Repository
Administrator e-mail: repository@uwe.ac.uk
This application uses the following open-source libraries:
SheetJS Community Edition
Apache License Version 2.0 (http://www.apache.org/licenses/)
PDF.js
Apache License Version 2.0 (http://www.apache.org/licenses/)
Font Awesome
SIL OFL 1.1 (http://scripts.sil.org/OFL)
MIT License (http://opensource.org/licenses/mit-license.html)
CC BY 3.0 ( http://creativecommons.org/licenses/by/3.0/)
Powered by Worktribe © 2024
Advanced Search