Univ logo Robotics for Nuclear Decommissioning Drone-Arm Cooperative Vision Thomas Burrell C.J. Taylor, S.D. Monk, A. Montazeri Lancaster University – Engineering Department UKACC PhD Presentation Showcase

Univ logo UKACC PhD Presentation Showcase Slide 2 Nuclear Decommissioning Decommissioning Tasks   Surveying   Demolition (cutting, lifting, drilling, undoing bolts/screws, …)   Removal of waste Why Robots?   Human Denied Environment   Repetitive tasks   Requires precision for safety Unique Issues   Communicating with the outside world. Solution: Autonomy   Information about the environment   Changing Environment   No electronic plans Solution: Computer vision   Radioactive contamination Solution: Disposability

Univ logo UKACC PhD Presentation Showcase Slide 3 Nuclear Decommissioning Left: Brokk Mobile Platform with a pair of HydroLek arms, located in the Lancaster Engineering building. Right: Typical environment to be decomissioned (

Univ logo UKACC PhD Presentation Showcase Slide 4 Graphs, pictures etc. {O} x y z {B} x y z 6 DoF: q = (x,y,z, θ, ϕ,ψ ) ∊ C Configuration space: C⊂ℝ 3 × 3 Also Called Drone, Quadrotor, Quadcopter, Unmanned Aerial Vehicle (UAV), Micro Aerial Vehicle (MAV)   Under actuated - 6 degrees of freedom, 4 actuators   Capable of hovering (and VTOL)   Unaffected by terrain   Symmetrical design improvement over the standard helicopter design. Extended perspective for intelligent decision making

Univ logo UKACC PhD Presentation Showcase Slide 5 Conclusion or summary or future work [1] H. Durrant-Whyte and T. Bailey, "Simultaneous localization and mapping: part I," Robotics & Automation Magazine, IEEE, vol. 13, pp , [2] R. Smith, M. Self, and P. Cheeseman, "Estimating Uncertain Spatial Relationships in Robotics," in Autonomous Robot Vehicles, I. Cox and G. Wilfong, Eds., ed: Springer New York, 1990, pp

Univ logo Inverse Kinematics UKACC PhD Presentation Showcase Slide 6

Univ logo Goals and Research UKACC PhD Presentation Showcase Slide 7 Objectives   Use drone as a mobile sensor platform to collect data about the environment.   Process information for better decision making during demolition tasks.   Robotic grasping using extra information. Areas for Development   Low cost SLAM   Autonomous Flight   Inter robot communication   Arm Inverse Kinematics

Univ logo Thank You UKACC PhD Presentation Showcase Slide 8