1. Univ logo Research and Teaching using a Hydraulically-Actuated Nuclear Decommissioning Robot Craig West Supervisors: C. J. Taylor, S. Monk, A. Montazeri Lancaster University UKACC PhD Presentation Showcase

2. Univ logo UKACC PhD Presentation Showcase Slide 2 Aim of research  Use Semi-autonomous control to solve a real world problem in nuclear decommissioning i.e. pipe cutting, using a mobile dual armed hydraulic robot.  Combine with 3D vision system to improve teleoperation capability

3. Univ logo UKACC PhD Presentation Showcase Slide 3 Introduction  Background  Robots needed in Nuclear Decommissioning due to hazardous environment  Current robots quite limited  Current work  Kinematics calculated to get from target position to necessary joint angles for the arm, needed for closed loop control  Prototype vision system developed to segment image and generate target position for each arm  Graphical simulation of dual arm system developed Right image - http://www.brokk.com/applications/#nuclear Left image - http://www.ocrobotics.com/applications--solutions/nuclear/nuclear-case-study--lasersnake

4. Univ logo UKACC PhD Presentation Showcase Slide 4 Kinematics, forward and inverse Transformation matrix, gives rotation and position of end effector relative to base coordinate frame

5. Univ logo UKACC PhD Presentation Showcase Slide 5 Vision system  Uses a Microsoft Kinect  Takes screenshot, and segments image based on edge detection  User selects point for grasping and saw position automatically calculated, OR user selects both grasping and saw points

6. Univ logo UKACC PhD Presentation Showcase Slide 6 Conclusion  Identified real world problem - pipe grasping and sawing  Solved manipulator Kinematics to allow closed loop control  Developed prototype 3D vision system  Tested in simulations  Ready to test on actual robot  Based on test results will improve vision system and control system for arms, including collision avoidance