Robot-Assisted Glovebox Teleoperation for Nuclear Industry
The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of gloveboxes that are se...
| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-07-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/3/85 |
| _version_ | 1827681348280647680 |
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| author | Ozan Tokatli Pragna Das Radhika Nath Luigi Pangione Alessandro Altobelli Guy Burroughes Emil T. Jonasson Matthew F. Turner Robert Skilton |
| author_facet | Ozan Tokatli Pragna Das Radhika Nath Luigi Pangione Alessandro Altobelli Guy Burroughes Emil T. Jonasson Matthew F. Turner Robert Skilton |
| author_sort | Ozan Tokatli |
| collection | DOAJ |
| description | The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of gloveboxes that are sealed volumes with controlled access for performing handling. While gloveboxes allow operators to perform complex handling tasks, they put operators at considerable risk from breaking the confinement and, historically, serious examples including punctured gloves leading to lifetime doses have occurred. To date, robotic systems have had relatively little impact on the industry, even though it is clear that they offer major opportunities for improving productivity and significantly reducing risks to human health. This work presents the challenges of robotic and AI solutions for nuclear gloveboxes, and introduces a step forward for bringing cutting-edge technology to gloveboxes. The problem statement and challenges are highlighted and then an integrated demonstrator is proposed for robotic handling in nuclear gloveboxes for nuclear material handling. The proposed approach spans from tele-manipulation to shared autonomy, computer vision solutions for robotic manipulation to machine learning solutions for condition monitoring. |
| first_indexed | 2024-03-10T07:14:51Z |
| format | Article |
| id | doaj.art-dc9d2bd6a3b74dc191b0adc1088efe56 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T07:14:51Z |
| publishDate | 2021-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-dc9d2bd6a3b74dc191b0adc1088efe562023-11-22T15:09:03ZengMDPI AGRobotics2218-65812021-07-011038510.3390/robotics10030085Robot-Assisted Glovebox Teleoperation for Nuclear IndustryOzan Tokatli0Pragna Das1Radhika Nath2Luigi Pangione3Alessandro Altobelli4Guy Burroughes5Emil T. Jonasson6Matthew F. Turner7Robert Skilton8Remote Applications in Challenging Environments (RACE), United Kingdom Atomic Energy Authority, Abingdon, Oxforshire OX14 3DB, UKRemote Applications in Challenging Environments (RACE), United Kingdom Atomic Energy Authority, Abingdon, Oxforshire OX14 3DB, UKRemote Applications in Challenging Environments (RACE), United Kingdom Atomic Energy Authority, Abingdon, Oxforshire OX14 3DB, UKRemote Applications in Challenging Environments (RACE), United Kingdom Atomic Energy Authority, Abingdon, Oxforshire OX14 3DB, UKRemote Applications in Challenging Environments (RACE), United Kingdom Atomic Energy Authority, Abingdon, Oxforshire OX14 3DB, UKRemote Applications in Challenging Environments (RACE), United Kingdom Atomic Energy Authority, Abingdon, Oxforshire OX14 3DB, UKRemote Applications in Challenging Environments (RACE), United Kingdom Atomic Energy Authority, Abingdon, Oxforshire OX14 3DB, UKRemote Applications in Challenging Environments (RACE), United Kingdom Atomic Energy Authority, Abingdon, Oxforshire OX14 3DB, UKRemote Applications in Challenging Environments (RACE), United Kingdom Atomic Energy Authority, Abingdon, Oxforshire OX14 3DB, UKThe nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of gloveboxes that are sealed volumes with controlled access for performing handling. While gloveboxes allow operators to perform complex handling tasks, they put operators at considerable risk from breaking the confinement and, historically, serious examples including punctured gloves leading to lifetime doses have occurred. To date, robotic systems have had relatively little impact on the industry, even though it is clear that they offer major opportunities for improving productivity and significantly reducing risks to human health. This work presents the challenges of robotic and AI solutions for nuclear gloveboxes, and introduces a step forward for bringing cutting-edge technology to gloveboxes. The problem statement and challenges are highlighted and then an integrated demonstrator is proposed for robotic handling in nuclear gloveboxes for nuclear material handling. The proposed approach spans from tele-manipulation to shared autonomy, computer vision solutions for robotic manipulation to machine learning solutions for condition monitoring.https://www.mdpi.com/2218-6581/10/3/85nuclear roboticsteleoperationmachine learningglovebox |
| spellingShingle | Ozan Tokatli Pragna Das Radhika Nath Luigi Pangione Alessandro Altobelli Guy Burroughes Emil T. Jonasson Matthew F. Turner Robert Skilton Robot-Assisted Glovebox Teleoperation for Nuclear Industry Robotics nuclear robotics teleoperation machine learning glovebox |
| title | Robot-Assisted Glovebox Teleoperation for Nuclear Industry |
| title_full | Robot-Assisted Glovebox Teleoperation for Nuclear Industry |
| title_fullStr | Robot-Assisted Glovebox Teleoperation for Nuclear Industry |
| title_full_unstemmed | Robot-Assisted Glovebox Teleoperation for Nuclear Industry |
| title_short | Robot-Assisted Glovebox Teleoperation for Nuclear Industry |
| title_sort | robot assisted glovebox teleoperation for nuclear industry |
| topic | nuclear robotics teleoperation machine learning glovebox |
| url | https://www.mdpi.com/2218-6581/10/3/85 |
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