ESC 2003 - University of Sheffield

Robotics for Nuclear Decommissioning Drone-Arm Cooperative Vision Thomas Burrell C.J. Taylor, S.D. Monk, A. Montazeri Lancaster University Engineering Department Univ logo UKACC PhD Presentation Showcase Nuclear Decommissioning Decommissioning Tasks Unique Issues Surveying Demolition (cutting, lifting, drilling, undoing bolts/screws, ) Removal of waste

Communicating with the outside world. Solution: Autonomy Information about the environment Human Denied Environment Repetitive tasks Requires precision for safety Univ logo Changing Environment No electronic plans Solution: Computer vision Why Robots?

Radioactive contamination Solution: Disposability UKACC PhD Presentation Showcase Slide 2 Nuclear Decommissioning Univ logo UKACC PhD Presentation Showcase Slide 3 Left: Brokk Mobile Platform with a pair of HydroLek arms, located in the Lancaster Engineering building. Right: Typical environment to be decomissioned (http://www.wherecoolthingshappen.com/amazing-pictures-inside-a-nuclear-power-plant/) Graphs, pictures etc. 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 {B} y x z z y

{O} x 6 DoF: q = (x,y,z,,,) C Configuration space: C33 UKACC PhD Presentation Showcase Slide 4 Conclusion or summary or future work Extended Kalman Filter (EKF) SLAM[1,2] Predict, Sense, Update Maintain State and Covariance Matrices: Non-Linear System Linearization

Prediction Innovation Computational efficiency: Weakness to incorrect data association Linearization can lead to inconsistency Univ logo Kalman Gain Update UKACC PhD Presentation Showcase Slide 5 [1] H. Durrant-Whyte and T. Bailey, "Simultaneous localization and mapping: part I," Robotics & Automation Magazine, IEEE, vol. 13, pp. 99-108, 2006.

[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. 167-193. Inverse Kinematics Univ logo UKACC PhD Presentation Showcase Slide 6 Goals and Research 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 UKACC PhD Presentation Showcase Slide 7 Thank You Univ logo UKACC PhD Presentation Showcase Slide 8