• Login / Register
    View Item 
    •   Home
    • Support Departments
    • Harvested data
    • View Item
    •   Home
    • Support Departments
    • Harvested data
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of ChesterRepCommunitiesTitleAuthorsPublication DateSubmit DateSubjectsPublisherJournalThis CollectionTitleAuthorsPublication DateSubmit DateSubjectsPublisherJournalProfilesView

    My Account

    LoginRegister

    About

    AboutUniversity of Chester

    Statistics

    Display statistics

    Vega—A small, low cost, ground robot for nuclear decommissioning

    • CSV
    • RefMan
    • EndNote
    • BibTex
    • RefWorks
    Thumbnail
    Name:
    rob.22048.xml
    Size:
    9.591Kb
    Format:
    XML
    Download
    Thumbnail
    Name:
    rob.22048.pdf
    Size:
    1.555Mb
    Format:
    PDF
    Download
    Authors
    Bird, Benjamin
    Nancekievill, Matthew
    West, Andrew; orcid: 0000-0003-4553-8640
    Hayman, Jim
    Ballard, Chris
    Jones, Will
    Ross, Shaun
    Wild, Toby
    Scott, Tom
    Lennox, Barry; orcid: 0000-0003-0905-8324; email: barry.lennox@manchester.ac.uk
    Publication Date
    2021-11-25
    Submitted date
    2021-08-20
    
    Metadata
    Show full item record
    Abstract
    Abstract: This paper presents the Vega robot, which is a small, low cost, potentially disposable ground robot designed for nuclear decommissioning. Vega has been developed specifically to support characterization and inspection operations, such as 2D and 3D mapping, radiation scans and sample retrieval. The design and construction methodology that was followed to develop the robot is described and its capabilities detailed. Vega was designed to provide flexibility, both in software and hardware, is controlled via tele‐operation, although it can be extended to semi and full autonomy, and can be used in either tethered or untethered configurations. A version of the tethered robot was designed for extreme radiation tolerance, utilizing relay electronics and removing active electronic systems. Vega can be outfitted with a multitude of sensors and actuators, including gamma spectrometers, alpha/beta radiation sensors, LiDARs and robotic arms. To demonstrate its flexibility, a 5 degree‐of‐freedom manipulator has been successfully integrated onto Vega, facilitating deployments where handling is required. To assess the tolerance of Vega to the levels of ionizing radiation that may be found in decommissioning environments, its individual components were irradiated, allowing estimates to be made of the length of time Vega would be able to continue to operate in nuclear environments. Vega has been successfully deployed in an active environment at the Dounreay nuclear site in the UK, deployed in nonactive environments at the Atomic Weapons Establishment, and demonstrated to many other organizations in the UK nuclear industry including Sellafield Ltd, with the goal of moving to active deployments in the future.
    Citation
    Journal of Field Robotics
    URI
    http://hdl.handle.net/10034/626437
    Type
    article
    Description
    From Wiley via Jisc Publications Router
    History: received 2021-08-20, rev-recd 2021-11-03, accepted 2021-11-05, pub-electronic 2021-11-25
    Article version: VoR
    Publication status: Published
    Funder: Royal Academy of Engineering; Id: http://dx.doi.org/10.13039/501100000287
    Funder: Engineering and Physical Sciences Research Council; Id: http://dx.doi.org/10.13039/501100000266
    Collections
    Harvested data

    entitlement

     
    DSpace software (copyright © 2002 - 2023)  DuraSpace
    Quick Guide | Contact Us
    Open Repository is a service operated by 
    Atmire NV
     

    Export search results

    The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

    By default, clicking on the export buttons will result in a download of the allowed maximum amount of items.

    To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

    After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.