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dc.contributor.authorBird, Benjamin
dc.contributor.authorNancekievill, Matthew
dc.contributor.authorWest, Andrew; orcid: 0000-0003-4553-8640
dc.contributor.authorHayman, Jim
dc.contributor.authorBallard, Chris
dc.contributor.authorJones, Will
dc.contributor.authorRoss, Shaun
dc.contributor.authorWild, Toby
dc.contributor.authorScott, Tom
dc.contributor.authorLennox, Barry; orcid: 0000-0003-0905-8324; email: barry.lennox@manchester.ac.uk
dc.date.accessioned2021-11-25T14:04:46Z
dc.date.available2021-11-25T14:04:46Z
dc.date.issued2021-11-25
dc.date.submitted2021-08-20
dc.identifierhttps://chesterrep.openrepository.com/bitstream/handle/10034/626437/rob.22048.xml?sequence=2
dc.identifierhttps://chesterrep.openrepository.com/bitstream/handle/10034/626437/rob.22048.pdf?sequence=3
dc.identifier.citationJournal of Field Robotics
dc.identifier.urihttp://hdl.handle.net/10034/626437
dc.descriptionFrom Wiley via Jisc Publications Router
dc.descriptionHistory: received 2021-08-20, rev-recd 2021-11-03, accepted 2021-11-05, pub-electronic 2021-11-25
dc.descriptionArticle version: VoR
dc.descriptionPublication status: Published
dc.descriptionFunder: Royal Academy of Engineering; Id: http://dx.doi.org/10.13039/501100000287
dc.descriptionFunder: Engineering and Physical Sciences Research Council; Id: http://dx.doi.org/10.13039/501100000266
dc.description.abstractAbstract: 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.
dc.languageen
dc.rightsLicence for VoR version of this article: http://creativecommons.org/licenses/by/4.0/
dc.sourceissn: 1556-4959
dc.sourceissn: 1556-4967
dc.subjectRESEARCH ARTICLE
dc.subjectRESEARCH ARTICLES
dc.subject3D robotic mapping
dc.subjectfield robotics
dc.subjectindustrial robotics
dc.subjectvehicle robot
dc.titleVega—A small, low cost, ground robot for nuclear decommissioning
dc.typearticle
dc.date.updated2021-11-25T14:04:46Z
dc.date.accepted2021-11-05


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