Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments
Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments
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DOI：
10.1049/csy2.12103
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发表时间：
2023-12-01
期刊：
影响因子：
--
通讯作者：
Jiang，Zhengyi
中科院分区：
文献类型：
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作者：
Mitchell，Daniel;Emor Baniqued，Paul Dominick;Jiang，Zhengyi
核设施有一项监管要求，要求每年在核设施周围的操作后清理（POCO）中测量辐射水平，这导致了机器人部署的趋势，以在核退役阶段获得更好的理解。英国核退役管理局支持这样的观点，即人在回路（HITL）机器人部署是一种改进程序和降低核场地辐射特性风险的解决方案。作者提出了一种在模拟核环境中部署的网络物理系统（CPS）的新实现，该系统由HITL操作员通过数字孪生接口协调的多机器人（MR）团队组成。CPS的发展在包括机器人、数字系统和人类在内的系统之间建立了高效的合作伙伴关系。这是作为异构共生多机器人舰队（SMuRF）检查场景中的多阶段使命提出的。在SMuRF中实现了共生互动，机器人利用自动化协作管理来共同工作，其中单个机器人将面临辐射全面表征的挑战。主要贡献包括展示了共生自治和基于查询的自主使命学习，支持可扩展的自治和自治即服务。CPS的协调是成功的，并展示了与未来MR车队相关的进一步挑战和改进。
Nuclear facilities have a regulatory requirement to measure radiation levels within Post Operational Clean Out (POCO) around nuclear facilities each year, resulting in a trend towards robotic deployments to gain an improved understanding during nuclear decommissioning phases. The UK Nuclear Decommissioning Authority supports the view that human‐in‐the‐loop (HITL) robotic deployments are a solution to improve procedures and reduce risks within radiation characterisation of nuclear sites. The authors present a novel implementation of a Cyber‐Physical System (CPS) deployed in an analogue nuclear environment, comprised of a multi‐robot (MR) team coordinated by a HITL operator through a digital twin interface. The development of the CPS created efficient partnerships across systems including robots, digital systems and human. This was presented as a multi‐staged mission within an inspection scenario for the heterogeneous Symbiotic Multi‐Robot Fleet (SMuRF). Symbiotic interactions were achieved across the SMuRF where robots utilised automated collaborative governance to work together, where a single robot would face challenges in full characterisation of radiation. Key contributions include the demonstration of symbiotic autonomy and query‐based learning of an autonomous mission supporting scalable autonomy and autonomy as a service. The coordination of the CPS was a success and displayed further challenges and improvements related to future MR fleets.