Remote Inspection

Themes 1 & 2

Mobility, Inspection and Operations - Ioannis Havoutis

Reusability and Robustness - Joaquin Carrasco

Research Challenges (T1RC):

  • 1

    Improved dynamic mobility is essential to allow legged vehicles to cross rough terrain, climb ladders etc. This requires responsive re-planning of high dimensional robot systems and current approaches struggle to marry the uncertainty of real world sensing, with the limits of high frequency feedback control
  • 2

    Robust situational awareness in low-light conditions and poor visibility. This requires the fusion of inertial, LIDAR, vision, radiation sensing and other measurements to achieve reliable and accurate navigation
  • 3

    Autonomous navigation algorithms should effectively pair with human operators. Map representations communicated to human operators should be labelled with estimates of physical properties (radiation, temperature) as well as geometric structure. Reconstructions should support change detection on a semantic level to identify subsidence and fissure.

Research Challenges (T2RC):

  • 1

    To achieve high reliability, failure modes in high gamma and neutron environments must be quantified
  • 2

    Improved rad-tolerance needs to be developed through software, low-level hardware redundancy, electronic reconfigurability and by dynamic assessment of balance between on-board and off-board system
  • 3

    Extreme environments demand high levels of mechanical system reliability. Approaches will detect and compensate for failures using redundancy and fault tolerant control systems
  • 4

    Where power is limited, minimally actuated robotic systems are necessary, with reduced electronics and power scavenging