French manufacturing companies exist in a constantly changing economic sector. In order to better respond to their customers’ requirements and market pressures, they have to demonstrate innovation and a readiness to invest in factory modernization. However, it is not always possible to make major investments in research and development, particularly for SMEs. It is within this context that technological research institutes were launched in 2012, to contribute to improving the competitive position of strategic industrial sectors in France. One such technological research institute, <a href="https://www.irt-jules-verne.fr/en/" target="_blank">IRT Jules Verne</a>, has been established in Nantes.IRT Jules Verne is a mutualized industrial research center working with a number of French industrial partners. The work undertaken by IRT Jules Verne, the only technological research institute dedicated to manufacturing in France, deals with industrial research whose objectives are to accelerate innovation and technology transfer to factories. In proposing technological revolutions on manufacturing procedures, IRT Jules Verne takes a collaborative approach in order to address the market challenges of industrial sectors.<h2>Performance study – cable-driven parallel robot</h2>IRT Jules Verne has recently developed a new robot, which belongs to the category of cable-driven parallel robots. &nbsp;These are robots that move their effector/work tool by means of 4 to 8 cables connected to a fixed support. A relatively rare technology outside research laboratories, the use of these robots in an industrial environment has yet to be demonstrated. To perform this demonstration, a team of researchers from IRT had to test a prototype.<div class="fr-img-space-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1625224396258-IRT-Jules-Vernes-2+%281%29.png" style="width: 788px;" class="fr-fic fr-dib">Cable-driven parallel robot effector&nbsp;</div><div class="fr-img-space-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1625224368990-IRT-Jules-Vernes-4.png" style="width: 788px;" class="fr-fic fr-dib">Fixed support for cable-driven parallel robot&nbsp;</div>Unlike the conventional shelf robot, it was impossible for the researchers to consult technical specifications to understand their repeatability. This type of information had to be specified through testing and an in-depth study of robot performance. The IRT team therefore began searching for a reliable measuring tool to enable them to accurately measure the robot’s behavior and to estimate its repeatability with pinpoint accuracy, as well as its drifting over time.<h2>Requirements of flexibility and precision</h2>To complete this project satisfactorily, the researchers had to find a metrological solution that offered superior levels of flexibility, accuracy and efficiency. As the tests had to be conducted in the IRT’s technology center, considerations such as simplicity and cost were also of paramount importance.Early on, tests have been conducted with a high-end virtual reality system. However, as the equipment was not designed specifically for this type of use, it was not capable of providing a sufficiently valid measure to be used as ground truth. Other avenues were also explored, such as using a laser tracker system. Although measurement speed and accuracy were adequate, the cost and complexity of using this system were incompatible with this research project.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1625224447408-IRT-Jules-Vernes-3.png" style="width: 788px;" class="fr-fic fr-dib"><h2 id="isPasted">In search of the ideal solution</h2>The researchers at IRT finally decided on the&nbsp;<a href="https://www.creaform3d.com/en/metrology-solutions/3d-applications-software-platforms/dynamic-tracking-vxtrack" target="_blank">C-Track</a> system from Creaform, because of its sub-millimeter measurement precision and affordable price. With a measurement frequency of up to 6600 3D points per second and a measure of volume from 9.1 to 16.6 m3, this technology was clearly the ideal solution for this project. Furthermore, the potential to be able to move the C-Track without having to recalibrate everything turned out to be a distinct advantage. This Creaform product enabled researchers to obtain ground truth and measure the position of the robot effector throughout its entire workload.Nicolò Pedemonte, R&amp;D Robotics Engineer at IRT Jules Verne, confirmed that the whole team is very satisfied with these initial results of experimental validation and use of the C-Track as a whole. “Although it is difficult to accurately specify the savings we have managed to achieve, it is interesting to note that we can estimate a time saving of up to 50%,” he confirmed, before adding, “if we had used another measuring system, the cost in terms of time and money would have been prohibitive”.

French manufacturing companies exist in a constantly changing economic sector. In order to better respond to their customers’ requirements and market pressures, they have to demonstrate innovation and a readiness to invest in factory modernization.

Behavioral Measures For Cable-Driven Parallel Robots In The Industrial Environment

Mark R. Cutkosky is the Fletcher Jones Professor in the Dept. of Mechanical Engineering at Stanford University. He joined Stanford in 1985, after working in the Robotics Institute at Carnegie Mellon University and as a design engineer at ALCOA, in Pittsburgh, PA. He received his Ph.D. in Mechanical Engineering from Carnegie Mellon University in 1985.Cutkosky’s research activities include robotic manipulation and tactile sensing and the design and fabrication of biologically inspired robots. He has graduated 48 Ph.D. students and published extensively in these areas. He consults with companies on robotics and human/computer interaction devices and holds several patents on related technologies. His work has been featured in Discover Magazine, The New York Times, National Geographic, Time Magazine and other publications and has appeared on PBS NOVA, CBS Evening News, and other popular media.Cutkosky’s awards include a Fulbright Faculty Chair (Italy 2002), Fletcher Jones and Charles M. Pigott Chairs at Stanford University, an NSF Presidential Young Investigator award and Times Magazine Best Innovations (2006) for the Stickybot gecko-inspired robot. He is a fellow of ASME and IEEE and a member of Sigma Xi.<h1 dir="ltr">Soft Robotics With Mark Cutkosky&nbsp;</h1>Marwa ElDiwiny, host of the Soft Robotics podcast, interviews Mark about his work in soft robotics.<iframe src="https://open.spotify.com/embed-podcast/episode/6237w6uZUttAH7nW4lhAPf" width="100%" height="232" frameborder="0" allowtransparency="true" class="fr-draggable"></iframe>

Cutkosky applies analyses, simulations, and experiments to the design and control of robotic hands, tactile sensors, and devices for human/computer interaction. In manufacturing, his work focuses on design tools for rapid prototyping.

Soft Robotics With Mark Cutkosky "Gecko Climbing Robots"

Gecko Robotics is the company behind the creation of <a href="https://www.wevolver.com/article/a-magnetic-climbing-robot-for-inspection-of-steel-structures" target="_blank">industrial inspection robots</a> to aid in the assessment of manufacturing machinery such as tanks, boilers, scrubbers, and piping over time. If machineries are left unchecked for a prolonged period, a variety of damage can occur such as wall thinning, loss of coatings, corrosion and erosion.&nbsp;The safety of the workers will also be compromised if the equipment is not checked regularly. The video is able to showcase the applications and uses of the <a href="https://www.wevolver.com/article/why.is.warehouse.automation.so.important.for.ai.professionals" target="_blank">robots in warehouses</a>. The robots can inspect wall thickness, pitting, and many other forms of degradation through sensors attached to the device. The data is then translated into a computer software that can detect the position, elevation and thickness of the equipment and repairs can be made in accordance with the findings.&nbsp;The robots have the ability to move and carry itself in different terrain, from smooth surfaces to ribbed exteriors can even transverse through curved and cylindrical shaped machinery. The front of the device has a flashlight which means it can be used even in locations with limited lighting. It can also spray water while traveling which can help with the machine overheating and in the maintenance of the overall equipment. &nbsp;

Gecko Robotics is the company behind the creation of industrial inspection robots to aid in the assessment of manufacturing machinery such as tanks, boilers, scrubbers, and piping over time.

Gecko Robotics: Wall climbing robot for Industrial Inspections

The MINOAS climbing robot is a concept for the inspection of marine vessels.This climbing robot combines technologies with a standardization of the overall inspection process.&nbsp;In this approach, the MINOAS team is developing an infrastructure that supports human personnel through high locomotion enabled robots equipped with high-resolution sensors.&nbsp;The project uses crawling, climbing and flying robots to access different parts of a ship. The info gathered by the robots is then presented to the inspection staff in a central command center.&nbsp;The inspection process is therefore made more efficient and less tough for human inspectors.The heterogeneous, multi-modal MINOAS robot fleet will be able to cover most sections of a standard vessel, including both on board and overboard regions.&nbsp;In particular in regions that are difficult to access (e.g. in tall cargo holds or on the ship hull), the robots provide the inspectors with advanced remote perception and handling capabilities. Among others, this will reduce the need for costly supporting measures (e.g. scaffolding to access large cargo holds) and increase workplace safety for the inspectors.

By introducing robots for the inspection, multiple inspection processes can be executed in parallel. This speeds up the overall inspection process, which today often is performed on a section-by-section basis through a single inspector.

A magnetic climbing robot for inspection of steel structures.

Right now, about 500,000 pieces of human-made debris are whizzing around space, orbiting our planet at speeds up to 17,500 miles per hour. This debris poses a threat to satellites, space vehicles and astronauts aboard those vehicles.What makes tidying up especially challenging is that the debris exists in space. Suction cups don&rsquo;t work in a vacuum. Traditional sticky substances, like tape, are largely useless because the chemicals they rely on can&rsquo;t withstand the extreme temperature swings. Magnets only work on objects that are magnetic. Most proposed solutions, including debris harpoons, either require or cause forceful interaction with the debris, which could push those objects in unintended, unpredictable directions.To tackle the mess, researchers from Stanford University and NASA&rsquo;s Jet Propulsion Laboratory (JPL) have designed a new kind of robotic gripper to grab and dispose of the debris, featured in the June 27 issue of Science Robotics.<blockquote>&ldquo;What we&rsquo;ve developed is a gripper that uses gecko-inspired adhesives,&rdquo; said <a href="https://profiles.stanford.edu/mark-cutkosky" target="_blank">Mark Cutkosky</a>, professor of mechanical engineering and senior author of the paper. &ldquo;It&rsquo;s an outgrowth of work we started about 10 years ago on climbing robots that used adhesives inspired by how geckos stick to walls.&rdquo;</blockquote>The group tested their gripper, and smaller versions, in their lab and in multiple zero-gravity experimental spaces, including the International Space Station. Promising results from those early tests have led the researchers to wonder how their grippers would fare outside the station, a likely next step.<iframe src="https://www.youtube.com/embed/6hHv4li2JbY?&wmode=opaque" frameborder="0" allowfullscreen="" class="fr-draggable" style="width: 1114px; height: 645px;"></iframe>&ldquo;There are many missions that would benefit from this, like rendezvous and docking and orbital debris mitigation,&rdquo; said Aaron Parness, MS &rsquo;06, PhD &rsquo;10, group leader of the Extreme Environment Robotics Group at JPL. &ldquo;We could also eventually develop a climbing robot assistant that could crawl around on the spacecraft, doing repairs, filming and checking for defects.&rdquo;<h2>Creating a gecko gripper</h2>The adhesives developed by the&nbsp;<a href="http://bdml.stanford.edu/" target="_blank">Cutkosky lab</a> have previously been used in climbing robots and even a system that allowed humans to&nbsp;<a href="http://news.stanford.edu/news/2014/november/gecko-inspired-device-112114.html" target="_blank">climb up certain surfaces</a>. They were inspired by geckos, which can climb walls because their feet have microscopic flaps that, when in full contact with a surface, create a Van der Waals force between the feet and the surface. These are weak intermolecular forces that result from subtle differences in the positions of electrons on the outsides of molecules.The gripper is not as intricate as a gecko&rsquo;s foot &ndash; the flaps of the adhesive are about 40 micrometers across while a gecko&rsquo;s are 200 about nanometers &ndash; but the gecko-inspired adhesive works in much the same way. Like a gecko&rsquo;s foot, it is only sticky if the flaps are pushed in a specific direction but making it stick only requires a light push in the right direction. This is a helpful feature for the kinds of tasks a space gripper would perform.&ldquo;If I came in and tried to push a pressure-sensitive adhesive onto a floating object, it would drift away,&rdquo; said Elliot Hawkes, MS &lsquo;11, PhD &lsquo;15, a visiting assistant professor from the University of California, Santa Barbara and co-author of the paper. &ldquo;Instead, I can touch the adhesive pads very gently to a floating object, squeeze the pads toward each other so that they&rsquo;re locked and then I&rsquo;m able to move the object around.&rdquo;The pads unlock with the same gentle movement, creating very little force against the object.The gripper the researchers created has a grid of adhesive squares on the front and arms with thin adhesive strips that can fold out and move toward the middle of the robot from either side, as though it&rsquo;s offering a hug. The grid can stick to flat objects, like a solar panel, and the arms can grab curved objects, like a rocket body.One of the biggest challenges of the work was to make sure the load on the adhesives was evenly distributed, which the researchers achieved by connecting the small squares through a pulley system that also serves to lock and unlock the pads. Without this system, uneven stress would cause the squares to unstick one by one, until the entire gripper let go. This load-sharing system also allows the gripper to work on surfaces with defects that prevent some of the squares from sticking.The group also designed the gripper to switch between a relaxed and rigid state.&ldquo;Imagining that you are trying to grasp a floating object, you want to conform to that object while being as flexible as possible, so that you don&rsquo;t push that object away,&rdquo; explained Hao Jiang, a graduate student in the Cutkosky lab and lead author of the paper. &ldquo;After grasping, you want your manipulation to be very stiff, very precise, so that you don&rsquo;t feel delays or slack between your arm and your object.&rdquo;<h2>Gecko-inspired adhesive in zero-G</h2>The group first tested the gripper in the Cutkosky lab. They closely measuredhow much load the gripper could handle, what happened when different forces and torques were applied and how many times it could be stuck and unstuck. Through their partnership with JPL, the researchers also tested the gripper in zero-gravity environments.In JPL&rsquo;s Robodome, they attached small rectangular arms with the adhesive to a large robot, then placed that modified robot on a floor thatresembled a giant air-hockey table to simulate a 2D zero-gravity environment. They then tried to get their robot to scoot around the frictionless floor and capture and move a similar robot.&ldquo;We had one robot chase the other, catch it and then pull it back toward where we wanted it to go,&rdquo; said Hawkes. &ldquo;I think that was definitely an eye-opener, to see how a relatively small patch of our adhesive could pull around a 300 kilogram robot.&rdquo;Next, Jiang and Parness went on a parabolic airplane flight to test the gripper in zero gravity. Over two days, they flew a series of 80 ascents and dives, which created an alternating experience of about 20 seconds of 2G and 20 seconds of zero-G conditions in the cabin. The gripper successfully grasped and let go of a cube and a large beach ball with a gentle enough touch that the objects barely moved when released.Lastly, Parness&rsquo;s lab developed a small gripper that went up in the International Space Station (ISS), where they tested how well the grippers worked inside the station.Next steps for the gripper involve readying it for testing outside the space station, including creating a version made of longer lasting materials able to hold up to high levels of radiation and extreme temperatures. The current prototype is made of laser-cut plywood and includes rubber bands, which would become brittle in space. The researchers will have to make something sturdier for testing outside the ISS, likely designed to attach to the end of a robot arm.Back on Earth, Cutkosky also hopes that they can manufacture larger quantities of the adhesive at a lower cost. He imagines that someday gecko-inspired adhesive could be as common as Velcro.

A close-up of the robotic gripper, designed to grab objects in zero gravity using a gecko-inspired adhesive. | Image credit: Kurt Hickman

A team of researchers tested their gripper in multiple zero-gravity settings, including the International Space Station.

How a gecko-inspired robotic gripper can help clean up space debris

Jet engines can have up to 25,000 individual parts, making regular maintenance a tedious task that can take over a month per engine. Many components are located deep inside the engine and cannot be inspected without taking the machine apart, adding time and costs to maintenance. This problem is not only confined to jet engines, either; many complicated, expensive machines like construction equipment, generators, and scientific instruments require large investments of time and money to inspect and maintain.&nbsp;Researchers at Harvard University&rsquo;s Wyss Institute for Biologically Inspired Engineering and John A. Paulson School of Engineering and Applied Sciences (SEAS) have created a micro-robot whose electroadhesive foot pads, origami ankle joints, and specially engineered walking gait allow it to climb on vertical and upside-down conductive surfaces, like the inside walls of a commercial jet engine. The work is reported in&nbsp;<a href="http://robotics.sciencemag.org/content/3/25/eaau3038" rel="noopener noreferrer" target="_blank">Science Robotics</a>.&ldquo;Now that these robots can explore in three dimensions instead of just moving back and forth on a flat surface, there&rsquo;s a whole new world that they can move around in and engage with,&rdquo; said first author S&eacute;bastien de Rivaz, a former Research Fellow at the Wyss Institute and SEAS who now works at Apple. &ldquo;They could one day enable non-invasive inspection of hard-to-reach areas of large machines, saving companies time and money and making those machines safer.&rdquo;The new robot, called HAMR-E (Harvard Ambulatory Micro-Robot with Electroadhesion), was developed in response to a challenge issued to the Harvard Microrobotics Lab by Rolls-Royce, which asked if it would be possible to design and build an army of micro-robots capable of climbing inside parts of its jet engines that are inaccessible to human workers. Existing climbing robots can tackle vertical surfaces, but experience problems when trying to climb upside-down, as they require a large amount of adhesive force to prevent them from falling.<iframe src="https://player.vimeo.com/video/303994124" frameborder="0" allowfullscreen="" class="fr-draggable" style="width: 772px; height: 430px;"></iframe>HAMR-E, created in collaboration with Rolls-Royce, is a micro-robot that uses electroadhesion to scale vertical, inverted, and curved surfaces, allowing it to explore spaces that are too small for humans. HAMR-E could one day be used to inspect jet engines and other complicated machines without requiring them to be taken apart. Credit: Wyss Institute at Harvard University.&nbsp;The team based HAMR-E on one of its existing micro-robots,&nbsp;<a href="https://wyss.harvard.edu/technology/versatile-ambulatory-microrobots/" target="_blank">HAMR</a>, whose four legs enable it to walk on flat surfaces and swim through water. While the basic design of HAMR-E is similar to HAMR, the scientists had to solve a series of challenges to get HAMR-E to successfully stick to and traverse the vertical, inverted, and curved surfaces that it would encounter in a jet engine.First, they needed to create adhesive foot pads that would keep the robot attached to the surface even when upside-down, but also release to allow the robot to &ldquo;walk&rdquo; by lifting and placing its feet. The pads consist of a polyimide-insulated copper electrode, which enables the generation of electrostatic forces between the pads and the underlying conductive surface. The foot pads can be easily released and re-engaged by switching the electric field on and off, which operates at a voltage similar to that required to move the robot&rsquo;s legs, thus requiring very little additional power. The electroadhesive foot pads can generate shear forces of 5.56 grams and normal forces of 6.20 grams &ndash; more than enough to keep the 1.48-gram robot from sliding down or falling off its climbing surface. In addition to providing high adhesive forces, the pads were designed to be able to flex, thus allowing the robot to climb on curved or uneven surfaces.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1569985592337-HAMR-E-whole_body-wPenny.jpg" style="width: 567px;" class="fr-fic fr-dib">HAMR-E is small but mighty, and could one day carry instruments and cameras to inspect small spaces. Credit: Wyss Institute at Harvard University&nbsp;The scientists also created new ankle joints for HAMR-E that can rotate in three dimensions to compensate for rotations of its legs as it walks, allowing it to maintain its orientation on its climbing surface. The joints were manufactured out of layered fiberglass and polyimide, and folded into an origami-like structure that allows the ankles of all the legs to rotate freely, and to passively align with the terrain as HAMR-E climbs.Finally, the researchers created a special walking pattern for HAMR-E, as it needs to have three foot pads touching a vertical or inverted surface at all times to prevent it from falling or sliding off. One foot releases from the surface, swings forward, and reattaches while the remaining three feet stay attached to the surface. At the same time, a small amount of torque is applied by the foot diagonally across from the lifted foot to keep the robot from moving away from the climbing surface during the leg-swinging phase. This process is repeated for the three other legs to create a full walking cycle, and is synchronized with the pattern of electric field switching on each foot.When HAMR-E was tested on vertical and inverted surfaces, it was able to achieve more than one hundred steps in a row without detaching. It walked at speeds comparable to other small climbing robots on inverted surfaces and slightly slower than other climbing robots on vertical surfaces, but was significantly faster than other robots on horizontal surfaces, making it a good candidate for exploring environments that have a variety of surfaces in different arrangements in space. It is also able to perform 180-degree turns on horizontal surfaces.HAMR-E also successfully maneuvered around a curved, inverted section of a jet engine while staying attached, and its passive ankle joints and adhesive foot pads were able to accommodate the rough and uneven features of the engine surface simply by increasing the electroadhesion voltage.<blockquote><figure class="quote">This iteration of HAMR-E is the first and most convincing step towards showing that this approach to a centimeter-scale climbing robot is possible, and that such robots could in the future be used to explore any sort of infrastructure, including buildings, pipes, engines, generators, and more<figcaption>ROBERT WOOD</figcaption></figure></blockquote>The team is continuing to refine HAMR-E, and plans to incorporate sensors into its legs that can detect and compensate for detached foot pads, which will help prevent it from falling off of vertical or inverted surfaces. HAMR-E&rsquo;s payload capacity is also greater than its own weight, opening the possibility of carrying a power supply and other electronics and sensors to inspect various environments. The team is also exploring options for using HAMR-E on non-conductive surfaces.&ldquo;This iteration of HAMR-E is the first and most convincing step towards showing that this approach to a centimeter-scale climbing robot is possible, and that such robots could in the future be used to explore any sort of infrastructure, including buildings, pipes, engines, generators, and more,&rdquo; said corresponding author Robert Wood, Ph.D., who is a Founding Core Faculty member of the Wyss Institute as well as the Charles River Professor of Engineering and Applied Sciences at SEAS.&ldquo;While academic scientists are very good at coming up with fundamental questions to explore in the lab, sometimes collaborations with industrial scientists who understand real-world problems are required to develop innovative technologies that can be translated into useful products. We are excited to help catalyze these collaborations here at the Wyss Institute, and to see the breakthrough advances that emerge,&rdquo; said &nbsp;Wyss Founding Director Donald Ingber, M.D., Ph.D., who is also the&nbsp;Judah Folkman Professor of Vascular Biology at Harvard Medical School and the Vascular Biology Program at Boston Children&rsquo;s Hospital, and Professor of Bioengineering at SEAS.

HAMR-E uses electroadhesive pads on its feet and a special gait pattern to climb on vertical, inverted, and curved surfaces, like the inside of this jet engine. Credit: Wyss Institute at Harvard University

New “HAMR-E” robots could enable inspection of complex machines without dismantling them

Robots with sticky feet can climb up, down, and all around

This soft robot is made using kirigami — an ancient Japanese paper craft that relies on cuts, rather than origami folds, to change the properties of a material.  As the robot stretches, the kirigami is transformed into a 3D-textured surface, which grips the ground just like snake skin. (Image courtesy of Ahmad Rafsanjani/Harvard SEAS)

Bioinspired soft actuator crawls without rigid parts

Snake-inspired robot uses kirigami to move

This article is part of a series about the usage of robots in harsh environments, written by post-doctoral robotics researcher Matthew Nancekievill. Find the second article, on subsea environments,&nbsp;<a href="https://www.wevolver.com/article/robotics.for.harsh.environments.subsea" rel="noopener noreferrer" target="_blank">here.</a><hr>Lets face it, there are some jobs that we just don&rsquo;t want to do, or CAN&rsquo;T do that we will have to get robotic platforms to complete. This is especially true of harsh environments such as subsea, mining, space, arctic, often forgotten surgical robotics and nuclear decommissioning. In this article we are going to take a brief look at robotic platforms currently deployed within the nuclear industry, why they&rsquo;re required and solutions that are still required for all you innovators out there. &nbsp;With decommissioning costing the UK &pound;3billion/yr and estimated costs of &pound;121 billion over the next 120 years, there is a requirement for increased efficiencies and decommissioning rates that robotics can provide.&nbsp;Hopefully this article acts as a summary of robotic solutions in nuclear decommissioning without being too much of an exhaustive list.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNTU5NjY4MDk3MDA3LUltYWdlIDIucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 766px;" class="fr-fic fr-dib"><h1>A look at the Nuclear Decommissioning Environment</h1>Decommissioning happens around us all the time, old buildings get torn down, coal power plants shutdown and vehicles get scrapped. The nuclear industry is no different with the reactors, storage facilities and processing elements all requiring decommissioning when they reach the end of their useful life.Hazardous substances can be found in all the above environments with asbestos, chemicals used during refinement, rare earth metals and oils that can&rsquo;t be put into our main waste stream all examples of hazardous substances. The Nuclear industry faces all the same problems but adds one to the list, &ldquo;nuclear waste&rdquo;.I&rsquo;ve always felt that nuclear gets a bad rap in the press, with all the pollutants and oil spills throughout the years created from coal power plants seemingly ignored when nuclear waste is mentioned. However, the effects of nuclear radiation on the body can be very unforgiving.To give you a flavour, researchers working with weak radioactive sources, such as myself, are allowed a total yearly dose of &lt;1 mSv attributed to radiation work, registered radiation workers in the UK &lt;20 mSv. This is a large safety factor to account for medically proven effects of radiation at radiation levels &gt;250 mSv with 1,000 mSv likely to kill you within a few days to a couple of weeks. (Average background radiation dose in the UK is approximately 2.7 mSv)Compare this to radiation doses in some of the most radioactive places on earth, such as the UK&rsquo;s Sellafield Site or the Fukushima accident, where in the most extreme cases (no really, the most extreme cases, the majority is not like this) dose-rates of around 10,000 mSv.h-1 are possible (check-out <a href="http://irid.or.jp/en/research/20150420-2/" rel="noopener noreferrer" target="_blank">these survey results</a> from the IRID and the shape-changing robot mentioned later.This is before you add in the difficulties of the physically constrained and tight working spaces, high temperatures, contaminated water used for cooling and, in the case of nuclear accidents such as Fukushima, an unknown physical layout &ldquo;behind the door&rdquo; due to explosions within the reactor buildings.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNTU5NjcyODIxNzYyLUZ1a3UuanBnIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 766px;" class="fr-fic fr-dib"><h1>Current Practices</h1>In less radiologically extreme environments, much of the work is carried out by human workers in air-fed suits with multiple layers of gloves, some of which could be lead-lined (lead-lined gloves) worn to avoid contamination and puncturing of the suit on sharp edges. This often means that with all the getting ready, decontamination at the end of the shift and the physical exertion required to operate in these suits, an 8-hour work shift could result in anywhere between 15 minutes to 2 hours of actual decommissioning with power tools cumbersome to use and movement awkward. Workers have been known to empty their boots at the end of their shift of all their sweat that has built up&hellip; Workers are, at the root of it, tasked with dismantling the facility. This means cleaning, chopping and moving all sorts of materials into the correct waste stream and then moving on to the next object or structure.<h2>Robotics in Nuclear</h2>It is clear that some of these repetitive tasks or highly radioactive areas lend themselves to the use of robotic platforms. There has been a large body of work conducted on developing solutions for just that. Aquatic robotic platforms for use within submerged nuclear waste storage tanks, robotic manipulators for laser cutting of structures, drone-based devices for site surveys and ground-based robots for automated warehouse characterisation and unknown environments.Examples of these are:The Forth AVEXIS, developed jointly by Forth Engineering and the University of Manchester. A submersible ROV designed to be deployed within the Magnox Swarf Storage Silo and fit through a 6&rdquo; access port. More information within the video.<iframe src="https://www.youtube.com/embed/OLvAQFz5wh8?&wmode=opaque&enablejsapi=1&origin=https://www.wevolver.com" allowfullscreen="" class="fr-draggable" style="width: 766px; height: 443px;" frameborder="0" data-lf-form-tracking-inspected-kn9eq4roawkarlvp="true" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true" data-lf-vimeo-playback-inspected-kn9eq4roawkarlvp="true" data-gtm-yt-inspected-7="true" id="626921597" title="Avexis ROV"></iframe>The LaserSnake2, which combines a multi-jointed &ldquo;snake-arm&rdquo; manipulator with a powerful laser-cutter. Developed by OCRobotics, The Welding Institute, National Nuclear Laboratory, Laser Optical Engineering Ltd. And ULO Optics. It is designed to cut and reduce the size of objects and structures to fit in dedicated waste containers.<iframe src="https://www.youtube.com/embed/hqOfRhJsaEQ?&wmode=opaque&enablejsapi=1&origin=https://www.wevolver.com" allowfullscreen="" class="fr-draggable" style="width: 766px; height: 436px;" frameborder="0" data-lf-form-tracking-inspected-kn9eq4roawkarlvp="true" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true" data-lf-vimeo-playback-inspected-kn9eq4roawkarlvp="true" data-gtm-yt-inspected-7="true" id="439090068" title="LaserSnake2 - Laser cutting for nuclear decommissioning at Sellafield - a world first."></iframe>Researchers from Bristol University have just recently flown a drone over the Chernobyl Red Forest highlighting the site survey capabilities of drones applicable to all nuclear sites.<iframe src="https://www.youtube.com/embed/_Eto98XTm-4?&wmode=opaque&enablejsapi=1&origin=https://www.wevolver.com" allowfullscreen="" class="fr-draggable" style="width: 766px; height: 394px;" frameborder="0" data-lf-form-tracking-inspected-kn9eq4roawkarlvp="true" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true" data-lf-vimeo-playback-inspected-kn9eq4roawkarlvp="true" data-gtm-yt-inspected-7="true" id="334628213" title="YouTube video player"></iframe>Hitachi-GE have also developed a &ldquo;shape-changing robot&rdquo; to characterise the internals of Fukushima. Designed to be passed through small gaps in a long cylindrical shape, it is then capable of morphing into a &ldquo;U&rdquo; shape for stability. Equipped with a radiation tolerant camera and dosimeter, multiple robots were deployed with valuable data returned.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNTU5NjY4MzQ5NTkyLVNoYXBlLWNoYW5naW5nIElSSUQtSGl0YWNoaSByb2JvdCAtIDQ1MC5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 766px;" class="fr-fic fr-dib">However, one of them got stuck, which leads me to my next point.<h1>The problem with Robots</h1>I love robots, and I believe that robotic systems HAVE to and WILL have a huge part to play in harsh environments, but there are still things that have so far left deployment of robotic systems on the fringes of use. These include, but are not limited to:<ul><li>Robots are dumb: When compared to a human assessing a situation. The Hitachi shape-changing robot fell foul of a common problem with robotic systems, it got caught in a hole in the grating it was driving on it wasn&rsquo;t expecting and that could not be seen by the human operator with the robot not &ldquo;smart&rdquo; enough to avoid or raise a flag. Robots are only as smart as we make them!</li><li>Radiation effects: Robots readily survive longer than humans but there are still failures of the electronics in high dose areas.</li><li>Tether entanglement:&nbsp;Most robots (not including drones) are often required to be connected via tether. This is for safety, in-case the robot breaks, meaning it can be unceremoniously dragged out but causes issues with entanglement.</li><li>Robots require a skilled pilot: That skill-set is not common.</li><li>The industry isn&rsquo;t ready: When things have been done a certain way for a long time, it is difficult to change that. Not to mention all the legal licensing issues and who takes responsibility when something goes wrong?! Media storms surrounding the ethics of robots taking jobs and becoming our future overlords do not help (thanks a lot Terminator).</li></ul><h1>In Conclusion</h1>There is a great body of work being completed within industry and research institutions developing bespoke solutions for specific problems and there have been many successful deployments and also many unsuccessful deployments, which is all part of innovation! Not included above but deserve a mention with regards to innovation and deployments to Brokk and Seabotix robotic systems that are often used daily.To really get consistent robotic platform deployments in nuclear decommissioning, further innovation improving the capabilities of robotic platforms is required as well as upskilling of the workforce and events showcasing the technology to industry. Communication is key and the continued development of systems by all the engineers out there.<hr>This article is part of a series about the usage of robots in harsh environments, written by post-doctoral robotics researcher Matthew Nancekievill. Find the second article, on subsea environments,&nbsp;<a href="https://www.wevolver.com/article/robotics.for.harsh.environments.subsea" rel="noopener noreferrer" target="_blank">here.</a>

snakes and crawling robots