NucDesim

Nuclear Decommissioning Robot Simulator

Overview

The Robotics and Artificial Intelligence for Nuclear (RAIN) Hub and the Robotics in Nuclear Environments (RNE) Programmes, led by the University of Manchester and its collaborators, focused on developing advanced robotic systems for use in nuclear facilities. The project aimed to create safer alternatives for human inspections during decommissioning through robotic platforms equipped with cutting-edge technologies like Human-Robot Interfaces (HRI) and 3D Digital Twins. These systems enabled remote robot control, advanced simulation, and real-time visualisation of sensor data, providing critical tools for the nuclear industry.

Contribution

As a postdoctoral researcher, I contributed to the development and integration of advanced simulation environments for digital twins. I led efforts to integrate real-world data from robotic sensors, including LiDAR, radiation, and thermal data, into platforms such as ROS-Gazebo and Unity. I also developed software pipelines for real-time updates and explored multi-user interfaces to enhance usability. Additionally, I improved the visualisation of sensor data in the digital twin and worked closely with researchers. My work included implementing cloud-based systems for remote collaboration and providing Agile project management support as part of the team.

Publications

• Digital Mock-Ups for Nuclear Decommissioning: A Survey on Existing Simulation Tools for Industry Applications
  Robotics & Automation Engineering Journal (2023)
  Cryer, A.; Sargent, A.; Abe, F.; Baniqued, P.; Caliskanelli, I.; Kivrak, H.; Niu, H.; Pacheco-Gutierrez, S.; Plianos, A.; Sakamoto, M.; et al.
• An investigation of the network characteristics and requirements of 3D environmental digital twins for inspection robots
  IEEE WoWMoM (2022)
  Kivrak, H.; Baniqued, P.D.E.; Watson, S.; Lennox, B.