HTP Graphics

UNIQUENESS // The world builder toolbox automates the generation of worlds for the gazebo simulator, by using simple 2D representations of environments along with existing models and meshes as building blocks, to allow for 3D environments to be rapidly generated. This automates what would normally be the tedious work of building and altering environments, to allow for exhaustive testing of robots and algorithms in a variety of scenarios. It also allows models within the environment to be altered over time to simulate the degradation of an environmental features, useful for mimicking long-term monitoring missions, common in the nuclear sector. The introduction of simulated radiation sources and sensors into the world builder then allows for additional fidelity to be added to simulations. This is particularly helpful when testing how robot behaviours are modified in response to radiation exposure. Most robotic simulation tools meant for testing robots do not offer such a feature, resulting in many roboticists in the nuclear industry either using overly simplified analogues or skipping simulation to go straight to real world testing. These tools when used together allow for users to exhaustively test algorithms in a variety of scenarios, where the robot is required to detect/react to the presence of radiation within the environment. RAIN PROGRESS // Initially, work was focused on the deployment of robots into nuclear facilities, but due to the global COVID-19 pandemic work had to swiftly pivot. On reflection of what we were lacking as a group, to allow research to continue whilst in lockdown and which could still be of use after, a set of tools have been developed to allow for robots/algorithms to be tested in a variety of radioactive scenarios in simulation. • The world builder toolbox offers users the ability to quickly develop complex environments made of unique elements meant for the testing of mapping, exploration or monitoring algorithms. • The simulated radiation sensors/sources offer a set of tools that can be used with the Robotic Operating System (ROS) and the Gazebo simulator, to model radiation within an environment. This tool offers a user the ability to simulate and detect radiation within an environment, taking into account distance drop off, material attenuation, sensor collimation and sensor sensitivity functions, which was previously not possible. These sensors and sources allow users to test algorithms and their resulting behaviours away from active sites and in numerous scenarios. FUTURE ASPIRATIONS // Future plans for this work are to fully open source the code and support its future development to allow both industry and research to leverage the tools for their pre- mission testing. Work is currently being undertaken to benchmark the simulated radiation sensors and sources against current industry standard software packages, such as MCNP, aimed at showing both its advantages and limitations by comparison. These tools will also be carried forwards and used by multiple members of the RAIN Hub project for the development of radiation detection, characterisation, monitoring, and avoidance algorithms, which have been planned as part of the RAIN Hub extension. These tests include trailing of algorithms prior to deployment at the CCFE drum store and potential other sites. REMOTE INSPECTION 39

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