Issue link: https://htpgraphics.uberflip.com/i/1385717
RAIN PROGRESS // Within this project, we optimised our continuum robot for inspection and maintenance tasks in nuclear environments. We implemented force feedback and investigated shape sensing to improve precision. With a new control algorithm, we enabled real-time follow- the-leader operation through the RAIN-Snake's host computer. Moreover, we developed a joystick controller and a phone app for an improved user experience, and we integrated the RAIN-Snake controller into RACE's high-level controller and interface for teleoperation. We designed our robot to be adaptable and suitable for a range of applications, as it can be easily equipped with inspection tools through its 7.5-mm internal channel. We demonstrated the robot in several scenarios where conventional manipulators cannot operate, including: • Manipulation with a soft gripper: A soft gripper developed by Rolls-Royce was integrated with our continuum robot. The system was controlled by using an on-board camera to navigate into narrow spaces for the manipulation of a workpiece. • Raman spectroscopy: The tip of the RAIN-Snake was equipped with a Raman spectroscopy sensor to analyse unknown materials inside a component with a narrow geometry. • Glove-box inspection: Our continuum robot was used to inspect hard-to-reach areas and intricated geometries, allowing the operator to identify and sort items in a glove-box mock-up. FUTURE ASPIRATIONS // In order to demonstrate the capabilities of the RAIN- Snake in a real-case scenario, a first deployment at the Dounreay nuclear plant has been planned in collaboration with Dounreay Site Restoration Limited. Furthermore, we are collaborating with other industries to identify new applications for our robot. We are currently adapting our continuum robots for aeroengine maintenance with Rolls-Royce, and for wing tank inspection with Airbus. We are also looking for partnering opportunities to commercialise this technology. In future research developments we aim to achieve a full integration of our continuum robot with industrial robotic arms. By collaborating and interacting, these robots can enable cooperative intervention tasks in which the conventional manipulator, thanks to its higher payload, can clear obstacles or lift object for an all-round inspection, while the RAIN-Snake can perform light intervention tasks or acquire data by inspecting normally unreachable surfaces and volumes. REMOTE INSPECTION 47