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Lessons learned:Symbiotic autonomous robot ecosystem for nuclear environments

IET Cyber-Systems and Robotics 2023年第4期5卷 63-86页

作者： Daniel Mitchell Paul Dominick Emor Baniqued Abdul Zahid Andrew West bahman nouri rahmat abadi Barry Lennox Bin Liu Burak Kizilkaya David Flynn David John Francis Erwin Jose Lopez Pulgarin Guodong Zhao Hasan Kivrak Jamie Rowland Douglas Blanche Jennifer David Jingyan Wang Joseph Bolarinwa Kanzhong Yao Keir Groves Liyuan Qi Mahmoud A.Shawky Manuel Giuliani Melissa Sandison Olaoluwa Popoola Ognjen Marjanovic Paul Bremner Samuel Thomas Harper Shivoh Nandakumar Simon Watson Subham Agrawal Theodore Lim Thomas Johnson Wasim Ahmad Xiangmin Xu Zhen Meng Zhengyi Jiang James Watt School of Engineering Autonomous Systems and Connectivity DivisionUniversity of GlasgowGlasgowUK Department of Electrical and Electronic Engineering The University of ManchesterManchesterUK Bristol Robotics Laboratory University of the West of EnglandBristolUK Heriot-Watt University EdinburghUK

Nuclear facilities have a regulatory requirement to measure radiation levels within Post Operational Clean Out(POCO)around nuclear facilities each year,resulting in a trend towards robotic deployments to gain an improved understanding during nuclear decommissioning *** UK Nuclear Decommissioning Authority supports the view that human-in-the-loop(HITL)robotic deployments are a solution to improve procedures and reduce risks within radiation characterisation of nuclear *** authors present a novel implementation of a Cyber-Physical System(CPS)deployed in an analogue nuclear environment,comprised of a multi-robot(MR)team coordinated by a HITL operator through a digital twin *** development of the CPS created efficient partnerships across systems including robots,digital systems and *** was presented as a multi-staged mission within an inspection scenario for the hetero-geneous Symbiotic Multi-Robot Fleet(SMuRF).Symbiotic interactions were achieved across the SMuRF where robots utilised automated collaborative governance to work together,where a single robot would face challenges in full characterisation of *** contributions include the demonstration of symbiotic autonomy and query-based learning of an autonomous mission supporting scalable autonomy and autonomy as a *** coordination of the CPS was a success and displayed further challenges and improvements related to future MR fleets.

关键词： cyber-systems field robotics hazardous inspection human robot interaction industrial robotics mobile robots multi-agent systems multi-robot systems robotics service robots

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Estimating oak forest parameters in the western mountains of Iran using satellite-based vegetation indices

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Journal of Forestry Research 2020年第2期31卷 541-552页

作者： Adel nouri bahman Kiani Mohammad Hossein Hakimi Mohammad Hossein Mokhtari Department of Forest Sciences Faculty of Natural ResourcesYazd UniversityYazdIslamic Republic of Iran Department of Desert Management Faculty of Natural ResourcesYazd UniversityYazdIslamic Republic of Iran

Remote sensing is an important tool for studying and modeling forest *** indices obtained from Landsat-8 remotely sensed data were used to estimate the forest parameters in the western mountains of *** sample points were selected on the map of Bayangan County,Kermanshah province,*** each point,a cluster of five rectangular plots of 8100 m2 and 200 m apart was *** clusters were primarily sampled to determine the variance of the forest *** coefficient of variation was used as a criterion for sample *** density,canopy cover and basal area per hectare were calculated for each *** indices were extracted fromthe Landsat-8 images for each *** linear and nonlinear regressions were conducted to develop the *** models were validated using an independent data *** of model parameters was statistically *** results showed that Normalized difference vegetation index(NDVI)and Transformed normalized difference vegetation index(TNDVI)followed by Simple ratio vegetation index(SRVI)were the best predictors,explaining up to 91%of the variations with high *** NDVI,Soil adjusted vegetation index 2(SAVI2)and SRVI,the cubic model was more appropriate than the linear model for predicting the forest *** this model,the R-square value increased while NRMSE decreased *** Infrared percentage vegetation index(IPVI),the quadratic model was better,but,for other vegetation indices,nonlinear models were not superior to linear ***,it can be concluded that Landsat-8 imagery is suitable for predicting forest parameters in the oak forests of western *** course,large plots must be selected,and pre-classification is necessary to gain accurate and precise estimations.

关键词： Basal area Canopy cover Density Landsat-8 Modeling

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