[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-85590-en":3,"doc-seo-85590-105":30,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":13,"seo_description":14,"update_tm":28,"read_time":29},85590,1649267921044,"Ava Thompson","https://us-avatar.wpscdn.com/avatar/1800007509477c92dfb?_k=1782875107921204101",8,"Research & Report","Low-cost Mockup to Simulate Robotic Laser Cutting in Nuclear Decommissioning","Low-cost experimental mockup for simulating robotic laser cutting of containers in nuclear decommissioning, using a three-axis table that supports a UV-sensitive cuboid container, a six-DoF serial manipulator carrying an ultraviolet torch as the laser surrogate, and a vision system with cameras and fiducial markers. A constrained task-space adaptive motion controller compensates for inaccurate parameters without calibration. The controller models geometric constraints for reactive collision avoidance. Experiments report mean path-tracking accuracy of 3.9 mm (sd 2.5) with end-effector control and 2.4 mm (sd 1.3) with UV-beam control for multiple trajectories.","A Low-cost Mockup to Simulate Robotic Laser Cutting in Nuclear  \nDecommissioning  \nFrederico Fernandes Afonso Silva, Murilo Marques Marinho, and Bruno Vilhena Adorno  \narXiv :2605 .08947v2 [ cs .RO] 13 Jul 2026  \nAbstract—This paper introduces a low-cost experimental mockup to simulate the laser cutting process of containers in nuclear decommissioning. It is composed of a three-axis table supporting a cuboid container with ultraviolet-sensitive faces, a six-degree-of-freedom serial manipulator holding an ultraviolet torch that simulates the laser, and a visual system based on cameras and fiducial markers. The system employs a constrained task-space adaptive motion controller that compensates for inaccurate parameters and eliminates the need to calibrate the system. Furthermore, as the motion controller explicitly accounts for geometric constraints, the robot reactively avoids collisions with obstacles while handling the ultraviolet torch. To improve the tracking of the laser-cutting path, we control the ultraviolet beam, which requires only four degrees of freedom, instead of the full end-effector pose. Experiments show that, despite an initially uncalibrated system, the overall system is capable of tracking different trajectories with an overall mean accuracy of 3.9 (sd 2.5) mm when the end-effector pose is controlled and 2.4 (sd 1.3) mm when the ultraviolet beam is controlled.  \nI. INTRODUCTION  \nIn scenarios where human access is restricted, such as nuclear decommission, the use of robots can be essential [1] . Mechanical decontamination techniques can be used when the contamination is limited to near-surface material [2] and can be automated to reduce human exposure. However, those strategies require the material to be of specific sizes and geometries to simplify their processing [3] .  \nRobotic laser cutting (RLC) is a suitable strategy for size reduction of contaminated material [4] and minimizes human exposure to radiation and aerosol hazards during the process [1] . However, strict quality standards demand high-precision, which often require system calibration [5]–[7] . Given the varying geometry of the contaminated equipment and the changes in their topologies as material is removed, the system may require multiple recalibrations [8] .  \nTo deal with this problem, we introduce a low-cost experimental mockup, shown in Fig. 1, to simulate RLC of containers in nuclear decommissioning. It is composed of a threeaxis table supporting a cuboid box with ultraviolet (UV) sensitive faces and a six-degree-of-freedom (DoF) serial robotic manipulator holding an UV torch that simulates the laser. The system employs a constrained task-space adaptive motion controller that compensates for inaccurate parameters  \nF. F. A. Silva, M. M. Marinho, and B. V. Adorno are with the Department of Electrical and Electronic Engineering and the Manchester Centre for Robotics and AI, The University of Manchester, United Kingdom (emails:{frederico.silva; murilo.marinho; [bruno.adorno}@manchester.ac.uk](bruno.adorno}@manchester.ac.uk)) .  \nThis work was supported by the Royal Academy of Engineering under the Research Chairs and Senior Research Fellowships programme and the Robotics and AI Collaboration (RAICo) .  \nFig. 1: Low-cost experimental mockup. An Intel RealSense D435i camera obtains the poses of fiducial markers attached to each face of a box mounted on a three-axis table. Markers are attached to obstacles, robot base, and world frame. In addition, three markers are attached to the robot end-effector so that at least one marker is visible by the camera throughout the trajectory.  \nand eliminates the need to calibrate the system. We use a visual system based on cameras and fiducial markers to provide the adaptive controller with visual measurements to compensate for the uncalibrated geometric parameters, and to track obstacles in the workspace.  \nA. Related works  \nSome RLC solutions in nuclear decommissioning still require intervention from h","cbCaitEWEkJF2ojz","https://ap.wps.com/l/cbCaitEWEkJF2ojz","pdf",6503270,3,1,7,"English","en",105,"# Introduction\n## Related works\n## Statement of contributions","[{\"question\":\"What purpose does the low-cost mockup serve in nuclear decommissioning robotics?\",\"answer\":\"It simulates the robotic laser cutting process of containers used in nuclear decommissioning, enabling realistic experimentation without a full high-cost laser-cutting setup.\"},{\"question\":\"How does the system avoid the need for calibrating geometric parameters?\",\"answer\":\"It uses a constrained task-space adaptive motion controller driven by camera and fiducial-marker measurements to compensate for inaccurate parameters.\"},{\"question\":\"What accuracy is achieved when controlling the end-effector pose versus the UV beam?\",\"answer\":\"Mean accuracy is 3.9 mm (sd 2.5) when controlling the end-effector pose, and 2.4 mm (sd 1.3) when controlling the ultraviolet beam with four degrees of 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purpose does the low-cost mockup serve in nuclear decommissioning robotics?","Question",{"text":75,"@type":76},"It simulates the robotic laser cutting process of containers used in nuclear decommissioning, enabling realistic experimentation without a full high-cost laser-cutting setup.","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"How does the system avoid the need for calibrating geometric parameters?",{"text":80,"@type":76},"It uses a constrained task-space adaptive motion controller driven by camera and fiducial-marker measurements to compensate for inaccurate parameters.",{"name":82,"@type":73,"acceptedAnswer":83},"What accuracy is achieved when controlling the end-effector pose versus the UV beam?",{"text":84,"@type":76},"Mean accuracy is 3.9 mm (sd 2.5) when controlling the end-effector pose, and 2.4 mm (sd 1.3) when controlling the ultraviolet beam with four degrees of 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