Digital Mock-Ups for Nuclear Decommissioning: A Survey on Existing Simulation Tools for Industry Applications

Alice Cryer; Alfie Sargent; Fumiaki Abe; Paul Dominick Baniqued; Ipek Caliskanelli; Matthew Goodliffe; Hasan Kivrak; Hanlin Niu; Salvador Pacheco-Gutierrez; Alexandros Plianos; Masaki Sakamoto; Tomoki Sakaue; Wataru Sato; Shu Shirai; Yoshimasa Sugawara; Harun Tugal; Andika Yudha; Robert Skilton

doi:10.19080/RAEJ.2023.05.555669

Digital Mock-Ups for Nuclear Decommissioning: A Survey on Existing Simulation Tools for Industry Applications

Alice Cryer, Alfie Sargent, Fumiaki Abe, Paul Dominick Baniqued, Ipek Caliskanelli^*, Matthew Goodliffe, Hasan Kivrak, Hanlin Niu, Salvador Pacheco-Gutierrez, Alexandros Plianos, Masaki Sakamoto, Tomoki Sakaue, Wataru Sato, Shu Shirai, Yoshimasa Sugawara, Harun Tugal, Andika Yudha, Robert Skilton

^*Corresponding author for this work

School of Computer Science

Research output: Contribution to journal › Review article › peer-review

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Abstract

The maturation of Virtual Reality software introduces new avenues of nuclear decommissioning research. Digital Mockups are an emerging technology which provide a virtual representation of the environment, objects or processes, supporting the whole lifecycle of product development and operations. This paper provides a survey on currently available simulation tools to design digital mock-ups required for safe remote decommissioning activities in the nuclear industry. The survey looks at eleven simulation tools; CoppeliaSim, Gazebo Classic, Gazebo (Ignition), Nvidia Omniverse Isaac Sim, WeBots, Choreonoid, AGX Dynamics, MORSE, VR4Robots, RoboDK, and Toia. Using the available documentation, the different capabilities of these software packages were assessed for their suitability to nuclear decommissioning, such as environment simulation, haptic interfaces, and general usability.

Original language	English
Article number	555669
Pages (from-to)	1-16
Number of pages	16
Journal	Robotics & Automation Engineering Journal
Volume	5
Issue number	4
DOIs	https://doi.org/10.19080/RAEJ.2023.05.555669
Publication status	Published - 14 Nov 2023

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RAEJ.MS.ID.555669Final published version, 663 KBLicence: CC BY

Cyber-physical-human systems for mobile robots in energy asset management: Current practices and future opportunities
Mitchell, D. M., Baniqued, P. D. E., Kivrak, H., Blanche, J. R. D., Bremner, P., Harper, S. T., Jiang, Z., Pulgarin, E. J. L., Paterson, J., Carrasco, J., Groves, K., Giuliani, M., Herrmann, G., Lennox, B., Lim, T., Watson, S. & Flynn, D., 1 Sept 2025, In: Energy and AI. 21, 20 p., 100570.
Research output: Contribution to journal › Review article › peer-review

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Cryer, A., Sargent, A., Abe, F., Baniqued, P. D., Caliskanelli, I., Goodliffe, M., Kivrak, H., Niu, H., Pacheco-Gutierrez, S., Plianos, A., Sakamoto, M., Sakaue, T., Sato, W., Shirai, S., Sugawara, Y., Tugal, H., Yudha, A., & Skilton, R. (2023). Digital Mock-Ups for Nuclear Decommissioning: A Survey on Existing Simulation Tools for Industry Applications. Robotics & Automation Engineering Journal, 5(4), 1-16. Article 555669. https://doi.org/10.19080/RAEJ.2023.05.555669

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title = "Digital Mock-Ups for Nuclear Decommissioning: A Survey on Existing Simulation Tools for Industry Applications",

abstract = "The maturation of Virtual Reality software introduces new avenues of nuclear decommissioning research. Digital Mockups are an emerging technology which provide a virtual representation of the environment, objects or processes, supporting the whole lifecycle of product development and operations. This paper provides a survey on currently available simulation tools to design digital mock-ups required for safe remote decommissioning activities in the nuclear industry. The survey looks at eleven simulation tools; CoppeliaSim, Gazebo Classic, Gazebo (Ignition), Nvidia Omniverse Isaac Sim, WeBots, Choreonoid, AGX Dynamics, MORSE, VR4Robots, RoboDK, and Toia. Using the available documentation, the different capabilities of these software packages were assessed for their suitability to nuclear decommissioning, such as environment simulation, haptic interfaces, and general usability.",

author = "Alice Cryer and Alfie Sargent and Fumiaki Abe and Baniqued, \{Paul Dominick\} and Ipek Caliskanelli and Matthew Goodliffe and Hasan Kivrak and Hanlin Niu and Salvador Pacheco-Gutierrez and Alexandros Plianos and Masaki Sakamoto and Tomoki Sakaue and Wataru Sato and Shu Shirai and Yoshimasa Sugawara and Harun Tugal and Andika Yudha and Robert Skilton",

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month = nov,

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doi = "10.19080/RAEJ.2023.05.555669",

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Cryer, A, Sargent, A, Abe, F, Baniqued, PD, Caliskanelli, I, Goodliffe, M, Kivrak, H, Niu, H, Pacheco-Gutierrez, S, Plianos, A, Sakamoto, M, Sakaue, T, Sato, W, Shirai, S, Sugawara, Y, Tugal, H, Yudha, A & Skilton, R 2023, 'Digital Mock-Ups for Nuclear Decommissioning: A Survey on Existing Simulation Tools for Industry Applications', Robotics & Automation Engineering Journal, vol. 5, no. 4, 555669, pp. 1-16. https://doi.org/10.19080/RAEJ.2023.05.555669

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T1 - Digital Mock-Ups for Nuclear Decommissioning

T2 - A Survey on Existing Simulation Tools for Industry Applications

AU - Cryer, Alice

AU - Sargent, Alfie

AU - Abe, Fumiaki

AU - Baniqued, Paul Dominick

AU - Caliskanelli, Ipek

AU - Goodliffe, Matthew

AU - Kivrak, Hasan

AU - Niu, Hanlin

AU - Pacheco-Gutierrez, Salvador

AU - Plianos, Alexandros

AU - Sakamoto, Masaki

AU - Sakaue, Tomoki

AU - Sato, Wataru

AU - Shirai, Shu

AU - Sugawara, Yoshimasa

AU - Tugal, Harun

AU - Yudha, Andika

AU - Skilton, Robert

PY - 2023/11/14

Y1 - 2023/11/14

N2 - The maturation of Virtual Reality software introduces new avenues of nuclear decommissioning research. Digital Mockups are an emerging technology which provide a virtual representation of the environment, objects or processes, supporting the whole lifecycle of product development and operations. This paper provides a survey on currently available simulation tools to design digital mock-ups required for safe remote decommissioning activities in the nuclear industry. The survey looks at eleven simulation tools; CoppeliaSim, Gazebo Classic, Gazebo (Ignition), Nvidia Omniverse Isaac Sim, WeBots, Choreonoid, AGX Dynamics, MORSE, VR4Robots, RoboDK, and Toia. Using the available documentation, the different capabilities of these software packages were assessed for their suitability to nuclear decommissioning, such as environment simulation, haptic interfaces, and general usability.

AB - The maturation of Virtual Reality software introduces new avenues of nuclear decommissioning research. Digital Mockups are an emerging technology which provide a virtual representation of the environment, objects or processes, supporting the whole lifecycle of product development and operations. This paper provides a survey on currently available simulation tools to design digital mock-ups required for safe remote decommissioning activities in the nuclear industry. The survey looks at eleven simulation tools; CoppeliaSim, Gazebo Classic, Gazebo (Ignition), Nvidia Omniverse Isaac Sim, WeBots, Choreonoid, AGX Dynamics, MORSE, VR4Robots, RoboDK, and Toia. Using the available documentation, the different capabilities of these software packages were assessed for their suitability to nuclear decommissioning, such as environment simulation, haptic interfaces, and general usability.

U2 - 10.19080/RAEJ.2023.05.555669

DO - 10.19080/RAEJ.2023.05.555669

M3 - Review article

SN - 2577-2899

VL - 5

SP - 1

EP - 16

JO - Robotics & Automation Engineering Journal

JF - Robotics & Automation Engineering Journal

IS - 4

M1 - 555669

ER -

Digital Mock-Ups for Nuclear Decommissioning: A Survey on Existing Simulation Tools for Industry Applications

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Research output

Cyber-physical-human systems for mobile robots in energy asset management: Current practices and future opportunities

Cite this