# Presenting the XS-ABILITY project

Maugan Michel, Guillaume Amoyal, Abdenour Benkrid

► To cite this version:

Maugan Michel, Guillaume Amoyal, Abdenour Benkrid. Presenting the XS-ABILITY project. DigiDECOM 2024, Nov 2024, Halden, Norway. cea-05513809

HAL Id: cea-05513809

https://cea.hal.science/cea-05513809v1

Submitted on 16 Feb 2026

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Distributed under a Creative Commons CC BY 4.0 - Attribution - International License
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# PRESENTING THE XS-ABILITY PROJECT

DigiDECOM2024

12-15 November 2024,
IFE, Halden, Norway

Maugan MICHEL, CEA
Project Coordinator

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Funded by
the European Union

XS-ABILITY has received funding from the European Union's Horizon Europe EURATOM Research & Innovation program under agreement #101166392.

Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Commission. Neither the European Union nor the granting authority can be held responsible for them.

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list

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# Project key items

Accessing hard-to-reach areas with Advanced and Breakthrough Innovation for reliable In-situ characterization of a facility

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Innovative technologies for safety and excellence in decommissioning, including robotics and artificial intelligence

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3 years

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2 M€ (100 % EC) +Associated Partners' own financing

Target TRL
1 2 3 4 5 6 7 8 9
# Approach and main goals

## Hard to measure radionuclides

- Multi-robot systems with embedded sensors

- Autonomous Safety Navigation

- Motion Planning and Task assignment

## Hard to access locations

- Unique 3D representation of the scene extended with radiological information

- Data Fusion and Radiological mapping with AI-based mission scheduler

## Use cases validation in nuclear facility

# Cost / Time / Dose
Consortium

8 Partners

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IFE

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CAEN
Tools for Discovery

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sck cen

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SIGMAINGENNERIA

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FLYABILITY

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DEVELOPIA
Foundation

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abgi
part of visiativ
8 Partners

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7 Countries

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# Work structure

**WP1 Project Management**

**WP2 Requirements analysis: specifications and safety**

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**WP3 Nuclear embedded instrumentation and associated algorithms**

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**WP4 Multi-Robot Platform Integration and Deployment**

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**WP5 Data fusion and Radiological mapping with AI-based mission scheduler**

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**WP6 Demonstration and use cases**

**WP7: D&E&C activities (Dissemination & Exploitation, Communication)**
# Radiation sensors embedded on UxVs...

Nanopix gamma camera
⇒ 3D localization

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Radioactive source

Large surface
detector

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β/γ spectrometric
detector

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Gamon

Small multi radiation detector

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Elios 3

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Spot®

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Jackal

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Sigma rover

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Sentinel
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Planned demo site: G2 reactor, Marcoule (France)

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© JM.Taillat / Areva-CEA
Relevant data. Then what?

WP1 Project Management

**WP2 Requirements analysis: specifications and safety**

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**WP7: D&E&C activities**
*(Dissemination & Exploitation, Communication)*

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Relevant data. Then what?

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to improve **safety** and **efficiency** in nuclear D&D by applying digital technologies such as **Artificial Intelligence** and **Building Information Modeling**, using a dedicated decommissioning ontology.
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Any questions?

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maugan.michel@cea.fr

+33 1 69 08 87 45

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CAEN
Tools for Discovery

sck cen

SIGMA INGEnerIA

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FLYABILITY

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DEVELOPIA
Foundation

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abgi
part of visiativ
# Project Objectives

1. To develop specific **nuclear instrumentation** solutions and sensors to be embedded **on wheeled and legged UGV, and UAV.**

1. **Gamma spectrometry and localization sensors:** miniaturized γ camera and CZT compact detector

2. **Probes for γ/neutron detection and source identification:** small multi-radiation detector, Gamon, and compact CZT

3. **Contamination monitoring probes for soil and wall monitoring:** α large surface, β/γ spectrometry detector, and algorithm integration for in situ non-destructive assay

* Selected for their **complementary action** during D&D operations and the technological capabilities they offer regarding improvements in compactness, robustness of use and multimodality measurements.

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# Project Objectives

**2. To integrate various sensors into robots (UGV and UAV) to establish reliable and comprehensive perception capabilities, ensuring high mobility and data accuracy in real-world dismantling site conditions.**

**Sub-objectives:** sensor integration, robotic platforms integration, deployment, strategy development, data collection framework, data transmission and storage.

**3. To achieve robust autonomous navigation for robots in intricate and dynamic environments**

**Main target:** develop the autonomous safety navigation system (autonomous + obstacle avoidance), considering radiation, especially gamma.

**Developments:**

- MASLAM (multi-robot simultaneous localization and mapping),

- Robust mapping infrastructure, allowing the robots to collectively build and update maps of their environment.

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# Project Objectives

**4. To develop algorithms that promote effective coordination and collaboration among multiple robots.**

Including ensuring seamless communication, information sharing, and cooperative task completion.

**5. To develop AI-based algorithms and methodologies for accurate 3D scene reconstruction that ease the situational analysis for humans and AI.**

**Main target:**

develop AI solution that combines sensors data, captured, and localized by the robots, into a unique 3D representation of the scene that can be easily interpreted by humans and AI.

**Developments:**

- fusion and refinement of data (sensor data, robot 3D localization) provided by each robot into a unique global coordinate frame,

- local extension of the 3D reconstruction with photometrical and radiological information,

- exploitation of resulting maps for mission scheduling.

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# Project Objectives

## 6. To **integrate and demonstrate** the potential of developed technologies in real D&D facility.

The demonstration will be done in the G2 nuclear reactor in France.

- Military nuclear reactor (plutonium production)

- Built starting 1955 by the CEA on the Marcoule nuclear site.

- Used natural (unenriched) uranium nuclear fuel moderated by graphite, from which it takes its name G2 (G for graphite).

- In service from 1958 to 1980

- Complete dismantling phase started in 2020.

- Currently being dismantled.

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# Work Packages

**WP1 - Project management (CEA)**

**WP2 - Requirements analysis: specifications and safety (CAEN)**

- Determine requirements for the platform

- Identify the use cases for final demonstration.

- Determine the platform navigation architecture

**WP3 - Nuclear embedded instrumentation and associated algorithms (CEA)**

Developments + performance evaluation and testing.

**WP4 - Multi-Robot Platform Integration and Deployment (IFE)**

Adapt existing heterogeneous UAV and UGVs

Provide the tools (hardware and software) necessary to increase the capabilities of the robotic solution to operate safely in hazardous environments while collecting a maximum of relevant data for the operator.

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# Work Packages

## WP5 - Data fusion and Radiological mapping with AI-based mission scheduler (VTT)

- Detailed 3D map of the environment

- Offline fusion of data captured by the robots' sensors defined in WP4 into a unified 3D global map

- Ease of interpretation of the map by human user

- Local extension of the 3D map with both photometric and radiologic information

- Planning of robot activities

- Predictive analytics based on RL and mission scheduler

T5.1 Integrating the data from different robotic platforms into a unique 3D representation of the scene (VTT)

T5.2 Extending 3D scene representation with radiological information (CEA)

T5.3 AI for predictive analytics and mission scheduler (IFE)
# Work Packages

## WP6 – Demonstration and use cases (SCK-CEN)

- To integrate and demonstrate the potential of developed technologies in real D&D facility

- Qualify all the technological bricks on one robotic platform compatible with the constraints of the defined scenario

- Validation of the software and hardware portability,

- Connection of all the solutions developed on an existing mobile base.

## WP7 – Dissemination, Communication & Exploitation activities (Developia Foundation)

- Develop and implement a D&C Plan to ensure efficient communication throughout the project;

- Develop tools and channels for outreach (visual identity, website, brochures & flyers, newsletter, videos, workshop & webinars);

- Engage the target audiences;

- Clustering and ensure links with EU projects & other initiatives;
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<table><thead><tr><th></th><th></th><th>Year 1</th><th>Year 2</th><th>Year 3</th></tr><tr><th>WP1</th><th>Project management</th><th></th><th></th><th></th></tr><tr><th>T1.1</th><th>Strategic decision making</th><td>1</td><td></td><td>36</td></tr><tr><th>T1.2</th><th>Operational management</th><td>1</td><td></td><td>36</td></tr><tr><th>WP2</th><th>Requirements analysis: specifications and safety</th><th></th><th></th><th></th></tr><tr><th>T2.1</th><th>Specifications of technological bricks developed in the project</th><td>1</td><td>3</td><td></td></tr><tr><th>T2.2</th><th>Specification of each use cases and background</th><td>1</td><td>6</td><td></td></tr><tr><th>T2.3</th><th>Specification of navigation architecture</th><td>1</td><td>8</td><td></td></tr><tr><th>T2.4</th><th>Considerations regarding security aspects while using AI for nuclear applications</th><td>1</td><td>12</td><td></td></tr><tr><th>WP3</th><th>Nuclear embedded instrumentation and associated algorithms</th><th></th><th></th><th></th></tr><tr><th>T3.1</th><th>HW and SW developments for miniaturized γ camera for UGV/UAV integration</th><td>5</td><td></td><td>33</td></tr><tr><th>T3.2</th><th>Small multi radiation detector</th><td>5</td><td></td><td>33</td></tr><tr><th>T3.3</th><th>Miniaturization of the GAMON for robotic applications</th><td>5</td><td></td><td>33</td></tr><tr><th>T3.4</th><th>Development of and easy deployable alpha/beta contaminameter for walls</th><td>5</td><td></td><td>33</td></tr><tr><th>T3.5</th><th>β/γ spectrometry detector & algorithm integration for in situ non-destructive assay</th><td>5</td><td></td><td>33</td></tr><tr><th>WP4</th><th>Multi-Robot Platform Integration and Deployment</th><th></th><th></th><th></th></tr><tr><th>T4.1</th><th>Sensor Integration, calibration and data collection</th><td>8</td><td></td><td>30</td></tr><tr><th>T4.2</th><th>Robotic Platforms Adaptation for multi-robot system requirement</th><td></td><td>15</td><td>32</td></tr><tr><th>T4.3</th><th>Multi-Robot task allocation, motion planning and autonomous navigation</th><td></td><td>16</td><td>33</td></tr><tr><th>T4.4</th><th>UAV support</th><td>8</td><td></td><td>34</td></tr><tr><th>T4.5</th><th>System monitoring</th><td></td><td>21</td><td>34</td></tr></thead></table>

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# Planning

<table><thead><tr><th></th><th></th><th>Year 1</th><th>Year 2</th><th>Year 3</th></tr><tr><th>WP5</th><th>Data fusion and Radiological mapping with AI-based mission scheduler</th><th></th><th></th><th></th></tr><tr><th>T5.1</th><th>Integrating the data from robotic platforms into a unique 3D representation</th><td>10</td><td></td><td>33</td></tr><tr><th>T5.2</th><th>Extend the 3D scene representation with radiological informations</th><td></td><td>12</td><td>34</td></tr><tr><th>T5.3</th><th>AI for predictive analytics and Mission Scheduler</th><td></td><td>12</td><td>34</td></tr><tr><th>WP6</th><th>Demonstration and use cases</th><th></th><th></th><th></th></tr><tr><th>T6.1</th><th>Inactive qualification test rig - Test program development and preparation</th><td></td><td>24</td><td>36</td></tr><tr><th>T6.2</th><th>Integration and Proof of Concept</th><td>6</td><td></td><td>36</td></tr><tr><th>T6.3</th><th>Use case validation in nuclear facility</th><td>6</td><td></td><td>36</td></tr><tr><th>WP7</th><th>Communication, Dissemination and Exploitation activities</th><th></th><th></th><th></th></tr><tr><th>T7.1</th><th>Communication and Dissemination plan</th><td>1</td><td></td><td>36</td></tr><tr><th>T7.2</th><th>D&C tools and channels</th><td>1</td><td></td><td>36</td></tr><tr><th>T7.3</th><th>Organization of workshops and webinars</th><td>1</td><td></td><td>36</td></tr><tr><th>T7.4</th><th>Clustering with EU projects and other initiatives</th><td>1</td><td></td><td>36</td></tr><tr><th>T7.5</th><th>End users group and exploitation</th><td></td><td>12</td><td>36</td></tr></thead></table>

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