Table 1 Research Themes for the NEST Fellows 2024
Research ThemeNo.

Organisation

Title

3-1
The University of Tennessee
U.S.A.

Environmental
Radiobiology

4-1

Gamma sensing

Learn radiation measurement technologies regarding gamma
detection by working with Rad IDEAS group researchers.
Investigate how segmented gamma sensors may be expected toperform at high count rates. Investigate integration for roboticpipe-crawler-assisted D&D.

Alpha sensing

Learn radiation measurement technologies regarding alphaparticle detection by working with Rad IDEAS group researchers.
Investigate how pixelated alpha sensors with high timing
1 personresolution may be expected to perform at high count rates.
Investigate integration for robotic-pipe-crawler-assisted D&D.

Dose reconstruction for fielddata-sets of non-human species
in the Fukushima Exclusion
Zone (FEZ)

The environmental risks associated with radiation exposure in
the FEZ are far from clear. Much of the data correlates
abnormalities or effects with ambient dose of radiation at thetime the organism was examined but we now know thatcumulative dose and dose experienced by ancestors of the current
population can induce changes that are transgenerational.
Calculating the historic dose is therefore important. This projectwill reconstruct the dose for data obtained from fieldradioecologists working in the FEZ and will validate effects seen
by comparing results with laboratory data. The training for a
1 personstudent will involve dose modelling and at least two establishedmethods of dose reconstruction. Hands on training will also
involve laboratory experiments using tissue culture in our Level 2
biosafety laboratory and exposure of arthropods to radiation in
the Tandem Accelerator facility at McMaster which is a worldclass centre with multiple radiation sources. This is in order tovalidate the data generated from modelling exercises. Further
training will involve preparation of presentations and papers forpublication.

AdvancedRadiation
Measurement

3-2

McMaster University
CanadaSorptionmechanisms ofSorption mechanisms of key
key radionuclides radionuclides for radioactive
for radioactive
waste disposal
waste disposal

4-2

Robotics &Remote System

5-1

5-2

1 person

Sorption behaviors of key radioniclides have been studied byexperiments and physicochemical modelling. To justify thesorption behavior, the sorption mechenisms in the molecular scale 1 person
is required. In this project, the sorption behavior will be studied
using Density Functional Theory.

Design, Assembly andProgramming of a 3D Printed
Low-Cost Robot Arm

Mechanisms Design andPrecision Engineering ofRevolute Joints

In this project the participants shall learn to design motion
machines, mechanisms like four-joint with Matlab and to realize
them in 3D printing. Besides mathematical basics it is also
necessary to gain knowledge about the production of mechanicalfits and articulated joints with 3D printing. Precision jointsbetween 1mm and 3mm are taught and their production in
additive manufacturing from standard parts.Terms and its start
timeGermany

TermRadiation Worker/
Non-Radiation Workerand so on

FieldRadiation Worker

Applied Physics, Radiation

Radiation Worker

Applied Physics, Radiation

Non-Radiation
WorkerRadiobiology, interested inmodelling effects

Non-Radiation
WorkerQuantum Chemistry
Simulation

Non-Radiation
WorkerMaster degree, interest in
robot mechanics,
microcontroller electronics,
and programming in C andMatlab!Acceptable numberof the NEST

Non-Radiation
WorkerMaster degree, interest in
higher mathematics,
mechanism design, andfundamental problems inprecision engineering andmicro engineering

1 ~ 3 months

In the project, participants learn to design a 4DoF robot with anarm length of 700mm, a self-weight of 2.5 kg (without power
supply/battery) and a payload of 500g with Matlab, to print inselective laser sintering, to assemble the components and to equip
Max. 1a PC-independent controller with Arduino microcontroller. Afterpeople
the end of the project, the goal is to further develop these robots
independently and to be able to produce such robots in large
quantities in 3D printing within a few days in the event of adisaster.

Technical University of Munich

Mechanisms
Design andPrecision
Engineering ofRevolute Joints

Summary

Number ofNEST
Fellows(Aug.2024 ~Nov.2024)

1 ~ 3 months(Aug.2024 ~Nov.2024)

1 ~ 3 months(Aug.2024 ~Nov.2024)

1 ~ 3 months(May 2024 ~Aug.2024)

several months(Aug.2024 ~Dec.2024)

several months
Max. 1people(Aug.2024 ~Dec.2024)

6-1

Pohang University of Scienceand Technology(POSTECH)

Robotics &Remote System

Korea

Robotics &Remote System

7-1

7-2

RemoteDepartment of Fusion andTechnology for Nuclear Safety Spectroscopic
and Security - Laboratory of Analysis
Diagnostic and Metrology(ENEA)
Italy

Underwater environments have many restrictions on
decommissioning tasks. A fully/semi-autonomous underwater
robot is a few feasible methods to carry out the task. In thisresearch, the robot’s navigation and localization methods will be
Underwater precision 3D
studied in intricate underwater structures. Using the sensormapping and sensing technology
fusion and SLAM technique, the precision 3D mapping method
1 personutilizing underwater robot forwill also be studied. For the task area’s sensing, variable robotic
the decommissioning
sensing systems such as underwater laser, high-resolution image
sonars will be studied. The modeling and simulation of the robot
tasks will be carried out. Depending on the study, actual underrobot tests will be conducted in the indoor tank and field.

Advanced 3D imaging
techniques for nuclear
environments

Generation of 3D models in nuclear environment is a challenging
scientific/technological task for the specific constraints related tohigh radiation levels and restricted access to the areas underinspection. ENEA has been extensively working to develop laserbased devices qualified for operation in these harsh environments
and with tests carried out in TRIGA RC1 nuclear reactor andTokamak Fusion machine. ENEA in its laboratories of Frascati
Max. 3and Casaccia, both located in the Rome periphery, may provide topeople
NEST Fellows, hands-on training on methodologies, issues in
optical design, characterization in radiation environment, dataacquisition and 3D model representation, test in real worldenvironment. The specific themes of interest for the NESTFellows are: Radiation hardened 3D laser scanner, In Vessel
Viewing and ranging System and Real Time 3D imaging with
automatic object recognition

LIBS, LIF and Raman
techniques for remote
spectroscopic analysis

Laser based spectroscopic techniques offer a powerful solution for
remote inspections in nuclear environments and for material
characterization including nuclear debris. The scenarios ofdeployment of spectroscopic systems include inspections inprimary containment vessel through open accesses, onboard
unmanned ground vehicles (UGV) and large distance stand-off
detection. ENEA may provide to NEST Fellows in its laboratoriesof Frascati (south of Rome), hands-on training on methodologies,
issues in optical design, characterization in radiation
Max. 2environment, data acquisition and analysis.
peopleIn particular, ENEA has been working extensively during lasttwenty years on Laser Induced Breakdown Spectroscopy (LIBS),
Laser Induced Fluorescence (LIF) and Raman for remotechemical characterization of target materials and their surface
contamination. The R&D activity has been finalized to therealization of compact devices for operation in areas with limitedaccess and at distance of few meters but also to more complex
systems qualified for remote operation up to 100m.

1 ~ 3 months(Aug.2024 ~Nov.2024)

Non-Radiation
WorkerRobotics

Non-Radiation
WorkerLaser, Computer &Information, Electronics,

Non-Radiation
WorkerLinear Laser Spectroscopy:
LIBS, Raman, LIF
spectroscopy[Require]
Experience in Laser
Spectroscopy

1 ~ 3 months(Aug.2024 ~Nov.2024)

1 ~ 3 months(Aug.2024 ~Nov.2024)

Advanced
Radiation
Measurement

Neutron counting

The ENEA Nuclear material characterization lab of ENEA
Casaccia (north of Rome) carries out radiological characterization
measurements for nuclear materials and radioactive waste. It
studies, develops, and applies innovative radiologicalcharacterization techniques both destructive and non-destructive
for radioactive materials. Currently, the lab is involved (among
the other activities) in studying non-destructive techniques, basedon passive neutron counting, for quantifying presence of neutronmultiplying materials, such as plutonium, in small samples. This
type of materials is difficult to be measured through gamma
Max. 1spectrometry and usually needs destructive analysis involving
peoplealpha spectrometry. Starting from Monte Carlo simulations,
Neutron Coincidence Counting and Neutron Multiplicity
Counting are studied and applied to quantify Pu-240 effective
mass in small samples. The detection system is a Small Sample
Neutron Counter including several He-3 tubes embedded in apolyethylene structure creating a sample cavity. ENEA may
provide to NEST Fellows in its laboratories of Casaccia (north ofRome), hands-on training on methodologies, experimentaldevelopments, data acquisition and analysis.

Development of cooperative
underwater robots fordecommissioning operations(*1)

This project will support the development of a system forcooperative manipulation using underwater robots equipped withgrippers for decommissioning operations such as retrieving andtransporting large pieces of debris. The research will focus on
1 personvarious aspects related to control and multi-agent coordination,
including real-time obstacle avoidance and servo-visual control,
depending on the researcher's skills.

Development of robotic
gloveboxes for decommisioning
operations (*1)

This project will support the development of robotic gloveboxes,for example for post-operational clean-out operations (POCO).
The research will focus on the use of manipulators with a large
number of degrees-of-freedom and investigate important aspects
in robotic control, such as dexterous teleoperation in clutteredenviroments, assistive teleoperative strategies, and their
combination with machine-learning methodologies andsimulation, depending on the researcher's skills.

1 ~ 4 months
Radiation Worker

Nuclear Physics, Applied
Physics, Radiation Detector

3 ~ 4 months(open, ends
beforeDec.2024)

Non-Radiation
WorkerRobotics,
Computer & Information

1 person3 ~ 4 months(open, ends
beforeDec.2024)

Non-Radiation
Worker

Robotics,
Computer & Information

9-3

This project aims to contribute to the development of an advanced
robotic inspection system, specifically designed for environment
The University of Manchester
Robotics &exploration and characterization in nuclear decommissioning.
Remote Inspection Development of a robotic
The system will enhance the sample retrieval process, functioning(UK)inspection system for explorationin collaboration with human operators. The research will focus on 1 person
and characterisation of
one of the following aspects: the design of tactile end-effectors,
unstructured environments (*1)
robotic navigation and control, contaminant detection, the designof artificial sensory feedback, and human-robot shared control
strategies, depending on the researcher's interests and expertise.

3 ~ 4 months(open, ends
beforeDec.2024)

Non-Radiation
WorkerRobotics,
Computer & Information

9-4

This project aims to contribute to the development of an
unmanned aerial system (UAS) capable of inspections in confined
spaces. Confined spaces pose a significant challenge forautonomous exploration using an UAS. This is particularly true
as UAS needs to fly as quickly as possible to preserve flight timeand thus increase the inspection area. This project aims to1 person
explore methods of mitigating of some of the risk associated withhigh speed flight in such a confined environment. The research
will focus on various aspects, such as path planning, obstacle
avoidance, autonomous exploration, mission planning, machinelearning and SLAM depending on the candidate preference andexperience.

3 ~ 4 months(open, ends
beforeDec.2024)

Non-Radiation
WorkerRobotics,
Computer & Information

7-3

9-1

9-2

Development of a Unmanned
Aerial Systems capable ofinspection in confined spaces(*1)(open, ends
beforeDec.2024)

CEA
11-1
FranceRobotics &Remote System

Development of technology tosupport remote operation of therobot (*1)

Introduce a fellow to the tool box developped in our lab for
simulating, in VR, tasks related to the different operations
needed during decommissioning. Namely Teleoperation with
1 person
Haptics feedback, laser cutting, fine manipulation and point cloud
handling. Simulation may serve as validating mission parametersand de-risking as well as training.

(*1) The applicants for the NEST Fellows have to be affiliated with Japanese organizations

1~ 3 months(Aug.2024 ~Dec.2024)

Non-Radiation
WorkerComputer & Information