Sensor technologies will play a key role in the success of Remote Maintenance (RM) systems for future fusion reactors. In this paper, three key types of sensor technologies of particular interest in the robotics field at the moment are evaluated, namely: Colour-Depth cameras, LIDAR (Light Detection And Ranging), and Millimetre-Wave (mmWave) RADAR. The evaluation of the sensors is performed based on the following criteria: the types of data they provide, the accuracy at different distances, and the potential environmental resistance of the sensor (namely gamma radiation). The authors review the progress in making these three types of sensor capable of operating in Fusion facilities and discuss possible mitigations. Experiments are performed to demonstrate the pros and cons of each type of sensor by collecting data from radar, colour-depth camera and LIDAR, simultaneously. The paper concludes with a performance comparison between sensors, as well as discussing the possibility of combining them, fostering redundancy in case of failure of any individual sensor device.

中文翻译：

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核设施移动机器人定位三种关键遥感技术比较

传感器技术将在未来聚变反应堆远程维护（RM）系统的成功中发挥关键作用。本文评估了目前机器人领域特别感兴趣的三种关键类型的传感器技术，即：色深相机、LIDAR（光检测和测距）和毫米波（mmWave）雷达。传感器的评估是根据以下标准进行的：它们提供的数据类型、不同距离的精度以及传感器的潜在环境阻力（即伽马辐射）。作者回顾了使这三种类型的传感器能​​够在聚变设施中运行的进展，并讨论了可能的缓解措施。通过同时收集雷达、色深相机和激光雷达的数据，进行实验来展示每种类型传感器的优缺点。本文最后对传感器之间的性能进行了比较，并讨论了将它们组合起来的可能性，以在任何单个传感器设备发生故障时促进冗余。