Interactive training simulator for a pipe diversion task in the nuclear industry

Concerns a project the aim of which was to produce a realistic simulator for a pipe diversion task, as a training tool. Evidence of the success of the project is the fact that operators becoming immersed in the task and behave as if they were using the real system. The system simulated consists of a GEC 7-DOF snake manipulator, several bespoke workheads and their associated control hardware, and a delivery trolley for the manipulator. The simulator provides a tool to explore "what if" scenarios without moving any physical equipment. This provides a useful backup capability should any unforeseen challenges arise during the operation. The simulator has been used as a fault finding tool for the real manipulator. It successfully identified a manipulator joint fault.