This project will research a next–generation BROKK–based robotic manipulator that has already supported technology transfer between the University, the National Nuclear Laboratory and Sellafield. We will develop systems that will allow the robot to better understand the environment around it and will use these to develop novel autonomous robotic control systems with improved remote operation. In addition, we will design control algorithms for the manipulators that address inherent uncertainty in the application case study environments, such as remote pipe cutting, welding, and material discrimination. The case study system is based on a BROKK demolition robot, consisting of a moving vehicle with a single 5 degree-of-freedom manipulator, hydraulic tank and remote control device. Attached to the BROKK are two HYDRO-LEK seven-function manipulators, each with six rotary joints and a gripper.