Brokk 40, with custom attachment of 2 HydroLeak manipulators. This robot setup, was my main focus of study, as part of Nuclear Decommissioning requirement, for safe removal of derbies. The additional aim, was to install IPG 2K laser on the Brokk and along with 3D vision, to allow automated, or semi-automated cutting process. That would reduce risk, of human exposure to harmful environment, of nuclear sites, during deconstruction.