Unless Richard has paid himself as a director of his limited company during the R&D process (and I doubt he has, but obviously I am just guessing) there will be no qualifying personnel costs so his time cannot be claimed.Richard - one thing too consider - R&D Tax Credits. Development time gone into SUPATRAC should qualify. Not huge numbers - but may help.
Best Wishes
Richard
He could claim materials/consumables for the prototypes and any subcontracting costs incurred, but if this does not add up to much it's probably not worth his time.
Furthermore, as above it would only work if he had a registered and 'going concern' limited company under which the R&D took place.