Nuclear Engineering and Technology

  • 제56권10호
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  • Pages.4437-4445
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  • 2024
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  • 1738-5733(pISSN)
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  • 2234-358X(eISSN)
한국원자력학회 (Korean Nuclear Society)
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Nonlinear Model Predictive Control (NMPC) based shared autonomy for bilateral teleoperation in CFETR Remote Handling

  • Jun Zhang (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Xuanchen Zhang (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Yong Cheng (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Yang Cheng (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Qiong Zhang (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences) ;
  • Kun Lu (Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences)
  • 투고 : 2024.02.19
  • 심사 : 2024.06.03
  • 발행 : 2024.10.25
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초록

During the process of bilateral teleoperation, operators not only need to perform complex maintenance tasks but also have to constantly monitor the safety of the operation, leading to reduced operational efficiency. Therefore, in this paper, we introduce a shared autonomous scheme that intervenes in the operator's command input when necessary, autonomously ensuring the safe operation of the manipulator by employing a rolling horizon planning controller based on Nonlinear Model Predictive Control (NMPC). This controller considers the motion boundaries and collision avoidance constraints of the manipulator, accompanied by the design of corresponding objective functions. To validate the effectiveness of the proposed method, we conduct tests on collision-free trajectory tracking and comprehensive performance with collision constraints, confirming the feasibility and excellent performance of the approach.

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과제정보

The research which contributes to these results has received funding by Comprehensive Research Facility for Fusion Technology Program of China under Contract No. 2018-000052-73-01-001228 and The Postdoctoral Fellowship Program of CPSF with Grant No. GZC20232717 and The CASHIPS Director's Fund with Grant No. YZJJ2024QN17. The authors would like to express gratitude to all the members of the CFETR RH team.

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