权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Digital twin-based Bilateral Teleautonomous System for Nuclear Remote Operation

基于数字孪生的核远程操作双边远程自主系统

基本信息

批准号：
EP/S03286X/1
负责人：
Joaquin Carrasco
金额：
$ 32.23万
依托单位：
University of Manchester
依托单位国家：
英国
项目类别：
Research Grant
财政年份：
2019
资助国家：
英国
起止时间：
2019 至无数据
项目状态：
已结题

来源：
https://gtr.ukri.org/projects?ref=EP%2FS03286X%2F1
关键词：
Digital twin based Bilateral Teleautonomous

项目摘要

The final goal has been incubated from the bottom line truth about the deployment telerobotic technology for real-world nuclear applications; even after half a century of innovation, there is no tangible telerobotic technology that is adequate for deployment for real-world nuclear applications such as decontamination and dismantling of nuclear facilities. Bilateral teleoperators and other sensor-based telerobotic systems are too complex and fragile, and unilateral teleoperators are too inefficient. What is needed to this end is a new telerobotic system that can utilize simple and robust slave hardware and yet perform dexterous manipulation via (potentially degraded) low-bandwidth communication. To this end, a new teleoperation method, namely 'digital twin-based tele-autonomy', which incorporates a digital replica of the world (i.e., digital twin) and local autonomy is proposed. The overall research objective of this project is to implement a new teleoperation method, namely digital twin-based bilateral tele-autonomy, and demonstrate its applicability for civil nuclear applications. By integration of simulation in the digital twin and local autonomous behaviours, the performance goal is to achieve dexterous teleoperation with high precision and efficiency by extracting more performance from simple and robust robotic equipment.

最终目标已经从关于部署远程机器人技术用于现实世界的核应用的底线真相中孵化出来;即使经过半个世纪的创新，也没有有形的远程机器人技术足以部署用于现实世界的核应用，如核设施的去污和拆除。双边遥控操作员和其他基于传感器的遥控机器人系统过于复杂和脆弱，而单边遥控操作员效率太低。为此，需要一种新的远程机器人系统，该系统可以利用简单而强大的从硬件，但通过（可能降级的）低带宽通信进行灵巧的操纵。为此，提出了一种新的遥操作方法，即“基于数字孪生的遥操作”，其结合了世界的数字复制品（即，数字孪生）和本地自治。该项目的总体研究目标是实现一种新的遥操作方法，即基于数字孪生的双边遥自治，并证明其适用于民用核应用。通过集成数字孪生和本地自主行为中的仿真，性能目标是通过从简单而强大的机器人设备中提取更多性能来实现高精度和高效率的灵巧遥操作。