Autonomous underwater vehicles (AUVs) for nuclear environments

用于核环境的自主水下航行器 (AUV)

• 批准号: 2106157
• 金额: --
• 依托单位: University of Manchester
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2018
• 资助国家: 英国
• 起止时间: 2018 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2106157
• 关键词: Autonomous; underwater; vehicles; AUVs; nuclear

Remotely Operated Vehicles (ROVs) are now being used in the nuclear industry for the monitoring of fuel storage facilities and in the clean-up of disaster areas. This project will investigate how autonomous underwater vehicles (AUVs) can identify areas of high radioactivity by tracking sensitive radiation sensors along surfaces of interest.The student will work with a research platform (Avexis) to achieve automatic control within sensible specifications within nuclear environments such as fuel ponds. Closed-loop control of Avexis will require proper characterisation of the actuators and a design of a data fusion algorithms to achieve this target. The use of novel algorithms in data fusion and machine learning will be investigated. The student will develop both practical simulations and experimental setups to test his algorithms. Suitability of the current actuators and their allocation must be analysed. Feedback linearization techniques must be modified to cope with positive actuation only, if the current actuators are used. Advantages and drawbacks of other suitable actuators must be explored, and the possibility of a new mechanical design should be considered to increase the performance of the system.EPSRC research areas (alphabetical order): Artificial intelligence technologies, Control Engineering, Nuclear fission, Robotics, Sensors and Instrumentation.

远程操作车辆（rov）现在正在核工业中用于监测燃料储存设施和清理灾区。该项目将研究自主水下航行器（auv）如何通过跟踪感兴趣表面的敏感辐射传感器来识别高放射性区域。该学生将使用研究平台（Avexis）在核环境（如燃料池）中实现合理规格的自动控制。Avexis的闭环控制将需要执行器的适当特性和数据融合算法的设计来实现这一目标。将研究数据融合和机器学习中新算法的使用。学生将开发实际模拟和实验设置来测试他的算法。必须分析当前执行器及其配置的适用性。如果使用电流致动器，则必须修改反馈线性化技术以仅处理正致动。必须探索其他合适执行机构的优缺点，并考虑新的机械设计的可能性，以提高系统的性能。研究领域：人工智能技术、控制工程、核裂变、机器人技术、传感器和仪器仪表。