Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2021-10-18

AUTHORS

Qiang Zhang, Bo Song, Bin Cai, Yuxiang Sun

ABSTRACT

Regular maintenance of the nuclear fusion reactor vessel is essential. However, due to the complex physical and geometric conditions inside the reactor vessel, the implementation of this work is facing great difficulties. The existing cantilever robot or in-vessel remote operating system is unable to complete complex tasks because of its single function and poor system coordination. Based on the above research background and the practical application requirements, a composite multi-joint remote operation robot platform which can be used in the internal environment of the nuclear fusion vessel and has the ability of moving, observing and controlling is designed in this paper. The platform consists of three parts: the suspended multi-joint mobile robot system, the peristaltic multi-joint mobile robot system and the multi-robot coordinated control system. First of all, based on the physical model and environmental characteristics of the EAST nuclear fusion vessel, through the analysis of the functional requirements and design specifications of the robot platform, the modular mechanism design and function analysis of each component system are carried out. Secondly, through the analysis of the gravity compensation effect of the multi-robot coordinated control system for the suspended multi-joint manipulator, how to enhance the load capacity of the whole system through a bidirectional coordinated control is studied. Finally, in order to verify the effectiveness of the developed system, the basic motion and load-bearing performance of each component of the prototype are tested by actually building a simulation environment for the EAST nuclear fusion vessel. The experimental results show that the prototype of the robot platform has good kinematic and mechanical properties and load-bearing performance, and meets the design requirements in function. More... »

PAGES

22

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s10894-021-00311-7

DOI

http://dx.doi.org/10.1007/s10894-021-00311-7

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1141966794


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Information and Computing Sciences", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Artificial Intelligence and Image Processing", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, 230031, Hefei, China", 
          "id": "http://www.grid.ac/institutes/grid.467850.8", 
          "name": [
            "Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, 230031, Hefei, China"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Zhang", 
        "givenName": "Qiang", 
        "id": "sg:person.014341255322.92", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014341255322.92"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, 230031, Hefei, China", 
          "id": "http://www.grid.ac/institutes/grid.467850.8", 
          "name": [
            "Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, 230031, Hefei, China"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Song", 
        "givenName": "Bo", 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Science Island Branch of Graduate School, University of Science and Technology of China, 230026, Hefei, China", 
          "id": "http://www.grid.ac/institutes/grid.59053.3a", 
          "name": [
            "Science Island Branch of Graduate School, University of Science and Technology of China, 230026, Hefei, China"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Cai", 
        "givenName": "Bin", 
        "id": "sg:person.015011655217.49", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015011655217.49"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, 230031, Hefei, China", 
          "id": "http://www.grid.ac/institutes/grid.467850.8", 
          "name": [
            "Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, 230031, Hefei, China"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Sun", 
        "givenName": "Yuxiang", 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "sg:pub.10.1007/978-3-319-48036-7_79", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1083762986", 
          "https://doi.org/10.1007/978-3-319-48036-7_79"
        ], 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2021-10-18", 
    "datePublishedReg": "2021-10-18", 
    "description": "Regular maintenance of the nuclear fusion reactor vessel is essential. However, due to the complex physical and geometric conditions inside the reactor vessel, the implementation of this work is facing great difficulties. The existing cantilever robot or in-vessel remote operating system is unable to complete complex tasks because of its single function and poor system coordination. Based on the above research background and the practical application requirements, a composite multi-joint remote operation robot platform which can be used in the internal environment of the nuclear fusion vessel and has the ability of moving, observing and controlling is designed in this paper. The platform consists of three parts: the suspended multi-joint mobile robot system, the peristaltic multi-joint mobile robot system and the multi-robot coordinated control system. First of all, based on the physical model and environmental characteristics of the EAST nuclear fusion vessel, through the analysis of the functional requirements and design specifications of the robot platform, the modular mechanism design and function analysis of each component system are carried out. Secondly, through the analysis of the gravity compensation effect of the multi-robot coordinated control system for the suspended multi-joint manipulator, how to enhance the load capacity of the whole system through a bidirectional coordinated control is studied. Finally, in order to verify the effectiveness of the developed system, the basic motion and load-bearing performance of each component of the prototype are tested by actually building a simulation environment for the EAST nuclear fusion vessel. The experimental results show that the prototype of the robot platform has good kinematic and mechanical properties and load-bearing performance, and meets the design requirements in function.", 
    "genre": "article", 
    "id": "sg:pub.10.1007/s10894-021-00311-7", 
    "inLanguage": "en", 
    "isAccessibleForFree": false, 
    "isFundedItemOf": [
      {
        "id": "sg:grant.8300184", 
        "type": "MonetaryGrant"
      }
    ], 
    "isPartOf": [
      {
        "id": "sg:journal.1136717", 
        "issn": [
          "0164-0313", 
          "1572-9591"
        ], 
        "name": "Journal of Fusion Energy", 
        "publisher": "Springer Nature", 
        "type": "Periodical"
      }, 
      {
        "issueNumber": "2", 
        "type": "PublicationIssue"
      }, 
      {
        "type": "PublicationVolume", 
        "volumeNumber": "40"
      }
    ], 
    "keywords": [
      "mobile robot system", 
      "robot platform", 
      "load-bearing performance", 
      "robot system", 
      "fusion vessel", 
      "mobile robot platform", 
      "above research background", 
      "reactor vessel", 
      "remote operating system", 
      "practical application requirements", 
      "control system", 
      "operating system", 
      "fusion reactor vessel", 
      "simulation environment", 
      "application requirements", 
      "complex task", 
      "multi-joint manipulator", 
      "functional requirements", 
      "mechanical properties", 
      "coordination system", 
      "load capacity", 
      "platform", 
      "coordinated control", 
      "system coordination", 
      "design requirements", 
      "mechanism design", 
      "whole system", 
      "experimental results", 
      "physical model", 
      "regular maintenance", 
      "research background", 
      "basic motions", 
      "requirements", 
      "prototype", 
      "component systems", 
      "robot", 
      "single function", 
      "system", 
      "compensation effect", 
      "environment", 
      "geometric conditions", 
      "performance", 
      "task", 
      "manipulator", 
      "specification", 
      "design", 
      "implementation", 
      "controlling", 
      "motion", 
      "effectiveness", 
      "great difficulty", 
      "properties", 
      "vessels", 
      "coordination", 
      "work", 
      "model", 
      "characteristics", 
      "order", 
      "conditions", 
      "internal environment", 
      "analysis", 
      "capacity", 
      "difficulties", 
      "components", 
      "maintenance", 
      "results", 
      "function", 
      "environmental characteristics", 
      "control", 
      "part", 
      "ability", 
      "effect", 
      "background", 
      "function analysis", 
      "paper"
    ], 
    "name": "Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel", 
    "pagination": "22", 
    "productId": [
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1141966794"
        ]
      }, 
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/s10894-021-00311-7"
        ]
      }
    ], 
    "sameAs": [
      "https://doi.org/10.1007/s10894-021-00311-7", 
      "https://app.dimensions.ai/details/publication/pub.1141966794"
    ], 
    "sdDataset": "articles", 
    "sdDatePublished": "2022-05-20T07:38", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-springernature-scigraph/baseset/20220519/entities/gbq_results/article/article_885.jsonl", 
    "type": "ScholarlyArticle", 
    "url": "https://doi.org/10.1007/s10894-021-00311-7"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/s10894-021-00311-7'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/s10894-021-00311-7'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/s10894-021-00311-7'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/s10894-021-00311-7'


 

This table displays all metadata directly associated to this object as RDF triples.

161 TRIPLES      22 PREDICATES      101 URIs      92 LITERALS      6 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/s10894-021-00311-7 schema:about anzsrc-for:08
2 anzsrc-for:0801
3 schema:author N91c695e865354799a2c26ffc31c7fb8d
4 schema:citation sg:pub.10.1007/978-3-319-48036-7_79
5 schema:datePublished 2021-10-18
6 schema:datePublishedReg 2021-10-18
7 schema:description Regular maintenance of the nuclear fusion reactor vessel is essential. However, due to the complex physical and geometric conditions inside the reactor vessel, the implementation of this work is facing great difficulties. The existing cantilever robot or in-vessel remote operating system is unable to complete complex tasks because of its single function and poor system coordination. Based on the above research background and the practical application requirements, a composite multi-joint remote operation robot platform which can be used in the internal environment of the nuclear fusion vessel and has the ability of moving, observing and controlling is designed in this paper. The platform consists of three parts: the suspended multi-joint mobile robot system, the peristaltic multi-joint mobile robot system and the multi-robot coordinated control system. First of all, based on the physical model and environmental characteristics of the EAST nuclear fusion vessel, through the analysis of the functional requirements and design specifications of the robot platform, the modular mechanism design and function analysis of each component system are carried out. Secondly, through the analysis of the gravity compensation effect of the multi-robot coordinated control system for the suspended multi-joint manipulator, how to enhance the load capacity of the whole system through a bidirectional coordinated control is studied. Finally, in order to verify the effectiveness of the developed system, the basic motion and load-bearing performance of each component of the prototype are tested by actually building a simulation environment for the EAST nuclear fusion vessel. The experimental results show that the prototype of the robot platform has good kinematic and mechanical properties and load-bearing performance, and meets the design requirements in function.
8 schema:genre article
9 schema:inLanguage en
10 schema:isAccessibleForFree false
11 schema:isPartOf Na8759a5c7891474ea1d34365ac29baf4
12 Nfd7dbecaf3874b0e80beb335fdfed806
13 sg:journal.1136717
14 schema:keywords ability
15 above research background
16 analysis
17 application requirements
18 background
19 basic motions
20 capacity
21 characteristics
22 compensation effect
23 complex task
24 component systems
25 components
26 conditions
27 control
28 control system
29 controlling
30 coordinated control
31 coordination
32 coordination system
33 design
34 design requirements
35 difficulties
36 effect
37 effectiveness
38 environment
39 environmental characteristics
40 experimental results
41 function
42 function analysis
43 functional requirements
44 fusion reactor vessel
45 fusion vessel
46 geometric conditions
47 great difficulty
48 implementation
49 internal environment
50 load capacity
51 load-bearing performance
52 maintenance
53 manipulator
54 mechanical properties
55 mechanism design
56 mobile robot platform
57 mobile robot system
58 model
59 motion
60 multi-joint manipulator
61 operating system
62 order
63 paper
64 part
65 performance
66 physical model
67 platform
68 practical application requirements
69 properties
70 prototype
71 reactor vessel
72 regular maintenance
73 remote operating system
74 requirements
75 research background
76 results
77 robot
78 robot platform
79 robot system
80 simulation environment
81 single function
82 specification
83 system
84 system coordination
85 task
86 vessels
87 whole system
88 work
89 schema:name Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel
90 schema:pagination 22
91 schema:productId N514f507ef88546308bb1b78f4ac60d44
92 N9780a12b1bde443698a348237cc2f198
93 schema:sameAs https://app.dimensions.ai/details/publication/pub.1141966794
94 https://doi.org/10.1007/s10894-021-00311-7
95 schema:sdDatePublished 2022-05-20T07:38
96 schema:sdLicense https://scigraph.springernature.com/explorer/license/
97 schema:sdPublisher Na0f1add412954daf9b21beec705238bd
98 schema:url https://doi.org/10.1007/s10894-021-00311-7
99 sgo:license sg:explorer/license/
100 sgo:sdDataset articles
101 rdf:type schema:ScholarlyArticle
102 N00524155a901453396b94917b4212a5a rdf:first sg:person.015011655217.49
103 rdf:rest N688bab84c2684a2ea5a5fdb6fa507e4f
104 N514f507ef88546308bb1b78f4ac60d44 schema:name doi
105 schema:value 10.1007/s10894-021-00311-7
106 rdf:type schema:PropertyValue
107 N688bab84c2684a2ea5a5fdb6fa507e4f rdf:first Nbc1be601888948bd98681625e3f97a35
108 rdf:rest rdf:nil
109 N89b5cfa357d848aaabe0ae55f8442c4c schema:affiliation grid-institutes:grid.467850.8
110 schema:familyName Song
111 schema:givenName Bo
112 rdf:type schema:Person
113 N91c695e865354799a2c26ffc31c7fb8d rdf:first sg:person.014341255322.92
114 rdf:rest Nc00912efecc84c3d9c38dbea7903bf00
115 N9780a12b1bde443698a348237cc2f198 schema:name dimensions_id
116 schema:value pub.1141966794
117 rdf:type schema:PropertyValue
118 Na0f1add412954daf9b21beec705238bd schema:name Springer Nature - SN SciGraph project
119 rdf:type schema:Organization
120 Na8759a5c7891474ea1d34365ac29baf4 schema:volumeNumber 40
121 rdf:type schema:PublicationVolume
122 Nbc1be601888948bd98681625e3f97a35 schema:affiliation grid-institutes:grid.467850.8
123 schema:familyName Sun
124 schema:givenName Yuxiang
125 rdf:type schema:Person
126 Nc00912efecc84c3d9c38dbea7903bf00 rdf:first N89b5cfa357d848aaabe0ae55f8442c4c
127 rdf:rest N00524155a901453396b94917b4212a5a
128 Nfd7dbecaf3874b0e80beb335fdfed806 schema:issueNumber 2
129 rdf:type schema:PublicationIssue
130 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
131 schema:name Information and Computing Sciences
132 rdf:type schema:DefinedTerm
133 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
134 schema:name Artificial Intelligence and Image Processing
135 rdf:type schema:DefinedTerm
136 sg:grant.8300184 http://pending.schema.org/fundedItem sg:pub.10.1007/s10894-021-00311-7
137 rdf:type schema:MonetaryGrant
138 sg:journal.1136717 schema:issn 0164-0313
139 1572-9591
140 schema:name Journal of Fusion Energy
141 schema:publisher Springer Nature
142 rdf:type schema:Periodical
143 sg:person.014341255322.92 schema:affiliation grid-institutes:grid.467850.8
144 schema:familyName Zhang
145 schema:givenName Qiang
146 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014341255322.92
147 rdf:type schema:Person
148 sg:person.015011655217.49 schema:affiliation grid-institutes:grid.59053.3a
149 schema:familyName Cai
150 schema:givenName Bin
151 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015011655217.49
152 rdf:type schema:Person
153 sg:pub.10.1007/978-3-319-48036-7_79 schema:sameAs https://app.dimensions.ai/details/publication/pub.1083762986
154 https://doi.org/10.1007/978-3-319-48036-7_79
155 rdf:type schema:CreativeWork
156 grid-institutes:grid.467850.8 schema:alternateName Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, 230031, Hefei, China
157 schema:name Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, 230031, Hefei, China
158 rdf:type schema:Organization
159 grid-institutes:grid.59053.3a schema:alternateName Science Island Branch of Graduate School, University of Science and Technology of China, 230026, Hefei, China
160 schema:name Science Island Branch of Graduate School, University of Science and Technology of China, 230026, Hefei, China
161 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...