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Nonlinear Model Predictive Control (NMPC) based shared autonomy for bilateral teleoperation in CFETR Remote Handling

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...

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Principais autores: Jun Zhang, Xuanchen Zhang, Yong Cheng, Yang Cheng, Qiong Zhang, Kun Lu
פורמט: Artigo
שפה:Inglês
יצא לאור: Elsevier 2024-10-01
סדרה:Nuclear Engineering and Technology
נושאים:
Remote handling
Bilateral teleoperation
NMPC
Shared autonomy
CFETR
CMOR
גישה מקוונת:http://www.sciencedirect.com/science/article/pii/S173857332400264X
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