Development of a digital twin system for snake endoscope manipulator in fusion reactors

Development of a digital twin system for snake endoscope manipulator in fusion reactors

Blog Article

Tokamak fusion is one of the solutions to the energy crisis.The environment of the vacuum chamber as a reaction site is extreme, so it needs to be observed during the operation period.This paper has developed a digital twin system for the snake endoscope manipulator (SEM) system, designed to observe of the fusion reactor vacuum chamber.The system includes a five-dimensional model of the SEM digital twin and a three-category architecture encompassing perception, data, and interaction.

Additionally, a MEDI C PLUS W/CA BERRY visualization and interaction system based on ROS-Unity has been developed to depict the working conditions of the SEM accurately.A terminal traction-based trajectory tracking control algorithm has been designed, enabling the Microwave / Oven Globe SEM to maneuver flexibly within the confined space of the vacuum chamber to avoid collisions and prevent additional damage to the vacuum chamber.The system has integrated a Python-ROS-Unity-based algorithm for joint simulation channel development, which has been used for the virtual simulation experiments of SEM to validate the algorithms and collect data.Furthermore, a prototype has been constructed for virtual-to-real mapping experiments.

Experiments show the digital twin system is feasible, with low latency, high sync, and stable operation, which verifies the feasibility of the system.