Showing 1 - 2 of 2 UKAEA Paper Results
2022
UKAEA-RACE-CP(23)04
Joshua Blake Guy Burroughes Kaiqiang Zhang
This paper describes a novel automatic solution for toolchanging operations using dexterous teleoperated robots in a nuclear glovebox. This solution can identify and locate tools in the nuclear glovebox by visually tracking augmented reality (AR) tags online at a low computational cost. The solution is designed in a modular manner taking into ac…
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UKAEA-RACE-PR(21)02
Jing Na Jun Zhao Kaiqiang Zhang Yongfeng Lv
This article presents and practically validates an identifier-critic-based approximate dynamic programming (ADP) method to online address the optimal tracking control problem for nonlinear continuous-time unknown systems. The imposed assumption on precisely known system dynamics is obviated via a neural network (NN) identifier. A static contro…
Preprint Published