基于视觉的机器人EAST运动斯塔克效应诊断标定系统

IF 2.6 3区工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY

Nuclear Engineering and Technology Pub Date : 2025-09-26 DOI:10.1016/j.net.2025.103929

Yang Yang , Haiqing Deng , Liang Zhu , Minzhong Qi , Liansheng Du , Hao Han , Jia Fu , Yong Cheng

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引用次数: 0

摘要

精确校准运动斯塔克效应（MSE）诊断视线是可靠测量东托卡马克等离子体电流密度的基础。本文介绍了一种基于视觉的机器人MSE自动标定系统的开发和实验验证。该系统集成了6自由度工业机械臂和计算机视觉技术，实现了三个关键进展：(1)视线位姿的自动测量；(2)偏振光的产生和对准；(3)光传输系统响应的同步采集。通过工作空间仿真、实验室试验台和2024年和2025年实验期间EAST真空容器内MSE标定的实际部署，验证了该标定机器人系统的有效性。与传统的校准方法（基于2021年和2023年的战役数据）相比，该机器人校准系统的性能得到了显著提高，将平均视线位姿测量重复性偏差从12.1 mm降低到2.0 mm。

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A vision-based robotic calibration system for the EAST motional Stark effect diagnostic

Precise calibration of Motional Stark Effect (MSE) diagnostic sightline is fundamental for reliable plasma current density measurements in EAST tokamak. This paper presents the development and experimental validation of a vision-based robotic system for automatic MSE calibration. The proposed system integrates a 6 degree-of-freedom industrial manipulator with computer vision techniques to achieve three key advancements: (1) automated measurement of sightline pose, (2) polarized light generation and alignment, and (3) synchronized acquisition of optical transmission system responses. The calibration robot system was validated by workspace simulation, test bench in laboratory and practical deployment for MSE calibration within the EAST vacuum vessel during the 2024 and 2025 experimental campaigns. Compared to traditional calibration methods (based on 2021 and 2023 campaign data), the proposed robotic calibration system demonstrates significantly improved performance, by reducing the average sightline pose measurement repeatability deviation from 12.1 mm to 2.0 mm.

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来源期刊

Nuclear Engineering and Technology 工程技术-核科学技术

CiteScore

4.80

自引率

7.40%

发文量

431

审稿时长

3.5 months

期刊介绍： Nuclear Engineering and Technology (NET), an international journal of the Korean Nuclear Society (KNS), publishes peer-reviewed papers on original research, ideas and developments in all areas of the field of nuclear science and technology. NET bimonthly publishes original articles, reviews, and technical notes. The journal is listed in the Science Citation Index Expanded (SCIE) of Thomson Reuters. NET covers all fields for peaceful utilization of nuclear energy and radiation as follows: 1) Reactor Physics 2) Thermal Hydraulics 3) Nuclear Safety 4) Nuclear I&C 5) Nuclear Physics, Fusion, and Laser Technology 6) Nuclear Fuel Cycle and Radioactive Waste Management 7) Nuclear Fuel and Reactor Materials 8) Radiation Application 9) Radiation Protection 10) Nuclear Structural Analysis and Plant Management & Maintenance 11) Nuclear Policy, Economics, and Human Resource Development