iFANnpp: ロボットと自律知能のための原子力発電所デジタルツイン
iFANnpp: Nuclear Power Plant Digital Twin for Robots and Autonomous Intelligence
原子力発電所全体をUnreal Engine 5でモデル化し、高忠実度の加圧水型原子炉シミュレータと統合したデジタルツインを構築。ロボットアルゴリズムの研究開発を支援する。
著者: Youndo Do, Marc Zebrowitz, Jackson Stahl, Fan Zhang
分類: cs.RO
原文アブストラクト
Robotics has gained attention in the nuclear industry due to its precision and ability to automate tasks. However, there is a critical need for advanced simulation and control methods to predict robot behavior and optimize plant performance, motivating the use of digital twins. Most existing digital twins do not offer a total design of a nuclear power plant. Moreover, they are designed for specific algorithms or tasks, making them unsuitable for broader research applications. In response, this work proposes a comprehensive nuclear power plant digital twin designed to improve real-time monitoring, operational efficiency, and predictive maintenance. A full nuclear power plant is modeled in Unreal Engine 5 and integrated with a high-fidelity Generic Pressurized Water Reactor Simulator to create a realistic model of a nuclear power plant and a real-time updated virtual environment. The virtual environment provides various features for researchers to easily test custom robot algorithms and frameworks.
