Euler–Maruyama algorithm in estimating UGV path and location in nuclear emergency and security applications
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Hany Nasry Zaky
Abstract
Mobile Robots (MR) are currently used across a variety of different sectors and have military, nuclear and industrial applications among others. In unmanned systems, teleoperation sensors, navigation instruments, control systems and radiation sensors can be fixed on the MR to perform required tasks such as radiological scanning, identifying, and surveying the contaminated environment that has been exposed to radiation. In this work, an estimation of the mobile robot location and the optimum path for time-delay compensation for MR teleoperation are investigated. As the MR teleoperation has a stochastic nature, the kinematics equations are modeled using stochastic differential equations (SDEs). Afterwards, these SDEs are solved using Numerical algorithms such as Euler–Maruyama algorithm which is used to approximate SDEs solution with the aid of MATLAB. Additionally, the results are discussed and depicted in tables and figures. Finally, the simulated results for the solution are performed and are found to highly agree with the ideal path of the simulated MR. This result is of great importance to be used in the case of nuclear emergency response and mitigation.
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Author contributions: All the authors have accepted responsibility for the entire content of this submitted manuscript and approved submission.
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Research funding: None declared.
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Conflict of interest statement: The authors declare no conflicts of interest regarding this article.
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Artikel in diesem Heft
- Frontmatter
- Scaling effect on cesium diffusion in compacted MX-80 bentonite for buffer materials in HLW repository
- Enhanced heat transfer in corrugated plate fin heat sink
- Discussion of options to increase the control drum worth in fast reactor
- New semi-empirical systematic of (p,n) reaction cross section at 7.5 MeV
- Computational analysis of nuclear desalination system under various configurations
- Performance analysis of nuclear powered desalination unit based on MED-TVC: a case study for Saudi Arabia
- Analysis of 4-inch cold leg top-slot break LOCA in ATLAS experimental facility using MARS-KS
- Evaluating the performance of Indonesia’s nuclear energy program using INPRO methodology
- Thermal hydraulic analysis of VVER spent fuels stored in vault dry system under different operating and design conditions
- Comparative analysis of swelling and porosity evolution in UO2 fuel via two approaches
- Euler–Maruyama algorithm in estimating UGV path and location in nuclear emergency and security applications
- Modeling and simulation of deposited energy gain via irradiation of heavy ion beams on the fusion reactor contains spherical fuel capsules with foam
- Calendar of events
Artikel in diesem Heft
- Frontmatter
- Scaling effect on cesium diffusion in compacted MX-80 bentonite for buffer materials in HLW repository
- Enhanced heat transfer in corrugated plate fin heat sink
- Discussion of options to increase the control drum worth in fast reactor
- New semi-empirical systematic of (p,n) reaction cross section at 7.5 MeV
- Computational analysis of nuclear desalination system under various configurations
- Performance analysis of nuclear powered desalination unit based on MED-TVC: a case study for Saudi Arabia
- Analysis of 4-inch cold leg top-slot break LOCA in ATLAS experimental facility using MARS-KS
- Evaluating the performance of Indonesia’s nuclear energy program using INPRO methodology
- Thermal hydraulic analysis of VVER spent fuels stored in vault dry system under different operating and design conditions
- Comparative analysis of swelling and porosity evolution in UO2 fuel via two approaches
- Euler–Maruyama algorithm in estimating UGV path and location in nuclear emergency and security applications
- Modeling and simulation of deposited energy gain via irradiation of heavy ion beams on the fusion reactor contains spherical fuel capsules with foam
- Calendar of events
