Research On Task Definition And Modeling In Maintenance Robot Of Nuclear Power Plant

Nuclear power plant maintenance robot is an indispensable tool for the modern nuclear industry; it’s the future development goal and direction for modern nuclear industry, and in order to carry out maintenance tasks instead of manual operation. Taking into account the characteristics of nuclear power plant operations and maintenance tasks of its importance of efficiency and reliability in implementation process, this paper is guided by the application requirements, focusing on modeling of the tasks in the representation and expert systems in nuclear power plant maintenance robot task decision.First, the basic theory of task modeling and clustering algorithm are studied and analyzed. Then combined with characteristics of maintenance tasks in nuclear power plant, task modeling is analyzed in this paper. The construction method of task modeling which related in this paper practical application is studied and explored.Secondly, for the maintenance tasks modeling in nuclear power plant that proposes a new approach. This approach combines artificial intelligence and/or tree basic theory which is reconstructed, and then combined with the concept of ordered trees. After that the task sequence algorithm is introduced, and finally through MATLAB simulation to prove that the task modeling method can meet the requirements of nuclear power plant maintenance operations, beside that it can well express parallel execution of tasks, and is conducive to computer processing and calculation.Finally, in the face of the many types of auxiliary equipments in nuclear power plants, and the equipments are complex and will therefore generate a lot of tasks, so in this context, the decomposition of the task tree will become one of the bottlenecks of the system. The task should be optimized. First, the sub-task sequences that often appear in the task sequences to be merged; Second, on a consolidated basis in the meta-task sequence, task tree, with the task sequences corresponding to the decomposition branch merger, the task tree pruning, thus reducing the task of the breadth and depth of the tree, to speed up the decomposition of the task tree and its reaction.