核废料仓储三维虚拟远程实时监控与仿真  

3D Virtual-based Real-Time Remote Monitoring and Simulation for Nuclear Waste Warehousing

作　　者：丁国富[1] 宋小路 黄文培[2] 陈建[1] 朱鹏飞[1] 

机构地区：[1]西南交通大学机械工程学院先进设计与制造技术研究所,成都610031 [2]西南交通大学信息科学与技术学院,成都610031

出　　处：《系统仿真学报》2014年第4期848-853,共6页Journal of System Simulation

基　　金：中央高校基本科研业务费专项资金(SWJTU11CX045;四川省重大技术装备创新研制项目

摘　　要：为了实现对人健康有害的核废料远程操作,提出采用虚拟远程操作的实时远程同步控制技术,通过在远程建立基于设计模型的仓库核废料虚拟仿真场景,采集远程的同步控制物理信号完成虚拟仿真场景与现场操作场景的同步控制,从而完成对整个操作过程的虚拟控制。为了使系统在不同的运行环境下具有良好的适应性及让真实场景与虚拟场景之间有较好实时同步性,采用了变步长事件处理方式;针对场景动态模型数据处理量过大的问题,建立了机械手智能搬运算法和场景模型动态调度算法来对场景动态模型数据处理量进行优化。To realize the remote manipulation of nuclear waste warehousing, a method to monitor and simulate its process was proposed by 3D virtual-based real-time remote synchronization control technology. A corresponding prototype system of real-time remote monitoring and simulation was developed based on mixed programming with C＋＋ and OSG（Open Scene Graph）. A virtual environment of nuclear waste warehouse was built; the virtual and the real scenes were controlled synchronously according to the physical control signals. To ensure the adaptability of the prototype system in different running environments, variable step size of event processing was adopted; to optimize the great amount of dynamic model data processing, an intelligent handling algorithm for manipulators and a dynamic scheduling algorithm for scene model were established. Application cases show that the system satisfies the demands of remote automatic control of nuclear waste with advantages such as good adaptability, smooth running and good synchronization.

关 键 词：虚拟仿真 OSG 实时监控 变步长 场景动态优化 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]