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Deep Q-Learning for Navigation of Robotic Arm for Tokamak Inspection

  • Swati Jain
  • Priyanka Sharma
  • Jaina Bhoiwala
  • Sarthak Gupta
  • Pramit Dutta
  • Krishan Kumar Gotewal
  • Naveen Rastogi
  • Daniel Raju
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11337)

Abstract

Computerized human-machine interfaces are used to control the manipulators and robots for inspection and maintenance activities in Tokamak. The activities embrace routine and critical activities such as tile inspection, dust cleaning, equipment handling and replacement tasks. Camera(s) is deployed on the robotic arm which moves inside the chamber to accomplish the inspection task. For navigating the robotic arm to the desired position, an inverse kinematic solution is required. Such closed-form inverse kinematic solutions become complex in the case of dexterous hyper-redundant robotic arms that have high degrees of freedom and can be used for inspections in narrow gaps. To develop real-time inverse kinematic solver for robots, a technique called Reinforcement Learning is used. There are various strategies to solve Reinforcement problem in polynomial time, one of them is Q-Learning. It can handle problems with stochastic transitions and rewards, without requiring adaption or probabilities of actions to be taken at a certain point. It is observed that Deep Q-Network successfully learned optimal policies from high dimension sensory inputs using Reinforcement Learning.

Notes

Acknowledgment

This work is conducted at Nirma University, Ahmedabad underfunded research project by the Board of Research in Nuclear Sciences under Department of Atomic Energy.

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Copyright information

© Springer Nature Switzerland AG 2018

Authors and Affiliations

  1. 1.Department of Computer Engineering, Institute of TechnologyNirma UniversityAhmedabadIndia
  2. 2.Institute of Plasma ResearchBhat, GandhinagarIndia
  3. 3.Homi Bhabha National InstituteMumbaiIndia

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