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Trajectory Planning for the Robot Arm for Automatic Damage detection and Recognition of First Wall Tile Images in Tokamak using Image Processing and Machine Learning

Prof Swati Jain , Prof Priyanka Sharma, Pramit Dutta, K K Gotewal of the Department of Computer Science and Engineering, and Naveen Rastogi, Raju  Daniel of the Institute for Plasma Research, Ahmedabad are collaborating on a  Board of Research in Nuclear Sciences-Department of Atomic Energy (BRNS) project.  The project involves trajectory planning of hyper-redundant robots using deep reinforcement learning algorithms. This takes into account the robotic kinematics and uses images as input to predict the directional movement of the robotic arm. This highly dexterous robotic arm will be used  for inspection and maintenance of Tokamak.

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