{"id":"https://openalex.org/W7147199320","doi":"https://doi.org/10.1109/cnml68938.2026.11452369","title":"Optimization of Heuristic Probability-Integrated Artificial Potential Field Algorithms for Nuclear Operation Robotic Arms","display_name":"Optimization of Heuristic Probability-Integrated Artificial Potential Field Algorithms for Nuclear Operation Robotic Arms","publication_year":2026,"publication_date":"2026-01-30","ids":{"openalex":"https://openalex.org/W7147199320","doi":"https://doi.org/10.1109/cnml68938.2026.11452369"},"language":null,"primary_location":{"id":"doi:10.1109/cnml68938.2026.11452369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cnml68938.2026.11452369","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Conference on Communication Networks and Machine Learning (CNML)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132720430","display_name":"Wenbo Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096139","display_name":"China Institute of Atomic Energy","ror":"https://ror.org/00v5gqm66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210096139"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenbo Huang","raw_affiliation_strings":["China Institute of Atomic Energy,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China Institute of Atomic Energy,Beijing,China","institution_ids":["https://openalex.org/I4210096139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132687512","display_name":"Yang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096139","display_name":"China Institute of Atomic Energy","ror":"https://ror.org/00v5gqm66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210096139"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["China Institute of Atomic Energy,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China Institute of Atomic Energy,Beijing,China","institution_ids":["https://openalex.org/I4210096139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132561303","display_name":"Yanan Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096139","display_name":"China Institute of Atomic Energy","ror":"https://ror.org/00v5gqm66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210096139"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanan Hong","raw_affiliation_strings":["China Institute of Atomic Energy,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China Institute of Atomic Energy,Beijing,China","institution_ids":["https://openalex.org/I4210096139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471000","display_name":"Jianhua Wu","orcid":"https://orcid.org/0000-0002-2410-5013"},"institutions":[{"id":"https://openalex.org/I4210096139","display_name":"China Institute of Atomic Energy","ror":"https://ror.org/00v5gqm66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210096139"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Wu","raw_affiliation_strings":["China Institute of Atomic Energy,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China Institute of Atomic Energy,Beijing,China","institution_ids":["https://openalex.org/I4210096139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100337614","display_name":"C.M. Wang","orcid":"https://orcid.org/0000-0002-7604-1744"},"institutions":[{"id":"https://openalex.org/I4210096139","display_name":"China Institute of Atomic Energy","ror":"https://ror.org/00v5gqm66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210096139"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuangao Wang","raw_affiliation_strings":["China Institute of Atomic Energy,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China Institute of Atomic Energy,Beijing,China","institution_ids":["https://openalex.org/I4210096139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013208110","display_name":"Zhiping Luo","orcid":"https://orcid.org/0000-0002-8264-6424"},"institutions":[{"id":"https://openalex.org/I4210096139","display_name":"China Institute of Atomic Energy","ror":"https://ror.org/00v5gqm66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210096139"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiping Luo","raw_affiliation_strings":["China Institute of Atomic Energy,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China Institute of Atomic Energy,Beijing,China","institution_ids":["https://openalex.org/I4210096139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113516144","display_name":"H Y Pang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096139","display_name":"China Institute of Atomic Energy","ror":"https://ror.org/00v5gqm66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210096139"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongchao Pang","raw_affiliation_strings":["China Institute of Atomic Energy,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China Institute of Atomic Energy,Beijing,China","institution_ids":["https://openalex.org/I4210096139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5132720430"],"corresponding_institution_ids":["https://openalex.org/I4210096139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.90663292,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1183","last_page":"1190"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.37059998512268066,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.37059998512268066,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.33880001306533813,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.026399999856948853,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7487000226974487},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7440000176429749},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5877000093460083},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5184999704360962},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.5162000060081482},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5113000273704529},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.46700000762939453},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46470001339912415},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.451200008392334},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.44130000472068787}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7487000226974487},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7440000176429749},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5877000093460083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5564000010490417},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5184999704360962},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.5162000060081482},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5113000273704529},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.46700000762939453},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46470001339912415},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.451200008392334},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.44130000472068787},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4318999946117401},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.41019999980926514},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4083000123500824},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.38769999146461487},{"id":"https://openalex.org/C67953723","wikidata":"https://www.wikidata.org/wiki/Q192525","display_name":"Workstation","level":2,"score":0.3756999969482422},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.37070000171661377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.364300012588501},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35010001063346863},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34369999170303345},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3433000147342682},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.31189998984336853},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.30790001153945923},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2992999851703644},{"id":"https://openalex.org/C2778697102","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Remote operation","level":2,"score":0.29910001158714294},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.28790000081062317},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27630001306533813},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.275299996137619},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.25189998745918274},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2517000138759613},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.25}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cnml68938.2026.11452369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cnml68938.2026.11452369","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Conference on Communication Networks and Machine Learning (CNML)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1976930960","https://openalex.org/W1977530843","https://openalex.org/W1993999483","https://openalex.org/W2112474089","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2246023205","https://openalex.org/W2510352861","https://openalex.org/W3025834285","https://openalex.org/W3104753760","https://openalex.org/W4233080885","https://openalex.org/W4385464935"],"related_works":[],"abstract_inverted_index":{"Addressing":[0],"the":[1,73,103,117],"challenges":[2],"of":[3,72,107],"complex":[4,137],"environmental":[5,45],"conditions,":[6],"safety":[7,106,129],"concerns,":[8],"and":[9,41,61,69,98,105,127,135],"operational":[10],"difficulties":[11],"in":[12,110,132,142,147],"nuclear":[13,149],"operations":[14,146],"requires":[15],"advanced":[16],"robotic":[17,27,74],"solutions.":[18],"This":[19,34],"work":[20],"proposes":[21],"an":[22,76],"extended":[23],"reality":[24,38,43],"(XR)-based":[25],"collaborative":[26,64],"arm":[28],"precision":[29],"control":[30],"system":[31,35],"is":[32,86],"introduced.":[33],"integrates":[36],"virtual":[37],"(VR)":[39],"teleoperation":[40],"augmented":[42],"(AR)":[44],"perception":[46],"technologies":[47],"to":[48],"establish":[49],"a":[50],"bidirectional":[51],"\"physical\u2013virtual\"":[52],"closed-loop":[53],"interaction":[54],"architecture,":[55],"enabling":[56],"interconnection":[57],"across":[58],"multiple":[59],"systems":[60],"facilitating":[62],"human\u2013machine":[63,144],"interaction.":[65],"For":[66],"motion":[67],"planning":[68,109],"obstacle":[70],"avoidance":[71],"arm,":[75],"improved":[77,118],"heuristic":[78],"probabilistic":[79],"fusion":[80],"artificial":[81],"potential":[82,95],"field":[83,96],"method":[84],"(PAPF-RRT)":[85],"proposed.":[87],"The":[88],"algorithm":[89,119],"employs":[90],"adaptive":[91],"sampling":[92],"strategies,":[93],"nonlinear":[94],"functions,":[97],"safety-enhancing":[99],"mechanisms,":[100],"thereby":[101],"improving":[102],"efficiency":[104],"path":[108,122],"obstacle-rich":[111],"environments.":[112],"Simulation":[113],"results":[114],"demonstrate":[115],"that":[116],"achieves":[120],"high":[121],"smoothness,":[123],"increased":[124],"node":[125],"utilization,":[126],"stable":[128],"distance":[130],"maintenance":[131],"both":[133],"two-dimensional":[134],"three-dimensional":[136],"settings.":[138],"It":[139],"proves":[140],"effective":[141],"supporting":[143],"cooperative":[145],"high-risk":[148],"scenarios.":[150]},"counts_by_year":[],"updated_date":"2026-04-02T13:53:19.096889","created_date":"2026-04-02T00:00:00"}