Development of a robot simulation system for remotely operated robots for operator proficiency training and robot performance verification

Kawabata, Kuniaki; Suzuki, Kenta; Isowa, Mitsuru*; Horiuchi, Kazunori; Ito, Rintaro

Proceedings of 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2017) (USB Flash Drive), p.561 - 564, 2017/06

https://doi.org/10.1109/URAI.2017.7992669

This paper describes the current status of the development of a simulation system for remotely operated robots. The system will be used for operator proficiency training and robot performance verification. Our purpose for developing this system is to contribute to decommissioning of the Fukushima Daiichi Nuclear Power Station (FDNPS). The simulator system was designed using Choreonoid, a simulator development tool. The effects of view disturbances, communication failures, and so on are extended functions that are implemented on the simulator. The effects of water submergence on the physical behavior of underwater robots are also implemented. In this paper, we introduce the prototype of the robotic simulator system with the newly implemented extended functions. Some examples of system output are shown.

A Choreonoid based simulator for nuclear emergency response robots

Isowa, Mitsuru; Suzuki, Kenta; Ito, Rintaro; Horiuchi, Kazunori*; Kawabata, Kuniaki

no journal, , 

Simulation technology is important for efficient development of remotely operated robots for decommissioning Fukushima Daiichi Nuclear Power Plants (herein referred to as 1F) and training operators to use the robots. We developed an extension to Choreonoid to simulate operation of an underwater, remotely operated vehicle (ROV). The extension was developed using a network traffic controller and includes 3D environmental models of 1F. This paper provides an overview of the extension.

Improvement of VR system in decommissioning of Fukushima Daiichi Nuclear Power Station

Ito, Rintaro; Suzuki, Kenta; Horiuchi, Kazunori; Hirano, Hiroyasu

no journal, , 

In the decommissioning of TEPCO Fukushima Daiichi Nuclear Power Plant (1F), it is important to prepare in advance based on data and information on the spatial structure and dose distribution within the facility is important. The virtual reality system (VR system) of the Naraha Remote Technology Development Center presents the structure and equipment of 1F in 3D and can also present the dose distribution. This system is utilized for planning, training, etc. of the work related to decommissioning. In order to make effective use of this VR system in the future, it is also required to reproduce precisely the situation at the work site, to enable planning and training, etc of work in the situation close to the workplace. To that end, it will be necessary to expand 1F data to be incorporated into the VR system and to quickly reflect on-site situations that are constantly changing due to work. In this paper, we report on attempts to enhance the functions of the VR system that we recently worked on, taking into account such points.

Development of simulation technology for deccomissioning of FDNPS; Multicoper simulation and Gamma camera simulation

Suzuki, Kenta; Kawabata, Kuniaki; Horiuchi, Kazunori

no journal, , 

Optimization in flow-sheet of extraction chromatography with CMPO and HDEHP impregnated adsorbents

Watanabe, So; Senzaki, Tatsuya; Shibata, Atsuhiro; Nomura, Kazunori; Nakatani, Kiyoharu*; Horiuchi, Yusuke*; Arai, Tsuyoshi*; Matsuura, Haruaki*

no journal, , 

no abstracts in English