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Oba, Hironori; Wakaida, Ikuo; Taira, Takunori*
Sumato Purosesu Gakkai-Shi, 13(2), p.51 - 58, 2024/03
no abstracts in English
Naoe, Takashi; Wakui, Takashi; Kinoshita, Hidetaka; Kogawa, Hiroyuki; Teshigawara, Makoto; Haga, Katsuhiro
JAEA-Technology 2023-022, 81 Pages, 2024/01
JAEA-Technology-2023-022.pdf:9.87MB
In the liquid mercury target system for the pulsed spallation neutron source of Materials and Life Science Experimental Facility (MLF) in the Japan Proton Accelerator Research Complex (J-PARC), pressure waves that is generated by the high-energy proton beam injection simultaneously with the spallation reaction, resulting severe cavitation erosion damage on the interior surface of the mercury target vessel. Because the bubble of pressure wave-induced cavitation collapsing near the interior surface of the mercury target vessel with applying the large amplitude of localized impact on the surface. Since the wall thickness of the beam entrance portion of the target vessel is designed to be 3 mm to reduce thermal stress due to the internal heating, the erosion damage has the possibility to cause the vessel fatigue failure and mercury leakage originated from erosion pits during operation. To reduce the erosion damage by cavitation, a technique of gas microbubble injection into the mercury for pressure wave mitigation, and double-walled structure of the beam window of the target vessel has been applied. A specimen was cut from the beam window of the used mercury target vessel in order to investigate the effect of the damage mitigation technologies on the vessel, and to reflect the consideration of operation condition for the next target. We have observed cavitation damage on interior surface of the used mercury target vessel by cutting out the disk shape specimens. Damage morphology and depth of damaged surface were evaluated and correlation between the damage depth and operational condition was examined. The result showed that the erosion damage by cavitation is extremely reduced by injecting gas microbubbles and the damage not formed inside narrow channel of the double-walled structure for relatively high-power operated target vessels.
Kamewari, Ryusei*; Fujishima, Yusuke*; Kawabata, Kuniaki; Suzuki, Kenta; Sakagami, Norimitsu*; Takemura, Fumiaki*; Takahashi, Satoru*
Proceedings of the IUTAM Symposium on Optimal Guidance and Control for Autonomous Systems 2023 (IUTAM Bookseries No.40), p.85 - 101, 2024/01
Akiyama, Yoichi; Shibanuma, So; Yanagisawa, Kenichi*; Yamada, Taichi; Suzuki, Kenta; Yoshida, Moeka; Ono, Takahiro; Kawabata, Kuniaki; Watanabe, Kaho; Morimoto, Kyoichi; et al.
JAEA-Review 2023-015, 60 Pages, 2023/09
JAEA-Review-2023-015.pdf:4.78MB
Naraha Center for Remote Control Technology Development (NARREC) was established in Japan Atomic Energy Agency to promote a decommissioning work of Fukushima Daiichi Nuclear Power Station (Fukushima Daiichi NPS). NARREC consists of a Full-scale Mock-up Test Building and Research Management Building. Various test facilities are installed in these buildings for the decommissioning work of Fukushima Daiichi NPS. These test facilities are intended to be used for various users, such as companies engaged in the decommissioning work, research and development institutions, educational institutions and so on. The number of NARREC facility uses was 84 in FY2021. We participated booth exhibitions and presentations on the decommissioning related events. Moreover, we also contributed to the development of human resources by supporting the 6th Creative Robot Contest for Decommissioning. As a new project, "Narahakko Children's Classroom" was implemented for elementary school students in Naraha Town. This report summarizes the activities of NARREC in FY2021, such as the utilization of facilities and equipment of NARREC, the development of remote-control technologies for supporting the decommissioning work, arrangement of the remote-control machines for emergency response, and training for operators by using the machines.
Miyabe, Masabumi; Kato, Masaaki*; Hasegawa, Shuichi*
Journal of Analytical Atomic Spectrometry, 38(2), p.347 - 358, 2023/02
Times Cited Count：1 Percentile：55.95(Chemistry, Analytical)To develop remote isotopic analysis for the nuclids with small isotope shifts, Doppler-free fluorescence spectroscopy of Ca was performed using laser ablation plume. Counter-propagating laser beams from two external cavity diode lasers were used to irradiate the plume in order to excite the ground-state Ca atoms to the 
D
state through a double resonance scheme of S
P
D. Subsequently, we measured fluorescence spectra associated with the relaxation from the D to P states. The linewidth measured at 1 ms delay after ablation under helium gas pressure of 70 Pa was found to be less than 70 MHz, which was about 1/30 of the linewidth of the Doppler-limited fluorescence spectrum. A broad Gaussian pedestal was observed at less than 600 micro-second delay in the temporal variation in fluorescence spectra, and it was most likely due to the velocity-changing collision. Additionally, the pressure broadening rate coefficient for the second-step P D transition was determined to be 46.0 MHz/torr from the spectra measured under various gas pressures. We evaluated analytical performances such as linearity of the calibration curve, limit of detection, and measurement accuracy using fluorescence signals of three naturally occurring Ca isotopes (i.e., 
Ca, 
Ca, and 
Ca). The limit of detection of isotopic abundance was estimated to be 0.09% from the 3-sigma criteria of the background. These results suggest that this spectroscopic technique is promising for remote isotopic analysis of nuclides with small isotope shifts.
Kawamura, Takuma; Sakamoto, Naohisa*
Dai-36-Kai Suchi Ryutai Rikigaku Shimpojiumu Koen Rombunshu (Internet), 3 Pages, 2022/12
Volume rendering is useful for visualizing computer fluid dynamics (CFD) data, and its VR visualization helps to understand complex 3D data. Volume rendering of large scale data in remote locations in VR space is an important issue of the visualization field. A remote visualization application CS-PBVR can interactively visualize the large-scale datasets in remote locations with volume rendering. In order to extend CS-PBVR into VR-PBVR which is applicable to a head mount display (HMD) Oculus rift S, we added a stereo image generation function, a gesture control function, and a renewed processing flow. VR-PBVR achieved interactive visualization of remotely located test dataset (2M cells) with 90 fps.
Naraha Center for Remote Control Technology Development, Fukushima Research Insitute
JAEA-Review 2022-021, 40 Pages, 2022/09
JAEA-Review-2022-021.pdf:2.54MB
Naraha Center for Remote Control Technology Development (NARREC) was established in Japan Atomic Energy Agency to promote a decommissioning work of Fukushima Daiichi Nuclear Power Station (Fukushima Daiichi NPS). NARREC consists of a Full-scale Mock-up Test Building and Research Management Building. Various test facilities are installed in these buildings for the decommissioning work of Fukushima Daiichi NPS. These test facilities are intended to be used for various users, such as companies engaged in the decommissioning work, research and development institutions, educational institutions and so on. The number of NARREC facility uses was 69 in FY2020. We participated booth exhibitions and presentations on the decommissioning related events. Moreover, we also contributed to the development of human resources by supporting the 5th Creative Robot Contest for Decommissioning on online because of the COVID-19. This report summarizes the activities of NARREC in FY2020, such as the utilization of facilities and equipment of NARREC, the development of remote control technologies for supporting the decommissioning work, arrangement of the remote control machines for emergency response, and training for operators by using the machines.
Yamada, Taichi; Kawabata, Kuniaki; Abe, Hiroyuki*
JAEA-Technology 2021-033, 18 Pages, 2022/03
JAEA-Technology-2021-033.pdf:1.58MB
This report describes the test procedures for evaluating performances involved in robot arm maneuvering of remotely operated robot utilized for nuclear emergency responses and decommissioning. After the accident at Fukushima Daiichi Nuclear Power Station of the Tokyo Electric Power Company Holdings Inc. (FDNPS) occurred, remotely operated robots have been deployed and utilized in the response tasks. Such post-accident work experience and lessons learned are very valuable for developing the robots in the future. Therefore, we were motivated to develop the test methods for performance evaluation of the robot by referring with such experiences and lessons. In the response and the decommissioning tasks, robots with a robot arm were deployed for door opening, removal objects, decontamination and cleanup and so on. Some of these tasks were conducted in an environment with obstacles by robot arms maneuvering. This report describes test procedures for quantitatively evaluating the performances which are for maneuvering involving in robot arm to approach target objects in an environment with obstacles. A typical course layout and the demonstration of test are also illustrated for the references.
Morishita, Hideki*; Yoshida, Minoru*; Nishimura, Akihiko; Matsudaira, Masayuki*; Hirayama, Yoshiharu*; Sugano, Yuichi*
Hozengaku, 20(1), p.101 - 108, 2021/04
no abstracts in English
Suzuki, Kenta; Abe, Fumiaki; Yashiro, Hiroshi; Kawabata, Kuniaki
JAEA-Testing 2020-009, 254 Pages, 2021/03
JAEA-Testing-2020-009.pdf:18.61MB
This report is the user manual of HAIROWorldPlugin for Choreonoid. Our motivation is to develop a robot simulator based on Choreonoid for technological development to contribute the decommissioning work at the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings, Inc. Choreonoid is an open source simulator which calculates the behavior of robots. The plugin is an extended function of Choreonoid which provides simulated behavior and phenomenon related to decommissioning tasks utilizing remotely operated robots. In particular, we developed additional functionalities for simulating the behavior of an underwater swimming robot, the behavior of an unmanned aerial vehicle robot, low visibility camera images, network communication failures, etc., and packaged these in the plugin. This report describes the installation of the plugin to Choreonoid on Ubuntu18.04-LTS and parameter settings of the plugin by presenting snapshots of operation windows.
Sato, Yuki; Terasaka, Yuta; Torii, Tatsuo
Nihon Genshiryoku Gakkai-Shi ATOMO
, 62(11), p.645 - 649, 2020/11
no abstracts in English
Kaburagi, Masaaki; Torii, Tatsuo; Ogawa, Toru
JAEA-Review 2019-031, 251 Pages, 2020/01
JAEA-Review-2019-031.pdf:57.36MB
There is high expectation for advanced remote technology and robotics to reduce the radiation exposure for workers in harsh nuclear environments such as the decommissioning of the Fukushima Daiichi Nuclear Power Station (FDNPS). However, the radiation tolerance of state-of-the-art key components, sensors and electronic devices, for remote operation is still limited. In order to extend the application of robotics in nuclear energy, it is pertinent to develop "Radiation hardness" of components and "Radiation smartness" in operation procedures. Furthermore, developments of "Radiation measurement" and "Technology to recognize the location and to grasp the surrounding environment", including the radiation imaging of the high dose-rate fields inside the FDNPS and the detection of nuclear fuel debris, are necessary for the future nuclear fuel debris retrieval. This Fukushima Research Conference aims to share the future vision for advancing the remote technology among experts from diverse fields.
Tamura, Koji*; Toyama, Shinichi
Nihon Genshiryoku Gakkai-Shi ATOMO, 61(5), p.413 - 415, 2019/05
In decommissioning of nuclear reactors, it is necessary to disassemble the nuclear reactor structure. In addition to the conventional cutting method, the laser method has many advantages such as remote controllability and no need for replacement parts such as blades, which can be a powerful choice. Nuclear reactor structure such as a pressure vessel are made of steel materials with a thickness exceeding 100 mm, and the laser method has poor knowledge and experience in cutting such thick steel materials. Therefore, as a result of trial cutting of steel materials under various cutting conditions with the high power fiber laser which is progressively available nowadays, it has been demonstrated that laser cutting is also possible for thick plates such as those used in nuclear reactors, and cutting of thick steel plates. We also developed the cutting technology using remote control using a robot in order to apply it to the decommissioning of thick steel cutting on the spot.
Nishimura, Akihiko; Yoshida, Minoru*; Yamada, Tomonori; Arakawa, Ryoki
Proceedings of International Topical Workshop on Fukushima Decommissioning Research (FDR 2019) (Internet), 3 Pages, 2019/05
JAEA support the development of remote sensing robotic system in the Naraha Remote Technology Development Center. A water tank is used as a mockup facility of nuclear reactor vessel. A compact seismic vibrometer based on an optical fiber interferometer is applied. A specially designed robotic system is also tested for installing the sensor unit. The experiment is prepared to clarify the transfer function of the water tank, using vibration noise of ground motion.
Chiba, Yusuke; Nishiyama, Yutaka; Tsubaki, Hirohiko; Iwai, Masaki
JAEA-Technology 2019-002, 29 Pages, 2019/03
JAEA-Technology-2019-002.pdf:2.43MB
Act on Special Measures Concerning Nuclear Emergency Preparedness was amended on the 30th of October in 2017. As the JAEA Emergency Assistance Organization, Maintenance and Operation Section for Remote Control Equipment in Naraha Center for Remote Control Technology Development started training for emergency response robots operation for operators in each site of JAEA in response to the new amendment. The training consists of three operations: small crawler-type mobile scouting robots, big crawler-type mobile robots with a manipulator or a long tong and small radio-controlled helicopters. The training has three classes (beginner, intermediate and advanced classes) depending on skills and experiences. This paper reports the training programs of emergency response robots operation of the beginner and intermediate classes which were used in the first half of fiscal 2018.
Tsuchida, Yoshihiro
Robotto, (246), p.78 - 79, 2019/01
no abstracts in English
Kawabata, Kuniaki
Nihon Robotto Gakkai-Shi, 36(7), p.460 - 463, 2018/09
no abstracts in English
Horiguchi, Kenichi
Gijutsushi, 30(4), p.8 - 11, 2018/04
The verification activity and training of operation in the Fukushima-Daiichi Nuclear Power Station are more important than another Nuclear Power Station. At the JAEA Naraha Remote Technology Development Center, it has being carried out the development work to apply to the decommissioning work by using the full sized mock up and VR system which is built based on location surveying data of inside the reactor building. It is able to contribute to the decommissioning more reliably and efficiently.
Kawabata, Kuniaki; Mori, Fumiaki*; Shirasaki, Norihito; Tanifuji, Yuta; Hanari, Toshihide
Proceedings of 2017 IEEE/SICE International Symposium on System Integration (SII 2017), p.450 - 455, 2018/02
This paper describes the test facilities and experimental environments for supporting the decommissioning of the nuclear facilities especially Fukushima Daiichi Nuclear Power Station by remote operation. Naraha Remote Technology Development Center of Japan Atomic Energy Agency is an institution for such purpose. Mock-up staircase, robot testing pool and motion capture arena are already installed and full service and support began from April, 2016. We are also designing and developing some experimental environment for remotely operated robots for nuclear decommissioning. In this paper, we describe current status and development of test facilities of Naraha Remote Technology Development Center, Japan Atomic Energy Agency.
Tanifuji, Yuta
Genshiryoku Nenkan 2018, p.96 - 97, 2017/10
no abstracts in English
