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Collaborative Laboratories for Advanced Decommissioning Science; Tohoku University*
JAEA-Review 2025-011, 74 Pages, 2025/08
JAEA-Review-2025-011.pdf:5.31MB
The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science &Z Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2023. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2021, this report summarizes the research results of the "Development of a cooperative operation robot system for radiation source exploration" conducted from FY2021 to FY2023. The present study aims to develop a robot system (CORRASE: Cooperative Operation Robot system for RAdiation Source Exploration), realizing radiation source exploration with wide field of view, rapidity, and low cost. In FY2023, our research efforts focused on verification tests for radiation source exploration by summarizing the results of our previous studies. Polyhedral type gamma-ray directional detectors were fabricated from 8 BGO scintillators and shielding bodies. Radiation source exploration experiments were performed by developing a cooperative operation robot system consisting of 3 multi-legged robots carrying the gamma-ray detectors, IMUs (Inertial Measurement Units), and LiDARs (Light Detection And Ranging). An unknown test environment for the radiation source exploration was constructed by placing obstacles and a 10 MBq 
Cs sealed source as a simulated radioactive contamination source in a room measuring 7.8 
5.3 m
. The developed system was used to create the environmental map, to formulate the exploration plan, to create the heatmap of the radiation counts, and to image the radiation source from the calculated optimal observation position. The localization of the simulated radioactive contamination source was successfully performed with the cooperation of the 3 robot systems by displaying the image of the radiation source fused on the environmental map. It can be concluded that the initial goal of this study has been successfully achieved by developing the robot system realizing radiation source exploration.
Collaborative Laboratories for Advanced Decommissioning Science; Tohoku University*
JAEA-Review 2023-030, 80 Pages, 2024/03
JAEA-Review-2023-030.pdf:4.96MB
The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2022. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2021, this report summarizes the research results of the "Development of a cooperative operation robot system for radiation source exploration" conducted in FY2022. The present study aims to develop a Cooperative Operation Robot system for RAdiation Source Exploration (CORRASE). The multiple robot system provides radiation source exploration with wide field of view, rapidity, and low cost. The radiation source exploration is realized with multiple robots carrying directional gamma-ray detectors determining the incident direction of the incoming gamma-rays. We will develop the system by the final year of this proposal aiming for application in the Fukushima Daiichi Nuclear Power Station.
Collaborative Laboratories for Advanced Decommissioning Science; Tohoku University*
JAEA-Review 2022-041, 76 Pages, 2023/01
JAEA-Review-2022-041.pdf:3.27MB
The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2021. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2021, this report summarizes the research results of the "Development of a cooperative operation robot system for radiation source exploration" conducted in FY2021. The present study aims to develop a Cooperative Operation Robot system for RAdiation Source Exploration (CORRASE). The multiple robot system provides radiation source exploration with wide field of view, rapidity, and low cost. The radiation source exploration is realized with multiple robots carrying directional gamma-ray detectors determining the incident direction of the incoming gamma-rays. We will develop the system by the final year of this proposal aiming for application in the Fukushima Daiichi Nuclear Power Station.
Kitayama, Yoshiharu; Terasaka, Yuta; Sato, Yuki; Torii, Tatsuo
Proceedings of International Youth Nuclear Congress 2020 (IYNC 2020) (Internet), 4 Pages, 2020/05