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川妻 伸二
no journal, ,
原子力機構は、水中ロボット用試験水槽、モックアップ階段、モーションキャプチャーなどを備えた楢葉遠隔技術開発センターを立ち上げた。このセンターは廃止措置や緊急時対応のためのロボット開発を支援することが目的である。支援の一環として、ロボット標準試験法やロボットシミュレータの開発も行っている。
山田 大地; 阿部 浩之*; 川端 邦明
no journal, ,
To work in a place where human access is restricted, using remotely controlled robots as alternative of human is one of the ideal solution, and it is particularly of significant value for harmful places. In Fukushima Daiichi Nuclear Power Station (FDNPS) of Tokyo Electric Power Company holdings (TEPCO), many remotely controlled robots are used for its decommissioning. However, remote operation using robots is not easy, and there were some problems in remote robot operations. Robot testing method considering the tasks of remote robot operation in FDNPS is important for development in robotics and training for operators. Then, we survey about these problems on remote robot operation at FDNPS, and develop robot testing methods to quantitatively evaluate robot capabilities for remote operation based on this survey. This paper introduces this survey and the robot testing methods.
山田 大地; 阿部 浩之*; 川端 邦明
no journal, ,
In emergency response and decommissioning at Fukushima Daiichi Nuclear Power Station (FDNPS), remote controlled robot is required to work in harmful places instead of human workers. However, remote robot operation is not easy. In order to achieve a mission by remotely robot operation, the robot operator should understand what and how much he/she is capable to do by remote operation with the robot. Thus, a method for evaluation of robot capability is needed. Many of the missions by remote robot operation in FDNPS accomplish main objectives, while, few problems occurred in some missions. The experience from such problems in FDNPS have significant value for practical remote robot operation. The aim of this research is to develop a robot testing method based on cases of FDNPS remote operations with arm mounted robots. We survey FDNPS remote operations with arm mounted robots, and decide to develop a testing method to evaluate the robot capability for approaching a target object over an obstacle by a robot arm. We develop a test field for evaluation the capability and the test procedure to measure the metric to describe the capability using the test field. Moreover, we conduct actual tests and discussions with a team engaged in nuclear emergency response robot maintenance and training to make it more practical.