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Journal Articles

Robot vision system R&D for ITER blanket remote-handling system

Maruyama, Takahito; Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Tesini, A.*

Fusion Engineering and Design, 89(9-10), p.2404 - 2408, 2014/10

 Times Cited Count:4 Percentile:36.81(Nuclear Science & Technology)

Journal Articles

Dust removal experiments for ITER blanket remote handling system

Ueno, Kenichi; Aburadani, Atsushi; Saito, Makiko; Maruyama, Takahito; Takeda, Nobukazu; Murakami, Shin; Kakudate, Satoshi

Plasma and Fusion Research (Internet), 9, p.1405012_1 - 1405012_4, 2014/02

Journal Articles

Rail deployment operation test for ITER blanket handling system with positioning misalignment

Takeda, Nobukazu; Aburadani, Atsushi; Tanigawa, Hisashi; Shigematsu, Soichiro; Kozaka, Hiroshi; Murakami, Shin; Kakudate, Satoshi; Nakahira, Masataka; Tesini, A.*

Fusion Engineering and Design, 88(9-10), p.2186 - 2189, 2013/10

 Times Cited Count:2 Percentile:21.27(Nuclear Science & Technology)

R&D for rail deployment equipment was performed for the ITER blanket remote handling system. The target torque for the automatic operation was investigated. The result shows that the 20% of the rated torque is adequate as the torque limitation for the automatic operation. A schedule for the procurement of the blanket remote handling system, which will be delivered to the ITER in 2020, was also shown.

Journal Articles

Performance evaluation on force control for ITER blanket installation

Aburadani, Atsushi; Takeda, Nobukazu; Shigematsu, Soichiro; Murakami, Shin; Tanigawa, Hisashi; Kakudate, Satoshi; Nakahira, Masataka*; Hamilton, D.*; Tesini, A.*

Fusion Engineering and Design, 88(9-10), p.1978 - 1981, 2013/10

 Times Cited Count:2 Percentile:21.27(Nuclear Science & Technology)

no abstracts in English

Journal Articles

Irradiation test progress for the ITER maintenance robot

Noguchi, Yuto; Anzai, Katsunori; Kozaka, Hiroshi; Aburadani, Atsushi; Kazawa, Minoru; Takeda, Nobukazu; Kakudate, Satoshi

Dai-31-Kai Nihon Robotto Gakkai Gakujutsu Koenkai Yokoshu (DVD-ROM), 2 Pages, 2013/09

BB2013-1301.pdf:0.22MB

Journal Articles

Comparative study of laser and TIG weldings for application to ITER blanket hydraulic connection

Tanigawa, Hisashi; Aburadani, Atsushi; Shigematsu, Soichiro; Takeda, Nobukazu; Kakudate, Satoshi; Mori, Seiji*; Jokinen, T.*; Merola, M.*

Fusion Engineering and Design, 87(7-8), p.999 - 1003, 2012/08

 Times Cited Count:13 Percentile:74.08(Nuclear Science & Technology)

This paper presents results of R&D activities where the laser and TIG welding tools were developed to apply the blanket hydraulic connection. The target pipe is 48.26 mm in outer diameter and 2.77 mm-thick. A single path welding without filler materials is required to reduce the weld heat input related to re-weldability. For the laser welding, the focal spot diameter was expanded to increase allowable misalignment. The TIG welding tool was equipped with AVC (Arc Voltage Control) to avoid a torch sticking and to enlarge allowable misalignment. For each tool, the welding conditions were optimized for all position welding to horizontally located pipes. Obtained parameters such as the weld heat input, allowable misalignment, lifetime of the tools and amount of sputter and fume, were comparatively assessed.

Journal Articles

Verification test results of a cutting technique for the ITER blanket cooling pipes

Shigematsu, Soichiro; Tanigawa, Hisashi; Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Mori, Seiji*; Nakahira, Masataka*; Raffray, R.*; Merola, M.*

Fusion Engineering and Design, 87(7-8), p.1218 - 1223, 2012/08

 Times Cited Count:5 Percentile:42.85(Nuclear Science & Technology)

The current design of the ITER blanket system is a modular configuration and a total of 440 blanket modules are to be installed in the ITER vacuum vessel. Each blanket module consists of the first wall (FW) and the shield block (SB). The FW receives a high heat load from the plasma. The SB shields components from the neutrons generated by the nuclear fusion reaction. The FW will be damaged by the heat load and neutrons, so it requires scheduled replacement. For the FW replacement, cutting/welding tools for the cooling pipes must be able to conduct the following operations: access and cut/weld the pipe from the inside of the cooling pipe. The cutting tool for the pipe end is required to cut flat plate circularly from the surface side of the FW. This paper describes the current status of R&D of the cutting tools for maintenance of the cooling pipe of the FW.

Journal Articles

R&D on major components of control system for ITER blanket maintenance equipment

Takeda, Nobukazu; Kakudate, Satoshi; Matsumoto, Yasuhiro; Kozaka, Hiroshi; Aburadani, Atsushi; Negishi, Yusuke; Nakahira, Masataka*; Tesini, A.*

Fusion Engineering and Design, 85(7-9), p.1190 - 1195, 2010/12

 Times Cited Count:1 Percentile:11(Nuclear Science & Technology)

Several R&Ds for the ITER blanket remote handling system had been performed from the Engineering Design Activity phase until now and only several technical issues regarding the control system remained such as noise caused by slip ring, control of cable handling system, signal transmission through very long cable and radiation-hard amplifier. This study concentrates on these issues. As a conclusion, major issues for the control system have been solved and the ITER blanket remote handling system becomes further feasible.

Oral presentation

Tribological proof test results of Diamond Like Carbon (DLC) film to lubricate the mechanical gear for ITER remote handling equipment under GPa level high contact stress

Kakudate, Satoshi; Takeda, Nobukazu; Nakahira, Masataka*; Aburadani, Atsushi; Matsumoto, Yasuhiro; Kozaka, Hiroshi; Negishi, Yusuke

no journal, , 

no abstracts in English

Oral presentation

Verification test of rail connection mechanism for ITER blanket remote handling system

Kozaka, Hiroshi; Takeda, Nobukazu; Aburadani, Atsushi; Matsumoto, Yasuhiro; Negishi, Yusuke; Kakudate, Satoshi

no journal, , 

no abstracts in English

Oral presentation

Installation and removal of ITER blanket module using torque limiting control

Aburadani, Atsushi; Takeda, Nobukazu; Matsumoto, Yasuhiro; Kozaka, Hiroshi; Negishi, Yusuke; Kakudate, Satoshi

no journal, , 

no abstracts in English

Oral presentation

Remote handling of large and heavy component for ITER maintenance

Shigematsu, Soichiro; Aburadani, Atsushi; Takeda, Nobukazu; Kozaka, Hiroshi; Negishi, Yusuke; Kakudate, Satoshi

no journal, , 

no abstracts in English

Oral presentation

The Performance test of ITER blanket replacement using torque control

Aburadani, Atsushi; Takeda, Nobukazu; Kozaka, Hiroshi; Negishi, Yusuke; Kakudate, Satoshi; Matsumoto, Yasuhiro*

no journal, , 

no abstracts in English

Oral presentation

Maintenance robot based on system integration design for fusion reactor

Kakudate, Satoshi; Takeda, Nobukazu; Aburadani, Atsushi; Shigematsu, Soichiro; Matsumoto, Yasuhiro*; Tsuji, Koichi*

no journal, , 

Maintenance of the ITER blanket will be carried out in the vacuum vessel (VV) using remote handling equipment, including the in-vessel transporter (IVT) with vehicle type manipulators. An estimated 440 blanket modules, each with a maximum weight of 44.kN, will be installed in the VV. The $$gamma$$ ray dose rate is expected to be approximately 500 Gy/h during the periods of blanket maintenance. This paper describes the system integration of maintenance robot for ITER (International thermonuclear experimental reactor). This design items include design requirements, in-vessel transporter (maintenance robot) mechanism, installation mechanism and the rescue concept in case of failure mode.

Oral presentation

Recent test results on blanket module installation using in-vessel transporter for ITER

Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Kubo, Tomomi*; Sugimoto, Takeru*; Nakahira, Masataka*; Tesini, A.*

no journal, , 

no abstracts in English

Oral presentation

R&D for major devices of ITER blanket remote handling system to finalize design for procurement

Aburadani, Atsushi; Kozaka, Hiroshi; Kakudate, Satoshi; Negishi, Yusuke; Matsumoto, Yasuhiro*; Nakahira, Masataka*; Tesini, A.*; Takeda, Nobukazu

no journal, , 

R&D for the major devices, rail deployment equipment and cable handling system, was performed for the ITER blanket remote handling system. Regarding the rail deployment, the relation between the Oldham's coupling used for the positioning arm and the positioning error at the end of rail was investigated. The result shows that the coupling allowing 4 mm displacement causes the positioning error of 19 mm. The possible countermeasures are suggested. Regarding the cable handling system, a possibility is shown to keep the cable tension at the adequate level by controlling the torque of the cable handling system. A schedule for the procurement of the blanket remote handling system, which will be delivered to the ITER in 2016, is also shown.

Oral presentation

Development of welding and cutting technique for the ITER blanket cooling pipes

Aburadani, Atsushi; Shigematsu, Soichiro; Tanigawa, Hisashi; Takeda, Nobukazu; Kakudate, Satoshi

no journal, , 

no abstracts in English

Oral presentation

Status and plan for procurement of ITER blanket remote handling system

Takeda, Nobukazu; Aburadani, Atsushi; Tanigawa, Hisashi; Kozaka, Hiroshi; Shigematsu, Soichiro; Murakami, Shin; Minakawa, Noboru; Kakudate, Satoshi

no journal, , 

In the ITER, all the in-vessel components are maintained by remote equipment because of the high $$gamma$$ ray circumstance. This report describes about status and schedule of the ITER blanket maintenance system which will be procured by the Japan Atomic Energy Agency.

Oral presentation

R&D of remote maintenance robot for International Thermonuclear Experimental Fusion Reactor (ITER)

Maruyama, Takahito; Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi

no journal, , 

The experimental fusion reactor "ITER", which is being built in France, is going to be maintained by robots because the working environment is radioactive. We have developed a robot manipulator to investigate the feasibility of robotic maintenance of the ITER. As the positioning method of the manipulator, we adopted virtual reality, robot vision and force control. This manuscript intends to discuss the inaccuracy of robot vision with regard to calibration error.

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