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中島 慎介*; Moro, A.*; 小松 廉*; Faragasso, A.*; 松日楽 信人*; Woo, H.*; 川端 邦明; 山下 淳*; 淺間 一*
Proceedings of 2024 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR2024), p.160 - 165, 2024/11
Fuel debris retrieval is the fundamental task for decommissioning Fukushima Daiichi (1F). The presence of high radiation intensively affects the performance of conventional robotic systems which in many cases, due to failure of the electronic components, become obstacles to be retrieved. New systems and techniques are required to cope with the current limitations and find efficient solutions. This research presents the design approach exploiting rapid prototyping of a gripper system for a manipulator used to retrieve fuel debris on the bottom of the PCV (Primary Container Vessel). Modeling of the gripper is performed in simulations to find the relations between the ligaments that constrain the bending motion. The debris simulants and the fabricated 3D-printed gripper are shown.
中島 慎介*; Moro, A.*; 小松 廉*; Faragasso, A.*; 松日楽 信人*; Woo, H.*; 川端 邦明; 山下 淳*; 淺間 一*
Proceedings of International Topical Workshop on Fukushima Decommissioning Research 2024 (FDR2024) (Internet), 4 Pages, 2024/10
Fuel debris retrieval at the bottom of the primary containment vessel (PCV) is one of the significant tasks for the decommissioning of the nuclear power plant and in particular for 1F. It is challenging for conventional manipulators to perform the retrieval process due to the presence of radiation, water leakage, and poor lighting conditions. We tackle those problems with the design and fabrication of a novel mechanical manipulator and its control and navigation algorithm. Continuous Variable Transmission (CVT)-based actuation improves the robot's shock resistance. AI-based navigation algorithm enables semiautonomous navigation and grasping in the cluttered environment inside the PCV.
中島 慎介*; Moro, A.*; 小松 廉*; Faragasso, A.*; 松日楽 信人*; Woo, H.*; 川端 邦明; 山下 淳*; 淺間 一*
no journal, ,
The aim of this research is to develop a novel manipulator for retrieving fuel debris on the Fukushima Daiichi Nuclear Power Plant (1F) as shown in Figure 1. We designed a shock-resistant CVT (Continuously Variable Transmission) robot in collaboration with the University of Sussex.
中島 慎介*; 小松 廉*; Moro, A.*; Faragasso, A.*; Woo, H.*; 川端 邦明; 淺間 一*
no journal, ,
This research aims at developing a novel manipulator for retrieving fuel debris on the Fukushima Daiichi Nuclear Power Plant (1F) as shown in Figure 1. We conduct research on designing shock-resistant CVT (Continuously Variable Transmission) robot in collaboration with the University of Sussex. Our main focus is on navigation and control.
