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JAEA Reports

Test methods for robots for nuclear emergency response and decommissioning; Tests for moving performances of robots (JAEA-TM-0004 and JAEA-TM-0005)

Kawabata, Kuniaki; Yamada, Taichi; Abe, Hiroyuki*

JAEA-Technology 2021-021, 30 Pages, 2021/11

JAEA-Technology-2021-021.pdf:2.55MB

This report describes the test procedures for performance evaluation of remotely operated robot utilized for nuclear emergency responses and decommissioning that provide to compare among the robot's performances quantitatively and relatively. 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 experiences 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 recent decommissioning tasks, reconnaissance on the distribution and status of nuclear fuel debris inside the Primary Containment Vessel (PCV) have been carried out. The insertion and deployment of robots into PCV were carried out through a penetration pipe with small diameter to prevent the scattering of radioactive materials. According to the authors' survey on such works have carried out in Units 1 and 2 of FDNPS, in order to carry out the reconnaissance work by the robot deployed into the PCV, it was clarified that the robots are required to run freely on the floor located below the exit of the penetration pipe and run freely on the inclined surface located below the exit of the pipe. This document describes two test procedures for performance evaluation of the robot connected with the cable such as running on the floor after being deployed through a penetration pipe and running on the inclined surface after being deployed through a penetration pipe. Typical course layout and the demonstration of test running are also illustrated for the references.

Journal Articles

Tracking method of medaka considering proximity state

Sakakibara, Takanori*; Takahashi, Satoru*; Kawabata, Kuniaki; Oda, Shoji*

2021 IEEE/SICE International Symposium on System Integration (SII 2021), Vol.2, p.517 - 523, 2021/07

 Times Cited Count:0 Percentile:0.03

In biology, it is expected to understand the mechanism of herd development by analyzing crowd behavior. Currently, medaka (Oryzias latipes) is often used when conducting such research because of its ease of breeding and experimentation. However, when conducting such studies, it is very difficult to manually obtain herd data. In this article, in order to analyze the behavior of medaka, we will introduce a method to automatically extract the swimming trajectory of medaka from time-series images and acquire the data necessary for behavior analysis. In particular, the improvement of extraction accuracy is achieved by processing the overlap state and adjoin state of medaka in the image.

Journal Articles

A Simulator-based system for testing skill to maneuver robot remotely; Implementations of data collection and presentation functions related to robot maneuver

Abe, Fumiaki; Kawabata, Kuniaki; Suzuki, Kenta; Yashiro, Hiroshi

2021 IEEE/SICE International Symposium on System Integration (SII 2021), Vol.2, p.835 - 836, 2021/07

 Times Cited Count:0 Percentile:0.03

Journal Articles

HAIROWorldPlugin; A Choreonoid plugin for virtually configuring decommissioning task environment for the robots

Suzuki, Kenta; Kawabata, Kuniaki

2021 IEEE/SICE International Symposium on System Integration (SII 2021), Vol.2, p.833 - 834, 2021/07

 Times Cited Count:0 Percentile:0.03

JAEA Reports

HAIROWorldPlugin operation manual

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.

JAEA Reports

Test methods for robots for nuclear emergency response and decommissioning; Tests for running performances of robots (JAEA-TM-0001, JAEA-TM-0002 and JAEA-TM-0003)

Kawabata, Kuniaki; Yamada, Taichi; Abe, Hiroyuki*

JAEA-Technology 2020-015, 37 Pages, 2020/11

JAEA-Technology-2020-015.pdf:3.81MB

This report describes the test procedures for evaluating running performances 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. Based on our examinations, in order to execute the response and decommissioning tasks, the robots are required to run through the space without enough margin and avoiding collisions, to move on stairs while avoiding tumbling or falling down and to drag a cable while avoiding problems caused by the cable entwining around objects. This report describes three test procedures for quantitatively evaluating the performances which are for running narrow passage, climbing up/down on the stairs and running with dragging the cable. Typical course layout and the demonstration of test running are also illustrated for the references.

Journal Articles

Toward technological contributions to remote operations in the decommissioning of the Fukushima Daiichi Nuclear Power Station

Kawabata, Kuniaki

Japanese Journal of Applied Physics, 59(5), p.050501_1 - 050501_9, 2020/05

 Times Cited Count:3 Percentile:27.8(Physics, Applied)

This paper describes the decommissioning work being undertaken at the Fukushima Daiichi Nuclear Power Station of the Tokyo Electric Power Company Holdings Inc.'s (FDNPS) using remote controlled robotic systems, as well as lessons learned from past remote task executions. We also summarize the issues to be considered in promoting safe, steady, and efficient decommissioning based on past experiences. In response to these issues, we are developing test methods for performance evaluation of the robots for nuclear decommissioning, robot simulator for operator proficiency training, and information generation methods to improve the operator's status awareness. The current status of technological development is also described.

JAEA Reports

Annual report for FY2018 on the activities of Naraha Center for Remote Control Technology Development (April 1, 2018 - March 31, 2019)

Hanari, Toshihide; Furukawahara, Ryo; Tsuchida, Yoshihiro; Kawabata, Kuniaki; Chiba, Yusuke

JAEA-Review 2019-047, 32 Pages, 2020/03

JAEA-Review-2019-047.pdf:2.45MB

Naraha Center for Remote Control Technology Development (Naraha Center) was established in Japan Atomic Energy Agency to promote a decommissioning work of Fukushima Daiichi Nuclear Power Station (Fukushima Daiichi NPS). Naraha Center consists of a Full-scale Mock-up Test Building and Research Management Building, and various test facilities are installed in them for the decommissioning work of Fukushima Daiichi NPS. The number of facility use in Naraha Center was 64 in FY2018. This report summarizes the activities of Naraha Center in FY2018, such as the utilization of facilities and equipment of Naraha Center, the development of remote control technologies for supporting the decommissioning work, maintenance of the remote control machines for emergency response, and training for operators by using the machines.

Journal Articles

An Image selection method from image sequence collected by remotely operated robot for efficient 3D reconstruction

Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Naruse, Keitaro*

Proceedings of International Workshop on Nonlinear Circuits, Communications and Signal Processing (NCSP 2020) (Internet), p.242 - 245, 2020/02

In this paper, we propose an image selection method to realize efficient three-dimensional (3D) reconstruction from image sequence collected by a remotely operated robot. The proposed method is to select adequate images for reconstruction computation based on optical flow measures. We confirmed that the proposed method can select adequate images for 3D reconstruction from the image sequence recorded by the remotely operated robot that is commanded stop-and-go motions. As a result, we demonstrated a 3D reconstruction could be performed efficiently with relatively few images that were selected by the proposed method.

Journal Articles

A Learning data collection using a simulator for point cloud based identification system

Tanifuji, Yuta; Kawabata, Kuniaki

Proceedings of International Workshop on Nonlinear Circuits, Communications and Signal Processing (NCSP 2020) (Internet), p.246 - 249, 2020/02

Journal Articles

Development of a simulator for underwater reconnaissance tasks by utilizing remotely operated robots

Suzuki, Kenta; Kawabata, Kuniaki

Proceedings of 2020 IEEE/SICE International Symposium on System Integration (SII 2020) (USB Flash Drive), p.1100 - 1106, 2020/01

Journal Articles

Fast in-situ mesh generation using Orb-SLAM2 and OpenMVS

Wright, T.*; Hanari, Toshihide; Kawabata, Kuniaki; Lennox, B.*

Proceedings of 17th International Conference on Ubiquitous Robots (UR 2020) (Internet), p.315 - 321, 2020/00

Journal Articles

Track3; Robot technology, remote control system

Kawabata, Kuniaki; Osumi, Hisashi*; Onishi, Ken*

Nihon Kikai Gakkai-Shi, 122(1211), p.16 - 17, 2019/10

no abstracts in English

Journal Articles

Development of a GUI-based operation system for building a 3D point cloud classifier

Tanifuji, Yuta; Kawabata, Kuniaki; Hanari, Toshihide

Proceedings of 2019 IEEE Region Ten Conference (TENCON 2019) (Internet), p.36 - 40, 2019/10

Journal Articles

3D environment reconstruction based on images obtained by reconnaissance task in Fukushima Daiichi Nuclear Power Station

Hanari, Toshihide; Kawabata, Kuniaki

E-Journal of Advanced Maintenance (Internet), 11(2), p.99 - 105, 2019/09

This paper describes our trials on 3-dimensional environment reconstruction from plural images for recognizing the status in the reactor building of Fukushima Daiichi Nuclear Power Station. Structure from Motion is one of photogrammetry techniques to estimate 3-dimensional structure of the objects and the camera's trajectory. We try to apply a Structure from Motion method and a pre-processing to plural images obtained by the reconnaissance task inside Primary Containment Vessel of Unit 3 using remotely operated vehicle. For improving a visibility, Multi-View Stereo is conducted the data obtained by Structure from Motion. In this paper, we report the results of the partial 3D reconstruction using SfM (Structure from Motion) and the visibility improvement of the 3D reconstructed data using MVS.

Journal Articles

Test facility for robots Naraha Center for Remote Control Technology Development

Hanari, Toshihide; Kawabata, Kuniaki

Kinzoku, 89(7), p.582 - 588, 2019/07

no abstracts in English

Journal Articles

Designing test methods for running capabilities of ground robots for nuclear disaster response

Kawabata, Kuniaki; Yamada, Taichi; Shirasaki, Norihito; Ishiyama, Hiroki

Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019) (USB Flash Drive), p.559 - 564, 2019/07

Journal Articles

Development of a robot simulator for remote operations for nuclear decommissioning

Kawabata, Kuniaki; Suzuki, Kenta

Proceedings of 16th International Conference on Ubiquitous Robots (UR 2019) (USB Flash Drive), p.501 - 504, 2019/06

Journal Articles

A Structure discrimination method by deep learning with point cloud data

Tanifuji, Yuta; Kawabata, Kuniaki

Proceedings of International Topical Workshop on Fukushima Decommissioning Research (FDR 2019) (Internet), 4 Pages, 2019/05

Journal Articles

3D structural reconstruction based on images obtained by survey task for decommissioning

Hanari, Toshihide; Kawabata, Kuniaki

Proceedings of International Topical Workshop on Fukushima Decommissioning Research (FDR 2019) (Internet), 4 Pages, 2019/05

In this paper, we propose a method for improving a visibility of a reconstructed 3D model from images that were photographed at Fukushima Daiichi Nuclear Power Station (NPS). The process of the proposed method consists of pre-processing for correcting a quality of the images, Structure from Motion (SfM) and post-processing for generating a 3D model. We describe the results of the 3D structural reconstruction utilizing plural images recorded by an underwater Remotely Operated Vehicle (ROV) inside the Primary Containment Vessel (PCV). We discussed about the experimental results and confirmed that the proposed method reconstructed major structure in the PCV based on the images.

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