Rail DRAGON: Long-reach Bendable Modularized Rail Structure for Constant Observation inside PCV

Yokomura, Ryota*; Goto, Masataka*; Yoshida, Takehito*; Warisawa, Shinichi*; Hanari, Toshihide; Kawabata, Kuniaki; Fukui, Rui*

IEEE Robotics and Automation Letters (Internet), 9(4), p.3275 - 3282, 2024/04

https://doi.org/10.1109/LRA.2024.3366022

To reduce errors in the remote control of robots during decommissioning, we developed a Rail DRAGON, which enables continuous observation of the work environment. The Rail DRAGON is constructed by assembling and pushing a long rail structure inside the primary containment vessel (PCV), and then repeatedly deploying several monitoring robots on the rails to enable constant observation in a high-radiation environment. In particular, we have developed the following components of Rail DRAGON: bendable rail modules, straight rail modules, a basement unit, and monitoring robots. Concretely, this research proposes and demonstrates a method to realize an ultralong articulated structure with high portability and workability. In addition, it proposes and verifies the feasibility of a method for deploying observation equipment that can be easily deployed and replaced, while considering disposal.

Commissioning of Versatile Compact Neutron Diffractometer (VCND) at the B-3 beam port of Kyoto University Research Reactor (KUR)

Mori, Kazuhiro*; Okumura, Ryo*; Yoshino, Hirofumi*; Kanayama, Masaya*; Sato, Setsuo*; Oba, Yojiro; Iwase, Kenji*; Hiraka, Haruhiro*; Hino, Masahiro*; Sano, Tadafumi*; et al.

JPS Conference Proceedings (Internet), 33, p.011093_1 - 011093_6, 2021/03

https://doi.org/10.7566/JPSCP.33.011093

no abstracts in English

Development of an altitude-keeping system for underwater robots using laser beams

Takemura, Fumiaki*; Taba, Ryo*; Hirayama, Keita*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*

Artificial Life and Robotics, 22(4), p.405 - 411, 2017/12

https://doi.org/10.1007/s10015-017-0377-y

The manta method is a survey method that divers investigate the degree of coral and whitening state while being towed to a boat. The manta method makes great physical burden. Therefore, the authors think that this task can substitute an underwater robot. This underwater robot is desirable to be able to keep altitude above the seabed. Hence, the authors have been developing the altitude (its distance above the sea floor) keeping system for an underwater robot. Visual recognition of distant underwater objects is possible in the water with high transparency, for example, in the coastal sea area of Okinawa prefecture, Japan. So, the authors have been adopting the distance measuring method using the two laser beams and a monocular camera with image processing. It realize to keep altitude of an underwater robot by using such devices. The evaluation experiments of the altitude keeping system are carried out in the pool.

Development of an altitude maintenance system for underwater robots using laser beams

Taba, Ryo*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*

Proceedings of 21st International Symposium on Artificial Life and Robotics (AROB 21st 2016) and 1st International Symposium on BioComplexity (ISBC-1) (Internet), p.395 - 399, 2016/01

Object oriented data analysis environment for neutron scattering

Suzuki, Jiro*; Kajimoto, Ryoichi; Ohara, Takashi; Yonemura, Masao*; Aoyagi, Tetsuo; Manabe, Atsushi*; Nakatani, Takeshi; Otomo, Toshiya*; Kawabata, Setsuya*

no journal, , 

Manyo-Lib is a framework of software designed for data analysis for neutron scattering experiment. It is one of the fundamental software used in J-PARC/MLF. Manyo-Lib consists of class libraries of C++ and Python interfaces that wrap the class libraries. The purpose of Manyo-lib is to offer operators for analysis, data containers, distributed computing environment, common data formats necessary to analyzing experiment data generated by various scattering equipments and various research regions. We are going to use NeXus as our common file format.

Visualization of current density distributions with neutron spin interferometer

Hayashida, Hirotoshi; Yamazaki, Dai; Ebisawa, Toru*; Maruyama, Ryuji; Soyama, Kazuhiko; Takenaka, Nobuyuki*; Kageyama, Masashi*; Tasaki, Seiji*; Hino, Masahiro*; Kawabata, Yuji*; et al.

no journal, , 

no abstracts in English

Visualization of magnetic field with Neutron Spin Interferometer

Hayashida, Hirotoshi; Yamazaki, Dai; Ebisawa, Toru*; Maruyama, Ryuji; Soyama, Kazuhiko; Iikura, Hiroshi; Yasuda, Ryo; Sakai, Takuro; Matsubayashi, Masahito; Takenaka, Nobuyuki*; et al.

no journal, , 

no abstracts in English

Present status of a new pulsed neutron imaging instrument in J-PARC MLF

Shinohara, Takenao; Kai, Tetsuya; Segawa, Mariko; Oi, Motoki; Oikawa, Kenichi; Harada, Masahide; Nakatani, Takeshi; Sakai, Kenji; Iikura, Hiroshi; Aizawa, Kazuya; et al.

no journal, , 

no abstracts in English

Fabrication of Mach-Zehnder optical waveguide structures in PDMS thin films using proton beam writing

Kano, Keisuke*; Saruya, Ryota*; Kawabata, Shunsuke*; Araki, Jun*; Noguchi, Katsuya*; Kada, Wataru*; Miura, Kenta*; Kato, Hijiri*; Sato, Takahiro; Koka, Masashi; et al.

no journal, , 

Development pf altitude maintenance system using a monocular camera for an underwater robot

Taba, Ryo*; Hirayama, Keita*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*

no journal, , 

This paper proposed an observation altitude maintenance method with a monocular camera for realizing Manta method-like observation. We developed a test platform and attempted the basic experiments.