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Wright, T.*; 羽成 敏秀; 川端 邦明; Lennox, B.*
Proceedings of 17th International Conference on Ubiquitous Robots (UR 2020) (Internet), p.315 - 321, 2020/00
In exploratory robotics for nuclear decommissioning, environmental understanding is key. Sites such as Fukushima Daiichi Power Station and Sellafield often use manually controlled or semi-autonomous vehicles for exploration and monitoring of assets. In many cases, robots have limited sensing capabilities such as a single camera to provide video to the operators. These limitations can cause issues, where a lack of data about the environment and limited understanding of depth within the image can lead to a mis-understanding of asset state or potential damage being caused to the robot or environment. This work aims to aid operators by using the limited sensors provided i.e. a single monocular camera, to allow estimates of the robot's surrounding environments to be generated in situ without having to off load large amounts of data for processing. This information can then be displayed as a mesh and manipulated in 3D to improve the operator awareness. Due to the target environment for operation being radioactive, speed is prioritised over accuracy, due to the damaging effects radiation can cause to electronics. In well lit environments images can be overlaid onto the meshes to improve the operators understanding and add detail to the mesh. From the results it has been found that 3D meshes of an environment/object can be generated in an acceptable time frame, less than 5 minutes. This differs from many current methods which require offline processing due to heavy computational requirement of Photogrammetry, or are far less informative giving data as raw point clouds, which can be hard to interpret. The proposed technique allows for lower resolution meshes good enough for avoiding collisions within an environment to be generated during a mission due to it's speed of generation, however there are still several issues which need to be solved before such a technique is ready for deployment.
丹羽 元; Fiorini, G.-L.*; Sim, Y.-S.*; Lennox, T.*; Cahalan, J. E.*
Proceedings of International Conference on Nuclear Energy System for Future Generation and Global Sustainability (GLOBAL 2005) (CD-ROM), 6 Pages, 2005/10
設計・安全性プロジェクト管理委員会(Design & Safety Project Management Board, DSPMB)がGenIVのナトリウム冷却炉運営委員会の下に設置され、候補となる炉の炉心設計、システム設計、安全評価や諸R&D活動の統合化を進める役割を負うこととなった。このためDSPMBは必要なR&D活動を集約し、今後数年間の活動計画をまとめた。ループ型MOX燃料炉とタンク型金属燃料炉が候補として挙げられており、活動内容にはこれらを対象とした上記設計や評価の他、革新的システムの検討評価、安全評価を支える評価手法の開発等も含まれている。これらを適宜実施していくことによりDSPMBはNa冷却炉運営委員会がGen-IVの目標に対する解を示すための強力な支援を果たす。
此村 守; Kim, S.-O.*; Hill, R.*; Dufour, P.*; Lennox, T.*
Proceedings of International Conference on Nuclear Energy System for Future Generation and Global Sustainability (GLOBAL 2005) (CD-ROM), 6 Pages, 2005/10
第IV世代原子力エネルギーシステムでのNa高速炉の研究開発の基盤として機器設計およびバランスオブプラント(CD-BOP)の研究開発がある。ここでのCD-BOPは、先行炉の知識や運転経験によりほぼ完成しつつある現行のものを超え、革新技術や代替機器を取り入れNa炉の一層の信頼性や効率向上を目指すものである。本発表では、第IV世代国際フォーラムのもとで国際協力で策定されているCD-BOPのプロジェクトプランの研究開発内容やスケジュールの概要について報告する。