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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
Kawabata, Kuniaki; Mori, Fumiaki*; Shirasaki, Norihito; Tanifuji, Yuta; Hanari, Toshihide
Proceedings of 2017 IEEE/SICE International Symposium on System Integration (SII 2017), p.450 - 455, 2018/02
This paper describes the test facilities and experimental environments for supporting the decommissioning of the nuclear facilities especially Fukushima Daiichi Nuclear Power Station by remote operation. Naraha Remote Technology Development Center of Japan Atomic Energy Agency is an institution for such purpose. Mock-up staircase, robot testing pool and motion capture arena are already installed and full service and support began from April, 2016. We are also designing and developing some experimental environment for remotely operated robots for nuclear decommissioning. In this paper, we describe current status and development of test facilities of Naraha Remote Technology Development Center, Japan Atomic Energy Agency.
Kawabata, Kuniaki; Tanifuji, Yuta; Mori, Fumiaki; Shirasaki, Norihito
Proceedings of 2017 International Congress on Advances in Nuclear Power Plants (ICAPP 2017) (CD-ROM), 4 Pages, 2017/04
This paper describes to develop test methods for evaluation of remotely operated robots and operator proficiency for nuclear emergency response and decommissioning tasks. We summarized representative robot's behaviors in the actual operations by the time analysis approach. We also examined environmental factors from the view point of the operation efficiency. Based on these examinations, we currently design some modules of the field for testing remotely operated machines. The approach and progress of the test method development are reported.
Tanifuji, Yuta; Shirasaki, Norihito; Mori, Fumiaki; Yamada, Taichi; Tsuchida, Yoshihiro; Kawabata, Kuniaki; Torii, Tatsuo; Kawatsuma, Shinji
no journal, ,
no abstracts in English
Tanifuji, Yuta; Shirasaki, Norihito; Mori, Fumiaki; Kawabata, Kuniaki
no journal, ,
This paper describes the efforts and the state of these efforts to develop test methods for evaluation of remotely operated robots. Because the radiation levels are high inside the reactor buildings at Fukushima Daiichi it is difficult for humans to work in them and remotely controlled robots must be used to do much of the decommissioning work. To select the robots for the different decommissioning tasks and to determine where the robots should be improved, a test method for analyzing and comparing robot performance is being developed. The approach and progress of the test method development are reported.
Kawabata, Kuniaki; Mori, Fumiaki; Tanifuji, Yuta; Shirasaki, Norihito; Hanari, Toshihide
no journal, ,
This paper describes about development of modular style test field for Remotely Operated Mobile Robots. Our motivation is to provide test methods for development of the robots and operator proficiency to contribute decommissioning works of Fukushima Daiichi Nuclear Power Station (FDNPS). We currently design prototypes of modular style test fields based on analysis of emergency response tasks at FDNPS and construct them. Developed prototypes including a pile-shape obstacle that is three mutually perpendicular elements, steps with iron surface, grating floor and so on were reported in this paper. Developed modules are capable of reconfiguring kinds of the test fields by arranging their layout utilizing modular mobile carts.
Kawabata, Kuniaki; Mori, Fumiaki*; Shirasaki, Norihito; Tanifuji, Yuta; Hanari, Toshihide
no journal, ,
This paper describes the development of test fields for decommissioning works by remotely operated machines. Especially, prototypes that imitate penetrations for accessing inside of the Primary Containment Vessel were designed. Penetrations are the pipes; three types of penetration with different inner diameter are developed by referring to real size. Some elbow-type pipes are also prepared to configure various piping route. The prototypes and some peripheral facilities for testing the machines are described.
Tanifuji, Yuta; Shirasaki, Norihito; Mori, Fumiaki*; Hanari, Toshihide; Ishiyama, Hiroki; Kawabata, Kuniaki
no journal, ,
no abstracts in English
Kawabata, Kuniaki; Ishiyama, Hiroki; Shirasaki, Norihito; Ono, Takahiro; Hanari, Toshihide; Tanifuji, Yuta
no journal, ,
Kawabata, Kuniaki; Shirasaki, Norihito; Hanari, Toshihide; Ishiyama, Hiroki
no journal, ,
Hanari, Toshihide; Kawabata, Kuniaki; Shirasaki, Norihito; Ono, Takahiro; Suzuki, Kenta; Mukaida, Shunji
no journal, ,
no abstracts in English
Kawabata, Kuniaki; Yamada, Taichi; Shirasaki, Norihito; Ishiyama, Hiroki
no journal, ,
Kawabata, Kuniaki; Shirasaki, Norihito*; Abe, Hiroyuki*; Hanari, Toshihide; Ito, Rintaro; Imabuchi, Takashi; Yamada, Taichi
no journal, ,
This paper describes a system for realizing simultaneous and synchronized collection of air dose rates and measurement locations for efficient dosimetry survey and spatio-temporal dosimetry data logging in nuclear facilities. The prototype system, which is currently under development, mainly consists of a 3D LiDAR-SLAM unit and a dosimeter integrated in a ROS framework. In this paper, we present the configuration of the prototype and the preliminary experimental results of dosimeter position estimation using it.
Kawabata, Kuniaki; Imabuchi, Takashi; Shirasaki, Norihito*; Suzuki, Soichiro; Ito, Rintaro
no journal, ,
Kawabata, Kuniaki; Imabuchi, Takashi; Shirasaki, Norihito*; Ito, Rintaro; Suzuki, Soichiro
no journal, ,
no abstracts in English