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Akiyama, Yoichi; Shibanuma, So; Yanagisawa, Kenichi*; Yamada, Taichi; Suzuki, Kenta; Yoshida, Moeka; Ono, Takahiro; Kawabata, Kuniaki; Watanabe, Kaho; Morimoto, Kyoichi; et al.
JAEA-Review 2023-015, 60 Pages, 2023/09
JAEA-Review-2023-015.pdf:4.78MB
Naraha Center for Remote Control Technology Development (NARREC) was established in Japan Atomic Energy Agency to promote a decommissioning work of Fukushima Daiichi Nuclear Power Station (Fukushima Daiichi NPS). NARREC consists of a Full-scale Mock-up Test Building and Research Management Building. Various test facilities are installed in these buildings for the decommissioning work of Fukushima Daiichi NPS. These test facilities are intended to be used for various users, such as companies engaged in the decommissioning work, research and development institutions, educational institutions and so on. The number of NARREC facility uses was 84 in FY2021. We participated booth exhibitions and presentations on the decommissioning related events. Moreover, we also contributed to the development of human resources by supporting the 6th Creative Robot Contest for Decommissioning. As a new project, "Narahakko Children's Classroom" was implemented for elementary school students in Naraha Town. This report summarizes the activities of NARREC in FY2021, such as the utilization of facilities and equipment of NARREC, the development of remote-control technologies for supporting the decommissioning work, arrangement of the remote-control machines for emergency response, and training for operators by using the machines.
Yamada, Taichi; Watanabe, Kaho; Suzuki, Soichiro; Kawabata, Kuniaki
Automation Systems, 39(464), p.88 - 92, 2023/09
In Fukushima Daiichi Nuclear Power Station (FDNPS) emergency response and decommissioning, high radiation or unknown environments significantly restrict human workers' activity. Thus, a remotely controlled robot is essential to operate in such an environment instead of human workers. However, remote robot operation is not easy, and it is required to understand the robot's capability, that is, what/how the robot can do on the site. Therefore, robot evaluation method development is important for remote robot operation in disaster sites. We survey the required capabilities for a remotely controlled robot from the remote operation cases in FDNPS and develop test methods to evaluate the capabilities. This paper introduces the survey of FDNPS remote operation cases and the test method development.
Yamada, Taichi; Abe, Hiroyuki*; Ogane, Katsuji*; Kawabata, Kuniaki
ROBOMECH Journal (Internet), 10, p.13_1 - 13_8, 2023/06
Although Unmanned Aircraft System (UAS) has significant industrial potential, it is not easy to discuss how well UAS performs in places and situations where the UAS is deployed. Therefore, we designed the approach for UAS evaluation and developed the evaluation methods that make it possible to compare the UAS performances in easy-to-understand for UAS users, people without technical knowledge focusing on GNSS-denied environments. The development proceeded with the demonstration and discussion with UAS manufacturers and users, and we repeatedly improved the evaluation methods with their opinions. Finally, we confirm that the evaluation methods can describe the difference between the UAS's performance by an experiment.
Yamada, Taichi; Watanabe, Kaho; Suzuki, Soichiro; Kawabata, Kuniaki
Keisoku To Seigyo, 62(5), p.268 - 271, 2023/05
In Fukushima Daiichi Nuclear Power Station (FDNPS) emergency response and decommissioning, high radiation or unknown environments significantly restrict human workers' activity. Thus, a remotely controlled robot is essential to operate in such an environment instead of human workers. However, remote robot operation is not easy, and it is required to understand the robot's capability, that is, what/how the robot can do on the site. Therefore, robot evaluation method development is important for remote robot operation in disaster sites. We survey the required capabilities for a remotely controlled robot from the remote operation cases in FDNPS and develop test methods to evaluate the capabilities. This paper introduces the survey of FDNPS remote operation cases and the test method development.
Yamada, Taichi; Kawabata, Kuniaki; Abe, Hiroyuki*
JAEA-Technology 2021-033, 18 Pages, 2022/03
JAEA-Technology-2021-033.pdf:1.58MB
This report describes the test procedures for evaluating performances involved in robot arm maneuvering 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. In the response and the decommissioning tasks, robots with a robot arm were deployed for door opening, removal objects, decontamination and cleanup and so on. Some of these tasks were conducted in an environment with obstacles by robot arms maneuvering. This report describes test procedures for quantitatively evaluating the performances which are for maneuvering involving in robot arm to approach target objects in an environment with obstacles. A typical course layout and the demonstration of test are also illustrated for the references.
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.
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.
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
Yamada, Taichi; Oya, Akihisa*
Keisoku Jido Seigyo Gakkai Rombunshu, 52(12), p.661 - 670, 2016/12
This paper introduces a laser-scanner measurement model using the statistic of laser-scanner data collected in advance for a mobile robot localization. In autonomous navigation, robots usually run based on self position in a map, and laser-scanners are useful sensors for localization. However, in human living environments like urban areas and parks, laser-scanner data is unstable due to moving objects and natural objects, and it is difficult to obtain landmarks like fixed objects. Therefore, our method make a map using statistics of laser-scanner data and calculates the laser-scanner measurement model based on the statistics. Our method is applied to Monte Carlo localization/particlelter. Because the map makes possible to use the frequency and distribution of laser-scanner data for localization, our method allows a robust localization for unstable laser scanner data. In extensive experiments, our method presented an accurate localization and a robot using our method ran stably in actual sidewalks.
Suzuki, Ryota*; Kobayashi, Yoshinori*; Kuno, Yoshinori*; Yamada, Taichi; Yamazaki, Keiichi*; Yamazaki, Akiko*
International Journal on Artificial Intelligence Tools, 25(5), p.1640005_1 - 1640005_19, 2016/10
Times Cited Count：1 Percentile：10.21(Computer Science, Artificial Intelligence)To meet the demands of an aging society, research on intelligent/robotic wheelchairs have been receiving a lot of attention. In elderly care facilities, care workers are required to communicate with the elderly in order to maintain both their mental and physical health. While this is regarded as important, having a conversation with someone on a wheelchair while pushing it from behind in a traditional setting would interfere with their smooth and natural conversation. So we are developing a robotic wheelchair system which allows companions and wheelchair users to move in a natural formation. This paper reports on an investigation to learn the patterns of human behavior when the wheelchair users and their companions communicate while walking together. The ethnographic observation reveals a natural formation of positioning for both companions and wheelchair users. Based on this investigation, we propose a multiple robotic wheelchair system which can maintain desirable formations for communication between wheelchairs.
Kawabata, Kuniaki; Yamada, Taichi; Abe, Hiroyuki*
no journal, ,
In this paper, we describe the efforts of Japan Atomic Energy Agency to develop performance test methods for nuclear disaster response robots. We have referred to the experiences in the tasks performed by using remotely operated robots and the characteristics of working space in the accident response and decommissioning work of the Fukushima Daiichi Nuclear Power Station and extract the performance that the nuclear disaster response robot should have. We are currently developing performance test methods for quantitative evaluation on them. We introduce the performance test methods that have been developed and also the tests that are currently under development.
Yamada, Taichi
no journal, ,
In Fukushima Daiichi decommissioning, SLAM is one of key technologies. Robots work for the investigation of nuclear reactor buildings. To obtain the detail of nuclear reactor building, robots should recognize self-position and orientation. Since, SLAM is required to estimate self-position and orientation. Though, there are 2 problems for SLAM research in Fukushima Daiichi. One is that a lot of environment where robots work in Fukushima Daiichi is uncertain. SLAM performance is depend on the environment because SLAM needs landmarks in the environment for localization. Another one is that suitable robot specification for these environment is indefinite. For this reason, it is also indefinite what SLAM method is applicable for the robot. These problem make difficult to develop SLAM method for Fukushima Daiichi. Thus, we develop a sensor database as the research base for SLAM in Fukushima Daiichi. Like image databases for image processing, with the sensor database, many researchers are able to easily study SLAM. This paper describes the specification of this sensor database and a method for recording.
Yamada, Taichi; Kawabata, Kuniaki
no journal, ,
no abstracts in English
Yamada, Taichi; Kawabata, Kuniaki
no journal, ,
For decommissioning of Fukushima Daiichi Nuclear Power Plant (1F), workers need to know about work site information for working efficiency and safety of themselves. Mapping technology in robotics called Simultaneous localization and mapping (SLAM) is useful for sharing the site information. Though, there are still technical problems for applying SLAM to 1F tough environments. This paper shows the development of the SLAM evaluation method aimed to enhance the research of SLAM for 1F.
Yamada, Taichi; Abe, Hiroyuki*; Kawabata, Kuniaki
no journal, ,
no abstracts in English
Yamada, Taichi; Kawabata, Kuniaki
no journal, ,
In reactor buildings of Fukushima Daiichi Nuclear Power Plant (hereinafter referred as 1F), there are still many of uninvestigated areas due to the accident on March 11th, 2011. Because it is easy to assume that these uninvestigated areas are high radiation, remote control robots is used for investigations in reactor buildings. Thus, robot mapping technology called SLAM (Simultaneous Localization And Mapping) is one of the key technology for the decommissioning. This research aimed to construct the sensor database aimed to enhance SLAM research.
Kawabata, Kuniaki; Ogane, Katsuji*; Sato, Noritaka*; Yamada, Taichi; Abe, Hiroyuki*; Igarashi, Hiroki*
no journal, ,
no abstracts in English
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.
Yamada, Taichi; Kawabata, Kuniaki
no journal, ,
Simultaneous localization and mapping (SLAM) is not only a key technology for robot to move automatically, but also is a useful technology for human to understand the state of places. Especially for the site where access is constrained by something harmful such as Fukushima Daiichi Nuclear Power Plant (1F), understanding of the state of the site is important. In addition, mapping using remote control robots is one of the ideal solution for investigation such sites. However, there are technical problems to solve for applying SLAM to extreme environments, for example, how to obtain landmarks under severe environmental condition. Furthermore, for extreme environments, we have very limited or no chance for testing SLAM on the actual site, and this makes difficult to research for applying SLAM. For this reason, an evaluation method without testing on the actual 1F site is needed to promote research of SLAM for 1F. This paper introduces the development of the dataset for SLAM evaluation with the mockup field instead of the actual site, specifically the dataset on the mockup field of Primary Containment Vessel (PCV) platform under dark illumination.
Yamada, Taichi; Abe, Hiroyuki*; Kawabata, Kuniaki
no journal, ,
no abstracts in English
