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JAEA Reports

Test methods for robots for nuclear emergency response and decommissioning; Test for maneuvering robot arm over an obstacle (JAEA-TM-0006)

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.

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.

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

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

Statistical laser-scanner measurement model for mobile robot localization in human living environment

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.

Journal Articles

Maintaining formation of multiple robotic wheelchairs for smooth communication

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:12.53(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.

Oral presentation

Remote technology development for function advancement of research base, 4; Towards development of standard test method for nuclear disaster response robots

Tanifuji, Yuta; Shirasaki, Norihito; Mori, Fumiaki; Yamada, Taichi; Tsuchida, Yoshihiro; Kawabata, Kuniaki; Torii, Tatsuo; Kawatsuma, Shinji

no journal, , 

no abstracts in English

Oral presentation

Development of human resources for FUKUSHIMA revitalization at the NARAHA Remote Technology Development Center; Laser technology and robot technology in summer education program

Nishimura, Akihiko; Hanari, Toshihide; Nakamura, Masaki; Matsunaga, Yukihiro; Shimomura, Takuya; Daido, Hiroyuki; Nakai, Koji; Yamada, Taichi; Izaki, Kenji; Kawatsuma, Shinji

no journal, , 

no abstracts in English

Oral presentation

Sensor database for SLAM research aimed at Fukushima Daiichi decommissioning

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.

Oral presentation

Sensor database for research of SLAM in reactor buildings

Yamada, Taichi; Kawabata, Kuniaki

no journal, , 

In reactor buildings of Fukushima Daiichi, there are still uninvestigated areas due to the accident on 11th March. Hence the reconnaissance by using remotely operated robot in reactor buildings is important for planning the decommissioning. Therefore, Simultaneous Localization And Mapping (SLAM) is a key technology in robotics. This research aims to construct the sensor database for the SLAM research base.

Oral presentation

Oral presentation

Sensor database for research of SLAM in reactor buildings

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.

Oral presentation

Sensor database to test SLAM method for decommissioning of 1F

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.

Oral presentation

Oral presentation

Development for testing method of robot mapping technology

Yamada, Taichi; Kawabata, Kuniaki

no journal, , 

no abstracts in English

Oral presentation

Development of test methods for robots for nuclear disaster response

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

no journal, , 

Oral presentation

Evaluation method of robot mapping performance for decommissioning

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.

Oral presentation

Development of test methods for robots for nuclear emergency response; Tests for running capabilities for robots access into PCV

Kawabata, Kuniaki; Yamada, Taichi; Ishiyama, Hiroki

no journal, , 

This paper described proposals of test methods for the robots for nuclear emergency response that accesses into Primary Containment Vessel (PCV). Our motivation is to provide test environments for enhancing the improvement of the robots' performance and the operator proficiency for decommissioning of Fukushima Daiichi Nuclear Power Station. Developed test methods are designed for evaluating running capabilities of the robots for reconnaissance task in PCV. Practical example courses and testing procedure are also introduced.

Oral presentation

Development of dataset to evaluate SLAM for Fukushima Daiichi Nuclear Power Plant decommissioning

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.

Oral presentation

25 (Records 1-20 displayed on this page)