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Nakamura, Keita; Hanari, Toshihide; Matsumoto, Taku; Kawabata, Kuniaki; Yashiro, Hiroshi*
Journal of Robotics and Mechatronics, 36(1), p.115 - 124, 2024/02
Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Yashiro, Hiroshi*; Nakamura, Keita*
Proceedings of 2023 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2023) (Internet), 7 Pages, 2023/12
Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Yashiro, Hiroshi*; Nakamura, Keita*
Proceedings of 22nd World Congress of the International Federation of Automatic Control (IFAC 2023) (Internet) , p.12107 - 12112, 2023/07
Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Yashiro, Hiroshi*; Nakamura, Keita*
Proceedings of 28th International Symposium on Artificial Life and Robotics (AROB 28th 2023) (Internet), p.768 - 773, 2023/01
Suzuki, Kenta; Yashiro, Hiroshi*; Kawabata, Kuniaki
Proceedings of International Topical Workshop on Fukushima Decommissioning Research (FDR2022) (Internet), 4 Pages, 2022/10
Suzuki, Kenta; Yashiro, Hiroshi; Kawabata, Kuniaki
JAEA-Testing 2021-004, 125 Pages, 2022/03
JAEA-Testing-2021-004.pdf:6.1MB
This report is updated HAIROWorldPlugin Operation Manual (JAEA-Testing 2020-009). Our motivation is to develop a robot simulator based on Choreonoid for technological development to contribute the decommissioning work at the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings, Inc. Choreonoid is an open source simulator which calculates the behavior of robots. We are developing HAIROWorldPlugin which is an extended function of Choreonoid for providing a virtual decommissioning experience. In the latest HAIROWorldPlugin, the several functions were additionally implemented. In particular, we implemented new functionalities: logging a collision status between a robot and an object, showing and logging a status of the joystick input signals, generating an environmental object model (pipe, grating, and slope), bookmarking an often used simulation settings, and recording histories of a simulation settings. In addition, this report describes the installation of the plugin to Choreonoid on Ubuntu20.04-LTS and parameter settings of the plugin by presenting snapshots of operation windows.
Abe, Fumiaki; Kawabata, Kuniaki; Suzuki, Kenta; Yashiro, Hiroshi
2021 IEEE/SICE International Symposium on System Integration (SII 2021), Vol.2, p.835 - 836, 2021/07
Times Cited Count：0 Percentile：0(Computer Science, Interdisciplinary Applications)Suzuki, Kenta; Abe, Fumiaki; Yashiro, Hiroshi; Kawabata, Kuniaki
JAEA-Testing 2020-009, 254 Pages, 2021/03
JAEA-Testing-2020-009.pdf:18.61MB
This report is the user manual of HAIROWorldPlugin for Choreonoid. Our motivation is to develop a robot simulator based on Choreonoid for technological development to contribute the decommissioning work at the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings, Inc. Choreonoid is an open source simulator which calculates the behavior of robots. The plugin is an extended function of Choreonoid which provides simulated behavior and phenomenon related to decommissioning tasks utilizing remotely operated robots. In particular, we developed additional functionalities for simulating the behavior of an underwater swimming robot, the behavior of an unmanned aerial vehicle robot, low visibility camera images, network communication failures, etc., and packaged these in the plugin. This report describes the installation of the plugin to Choreonoid on Ubuntu18.04-LTS and parameter settings of the plugin by presenting snapshots of operation windows.
Sato, Tatsuhiko; Kataoka, Ryuho*; Yasuda, Hiroshi*; Yashiro, Seiji*; Kuwabara, Takao*; Shiota, Daiko*; Kubo, Yuki*
Radiation Protection Dosimetry, 161(1-4), p.274 - 278, 2014/10
Times Cited Count：22 Percentile：85.25(Environmental Sciences)We applied our simulation technique to the analysis of air shower induced by mono-energetic protons and alpha particles, which are the dominant component of SEP. The results of the simulations were summarized in a database containing particle fluxes for each condition as a function of the atmospheric depth. This database was then incorporated into our developing Warning System of AVIation Exposure to SEP called WASAVIES. In this system, the aircrew doses due to SEP exposure are estimated within 6 hours after the flare onset, using the established database multiplied with the SEP fluxes incident to the earth. The MHD Cube model is employed in the determination of the incident SEP fluxes. The procedures for the air shower simulation together with some initial results of the aircrew dose calculations for past ground-level enhancement (GLE) events will be presented at the meeting.
Kataoka, Ryuho*; Sato, Tatsuhiko; Kubo, Yuki*; Shiota, Daiko*; Kuwabara, Takao*; Yashiro, Seiji*; Yasuda, Hiroshi*
Space Weather, 12(6), p.380 - 386, 2014/06
Times Cited Count：19 Percentile：51.8(Astronomy & Astrophysics)Solar energetic particles (SEP) sometimes induce air shower that significantly increase the radiation dose at flight altitudes. In order to inform the situation of such a space radiation hazard to aircrews, a physics-based forward model is developed as WASAVIES (Warning System for Aviation Exposure to SEP) based on the focused transport equation and Monte Carlo particle transport simulation of the air shower. WASAVIES gives the fastest and simplest way to predict the time profile of dose rate during ground-level enhancements (GLEs).
Sato, Tatsuhiko; Yasuda, Hiroshi*; Kataoka, Ryuho*; Yashiro, Seiji*; Kuwabara, Takao*; Shiota, Daiko*
no journal, ,
In order to precisely estimate the aircrew doses, the Monte Carlo simulation for air shower is indispensable. We had therefore simulated air showers induced by GCR, using a general-purpose Monte Carlo particle and heavy ion transport simulation code system PHITS, and established a model for calculating the aircrew doses anywhere in the world at the solar quiet time. In this study, we applied our simulation technique to the analysis of air shower induced by SEP, and established a model for estimating the aircrew doses from a given SEP energy spectrum and cutoff latitude. The model is to be incorporated into our developing Warning System of AVIation Exposure to SEP called WASAVIES.
Sato, Tatsuhiko; Kataoka, Ryuho*; Yasuda, Hiroshi*; Yashiro, Seiji*; Kuwabara, Takao*; Shiota, Daiko*
no journal, ,
We are trying to develop a two-step forecast system for the SEP doses named WASAVIES (WArning System of AVIation Exposure to SEP). The present status of the development of WASAVIES will be reported at the meeting, together with a brief summary of the currently operating systems for estimating the GCR and SEP doses.
Sato, Tatsuhiko; Yasuda, Hiroshi*; Kataoka, Ryuho*; Yashiro, Seiji*; Kuwabara, Takao*; Shiota, Daiko*
no journal, ,
When solar energetic particles (SEP) are incident to the atmosphere, they can induce air showers by generating varieties of secondary particles. Such secondary particles can reach conventional flight altitudes (12 km), and hence, aircrews are exposed to enhanced level of radiations. In order to precisely estimate the aircrew doses, the Monte Carlo simulation for air shower is indispensable. We therefore simulated air showers induced by mono-energetic protons, using a general-purpose Monte Carlo particle and heavy ion transport simulation code system PHITS, and developed a database of particle fluxes in the atmosphere. Combining the database with the proton fluxes measured by PAMELA during the GLE event occurred on Dec. 13th 2006, the count rates of the neutron monitor located at Thule were calculated. The calculated count rates agree with the measured data fairly well, verifying the accuracy of our simulation technique.
Itakura, Mitsuhiro; Miyashiro, Satoshi*; Okita, Taira*; Yamaguchi, Masatake; Okuda, Hiroshi*
no journal, ,
An embedded atom method (EAM) type interatomic potential for Fe-Cr-Ni alloys is presented. The potential is fitted to reproduce the density functional theory (DFT) calculation results of bulk properties in the FCC structure, such as lattice constant and elastic constants, based on the DFT results of randomly generated 60 atomic configurations. We show that the magnetic ordering of the periodicity (2a, 0, 0) in stabilizes the FCC lattice structure at zero temperature. To obtain the bulk properties of the stable FCC structure, all the elements are treated as non-magnetic in the DFT calculations. The validity of this non-magnetic treatment will also be discussed.
Sato, Tatsuhiko; Yasuda, Hiroshi*; Kataoka, Ryuho*; Yashiro, Seiji*; Kuwabara, Takao*; Shiota, Daiko*; Kubo, Yuki*
no journal, ,
When solar energetic particles (SEP) are incident to the atmosphere, they can induce air showers by generating varieties of secondary particles. Such secondary particles can reach the deep into the atmosphere, and enhance the level of radiation doses. This can be a hazard of aircrews. In order to precisely estimate the radiation doses during large solar particle events, we are developing a warning system of aviation exposure to SEP, WASAVIES. The WASAVIES has been tested and verified by making a comparison between the measured and calculated count rates of several neutron monitors during past GLE (ground level enhancement) events. The final goal of our project is to predict the enhancement of radiation doses due to SEP exposure within 6 hours from the GLE onset.
Kawabata, Kuniaki; Matsumoto, Taku; Hanari, Toshihide; Yashiro, Hiroshi*; Nakamura, Keita
no journal, ,
This paper described about the development of a method and system for generating three-dimensional models of environmental structures from time-series images, which we are currently working on for understanding the situation inside a nuclear reactor containment vessel. We describe our research and development scheme and introduce our research and development efforts to improve the efficiency of three-dimensional modeling from time-series images. We also introduce a prototype system that automatically executes the processes of image acquisition, modeling, and visualization, including remote image capture, image transfer over a network, calculation of 3D reconstruction, and presentation of the generated model.
