Rail DRAGON: Long-reach Bendable Modularized Rail Structure for Constant Observation inside PCV

Yokomura, Ryota*; Goto, Masataka*; Yoshida, Takehito*; Warisawa, Shinichi*; Hanari, Toshihide; Kawabata, Kuniaki; Fukui, Rui*

IEEE Robotics and Automation Letters (Internet), 9(4), p.3275 - 3282, 2024/04

https://doi.org/10.1109/LRA.2024.3366022

To reduce errors in the remote control of robots during decommissioning, we developed a Rail DRAGON, which enables continuous observation of the work environment. The Rail DRAGON is constructed by assembling and pushing a long rail structure inside the primary containment vessel (PCV), and then repeatedly deploying several monitoring robots on the rails to enable constant observation in a high-radiation environment. In particular, we have developed the following components of Rail DRAGON: bendable rail modules, straight rail modules, a basement unit, and monitoring robots. Concretely, this research proposes and demonstrates a method to realize an ultralong articulated structure with high portability and workability. In addition, it proposes and verifies the feasibility of a method for deploying observation equipment that can be easily deployed and replaced, while considering disposal.