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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.
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.
Ito, Rintaro; Suzuki, Kenta; Horiuchi, Kazunori; Kawabata, Kuniaki; Kawatsuma, Shinji; Suzuki, Hiroyuki*; Dekura, Toshinori*
no journal, ,
This paper, describe the development of the operation training function for repair work of leakage part of reactor primary containment vessel by remotely operated manipulator using VR. Remote operation of the manipulator with limited feedback information is difficult and therefore prior operation proficiency training is important to complete such difficult task safely. Therefore, we are developing an operation training function that enables the operator not only to perform operation training, but also to confirm the operation of the remote control device actually operated by himself in the actual size and three-dimensionally in the VR space. In this paper, we reported current status of the development and recent improvements for operation training function.
Hanari, Toshihide; Kawabata, Kuniaki; Suzuki, Kenta
no journal, ,
no abstracts in English
Matsuda, Asahi*; Takahashi, Satoru*; Kawabata, Kuniaki; Oda, Shoji*; Kaneko, Shunichi*
no journal, ,
Medaka (Oryzias latipes) has genetic diversity, and analyzing its behavior in a group is very important for elucidation of diversity of organisms. However, conventional method of visual measurement has some problems. For example, the time cost and human error. In this paper, we proposed a method of behavior measurement of medaka in a group based on an image instrumentation. Our proposed method consists of four processes: pre-processing, particle filter, orientation code matching using by central differences with multi-templates, and detection of target position. Finally, we examined the effectiveness of our proposed method through an experimentation.
Suzuki, Tsuyoshi*; Soma, Ryo*; Sawai, Kei*; Kawabata, Kuniaki; Takemura, Fumiaki*; Takahashi, Satoru*; Yamashiro, Hideyuki*
no journal, ,
We developed a wireless sensor network system, Underwater Monitoring Sensor Network (UMSN), to support the coral reef observation activities for maintaining the coral reef environment. In this paper, we examined the communication conditions of wireless communication function which is equipped on a sensor node of UMSN for verifying the performance of the communication function on the practical experiment area.
Suzuki, Tsuyoshi*; Ozeki, Ryutaro*; Sawai, Kei*; Yamashiro, Hideyuki*; Takemura, Fumiaki*; Kawabata, Kuniaki; Takahashi, Satoru*; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
In the current study, we developed an underwater monitoring sensor network system to support the observational activities to maintain the coral reef environment. This paper describes the measurement method to detect the growth area of the coral for a quantitative evaluation of the coral condition change using fluorescence coral image by capturing the underwater monitoring sensor network.
Kitamasu, Ryo*; Takahashi, Satoru*; Kawabata, Kuniaki; Ogasawara, Kei*
no journal, ,
Research of monitoring of corals plays an important role in observing the natural environment on a global scale. Identifying and detecting corals amongst other objects, including marine organisms, from an image taken undersea is a difficult task. Moreover, there are many types of corals and they cannot be easily categorized automatically. Currently, texture analysis is being pursued that solves the problem of detecting and recognizing corals from pictures taken undersea; Haralick 14 conditional equations are used to calculate the texture characteristics information based on the gray levelco-occurrence matrix of 256 gradations and also to perform liner discrimination analysis on the characteristics information. In this paper, we propose one algorithm of texture analysis for discrimination of undersea objects, in order to detect the corals.