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Suzuki, Kenta; Yamada, Taichi; Kawabata, Kuniaki
no journal, ,
no abstracts in English
Yamada, Taichi; Aoki, Yuto; Suzuki, Soichiro; Ito, Rintaro; Kawabata, Kuniaki
no journal, ,
We develop test methods for Unmanned Aircraft System (UAS) mobility evaluation in a narrow space. This development aims to provide an easy-to-understand evaluation for people without technical knowledge, such as UAS users, and to boost the UAS industry. To indicate UAS performance in an easy-to-understand, the test methods in this research evaluate how much the UAS can do the task based on actually performing the test task in the test field. In addition, the test methods have variable environmental factors that dominate the task performance to discuss the UAS's environmental applicability for facilitating UAS usage scenario expansion. Because accepting the test methods for UAS users and manufacturers is essential for boosting the industry, this development is proceeding while discussing with UAS users and manufacturers. This paper introduces the development of a test method for evaluating UAS mobility for ascending through an aperture.
Nakamura, Keita*; Hanari, Toshihide; Madokoro, Hirokazu*; Imabuchi, Takashi; Kawabata, Kuniaki; Nix, S.*; Doi, Akio*
no journal, ,
This paper introduces a research effort for faster 3D environment modeling of the workspace for decommissioning activities at the Fukushima Daiichi Nuclear Power Plant, applying as input video images shot during an investigation of the reactor containment vessel and reactor building. Especially, we construct a system that allows the selection of a 3D reconstruction method with as much information as possible within a specified time limit. We challenge this study with three methods: photogrammetry, simulation, and AI technology. Finally, we aim to integrate the results of each research to build a prototype system that automatically generates a more informative 3D reconstruction result within a specified time and according to the extracted feature values.
Hanari, Toshihide; Imabuchi, Takashi; Nakamura, Keita*; Kawabata, Kuniaki
no journal, ,
This paper introduces an image quality assessment on a 3D modeling to grasp the internal state of the nuclear reactor for a decommissioning of the Fukushima Daiichi Nuclear Power Station. We try a quantitative evaluation of videos or images acquired by the investigation inside the primary containment vessels and the reactor buildings for an efficient 3D reconstruction. Finally, we aim to develop a rapid 3D reconstruction method based on the image quality assessment.
Imabuchi, Takashi; Kawabata, Kuniaki
no journal, ,
no abstracts in English
Suzuki, Soichiro
no journal, ,
In the testing of remote-controlled robots at disaster sites, testing in a real environment or a close environment is considered to be an effective method, but it is difficult to reproduce the actual environment and perform stable tests. Therefore, a method represented by NIST-ASTM standard performance test method (STM), which evaluates the performance of the robot in stages by extracting elements in the actual environment and performing tests for each element, is used. The Japan Atomic Energy Agency (JAEA) has also developed a "performance test method for nuclear disaster response robots" (JAEA-TM), and equipment is being developed at the Naraha Remote Technology Development Center (NARREC). Based on the test methods and measuring instruments that can be implemented at NARREC, we will introduce NARREC as a test facility and describe its prospects.