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中島 慎介*; Moro, A.*; 小松 廉*; Faragasso, A.*; 松日楽 信人*; Woo, H.*; 川端 邦明; 山下 淳*; 淺間 一*
Proceedings of 2024 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR2024), p.160 - 165, 2024/11
Fuel debris retrieval is the fundamental task for decommissioning Fukushima Daiichi (1F). The presence of high radiation intensively affects the performance of conventional robotic systems which in many cases, due to failure of the electronic components, become obstacles to be retrieved. New systems and techniques are required to cope with the current limitations and find efficient solutions. This research presents the design approach exploiting rapid prototyping of a gripper system for a manipulator used to retrieve fuel debris on the bottom of the PCV (Primary Container Vessel). Modeling of the gripper is performed in simulations to find the relations between the ligaments that constrain the bending motion. The debris simulants and the fabricated 3D-printed gripper are shown.
阪上 知己*; 阿部 文明
no journal, ,
In Fukushima Daiichi Nuclear Power Station, fuel debris has been melted down inside the primary containment vessel. A large-scale fuel debris retrieval will be conducted remotely due to its high radiation environment, then a digital mock-up system (DMU) is expected to be utilized with a physical remote handling system. The selection of appropriate software platform of DMU is quite important because DMU is deployed for decades whilst the decommissioning continues in the harsh environment. In this paper, we firstly proposed nine major software characteristics required to our DMU platform used in the decommissioning apart from use-cases in general industries. And then, ROS2, CorteX, PROFINET and ISO61850 were evaluated based on these characteristics as potential platform candidates. It was clarified that ROS2 and CorteX have advantages in their flexibility whilst the practicality of PROFINET and ISO61850 were proven in industries. As a result, it was suggested that the DMU would not be realized based on a single platform but a composite platform.
