Image quality improvement for Fukushima Daiichi remote operations using denoising prior to super resolution

Tanifuji, Yuta; Imabuchi, Takashi; Kawabata, Kuniaki

Proceedings of the 31st International Symposium on Artificial Life and Robotics (AROB 31st 2026), p.1011 - 1016, 2026/01

In decommissioning work at the Fukushima Daiichi Nuclear Power Station (1F), operators must rely on robot camera images degraded by turbidity, floating matter, lens contamination, and radiation induced noise, with no clean reference images available. This study investigates a lightweight restoration pipeline combining Noise2Noise (N2N) denoising and FSRCNN super resolution, and shows that the N2NFSRCNN configuration most consistently improves visibility while suppressing noise and artificial textures, according to NIQE and PIQE scores and subjective evaluation.

Discrimination of structures in plant using deep learning models trained by 3D CAD semantics

Imabuchi, Takashi; Kawabata, Kuniaki

Artificial Life and Robotics, 30(1), p.184 - 195, 2025/02

https://doi.org/10.1007/s10015-024-00989-w

Integration of multiple dense point clouds based on estimated parameters in photogrammetry with QR code for reducing computation time

Nakamura, Keita*; Baba, Keita*; Watanobe, Yutaka*; Hanari, Toshihide; Matsumoto, Taku*; Imabuchi, Takashi; Kawabata, Kuniaki

Artificial Life and Robotics, 29(4), p.546 - 556, 2024/09

https://doi.org/10.1007/s10015-024-00966-3

Development of a virtual 3D scanner for data augmentation in point cloud shape recognition

Takahashi, Hiroki*; Kato, Toru*; Yamashita, Meguru*; Doi, Akio*; Imabuchi, Takashi

Proceedings of 29th International Symposium on Artificial Life and Robotics (AROB 29th 2024) (Internet), p.1093 - 1096, 2024/01

Integration of multiple partial point clouds based on estimated parameters in photogrammetry with QR codes

Baba, Keita*; Watanobe, Yutaka*; Nakamura, Keita*; Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki

Proceedings of 29th International Symposium on Artificial Life and Robotics (AROB 29th 2024) (Internet), p.751 - 756, 2024/01

Automatic process for 3D environment modeling from acquired image sequences

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

Invention of automatic movement and dynamic positioning control method of unmanned vessel for mud mining

Fujii, Shun*; Kato, Tetsu*; Kawamura, Yamato*; Tahara, Junichiro*; Baba, Shoichiro*; Sanada, Yukihisa

Proceedings of 26th International Symposium on Artificial Life and Robotics (AROB 26th 2021), p.280 - 285, 2021/01

In recent years, autonomously navigating unmanned vessels have been actively studied, and many of these vessels are designed to perform unmanned operations such as observation and transportation. On the other hand, this study uses an unmanned ship with a moon pool that collects seabed mud, which is difficult for ordinary ships. Vessels used since the area are highly turbulent due to wind, so it is necessary to maintain a fixed point and orientation when removing mud. The ship is equipped with side thrusters to maintain a fixed point and bow direction. In this study, the control method was devised to maintain fixed point and orientation, and the control method is based on robust sliding mode control. The proposed control method was verified by simulation, and the desired behavior was confirmed.

A Trajectory generation method for mobile robot based on iterative extension-like process

Kawabata, Kuniaki

Artificial Life and Robotics, 21(4), p.500 - 509, 2016/12

https://doi.org/10.1007/s10015-016-0305-6

In this paper, we propose a trajectory generation method for mobile robot based on iterative extension-like process. Due to use mobile robots in the real world, trajectory generation must be done depending on the faced situation on each occasion. Proposed method enables online iterative trajectory extension process based on a low-order polynomial curve named as trajectory segment. The waypoints on the existing trajectory segment and a waypoint designated every fixed interval are the constraints to trigger the trajectory extension. For maintaining the smooth continuity of the trajectory, the velocity state must be sustained at the connecting point. Resultantly, the trajectory segments are organized into a single smooth trajectory.

Development of microwave sensor for measuring moisture in granulation process

Nakayama, Shigeru*; Kawaguchi, Koichi; Segawa, Tomoomi; Yamada, Yoshikazu

Proceedings of 19th International Symposium on Artificial Life and Robotics (AROB 2014) (CD-ROM), p.246 - 249, 2014/01

In the nuclear fuel fabrication process, moisture content is very important parameter because of criticality safety control. Considering future commercial nuclear fuel fabrication plant, rapid and durable moisture sensor is required. We have developed an open-ended semi-coaxial microwave sensor to measure moisture involved in a substance. This sensor has no semiconductor tips, so it can be used in strong radiation field. In this paper, we carry out a preliminary experiment for measuring moisture of MOX(UO+PuO) in granulation process, in which water is added as a binder. In our preliminary experiment, to simulate granulated MOX powder, granulated tungsten trioxide powder, which has similar dielectric constant to MOX and has voids to hold water inside, was used. The principle of microwave measurement of moisture is as follows. When the tungsten trioxide contained in a pyrex beaker is placed at the open end of the cavity, the resonant frequency is shifted by a variation in the end of capacitance which results from the difference in the dielectric constant of tungsten trioxide from that of air. Furthermore, the peak value of the resonance curve is attenuated by the absorption of microwave in the tungsten trioxide. Therefore, the moisture content of tungsten trioxide can be estimated by measuring either the frequency shift or attenuation. They are measured using a tracking generator and a spectrum analyzer. In our presentation, we will show the experimental results in detail.

An Electrophysiological model of the pharyngeal muscle in

Hattori, Yuya; Suzuki, Michiyo; So, Zu*; Kobayashi, Yasuhiko; Tsuji, Toshio*

Proceedings of 17th International Symposium on Artificial Life and Robotics (AROB 2012) (CD-ROM), p.690 - 695, 2012/01

http://isarob.org/pdf/arob17/Abstracts.pdf