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JAEA Reports

Establishing a new evaluation system to characterize radiation carcinogenesis by stem cell dynamics (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; National Institutes for Quantum and Radiological Science and Technology*

JAEA-Review 2020-045, 52 Pages, 2021/01

JAEA-Review-2020-045.pdf:3.13MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2019.The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2019, this report summarizes the research results of the "Establishing a new evaluation system to characterize radiation carcinogenesis by stem cell dynamics" conducted inFY2019. In this study, the long-term clonal expansion of mammary stem cells after high- to low-dose radiation exposure was investigated using stem-cell lineage tracing technology that can permanently label stem cells and their progenies. The purpose of this study is to characterize radiation-induced breast cancer based on the dynamics of radiation-exposed stem cells by capturing proliferation and analyzing it using a mathematical model. The goal of this study is to develop a new evaluation system that can characterize previously undiscovered "radiation signatures" by stem cell dynamics.

JAEA Reports

Quantitative analysis of radioactivity distribution by imaging of high radiation field environment using gamma-ray imaging spectroscopy (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Kyoto University*

JAEA-Review 2020-044, 79 Pages, 2021/01

JAEA-Review-2020-044.pdf:4.39MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2019.The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2018, this report summarizes the research results of the "Quantitative analysis of radioactivity distribution by imaging of high radiation field environment using gamma-ray imaging spectroscopy" Conducted in FY2019.In this study, a gamma-ray imaging detector, ETCC, will be improved to operate under high dose conditions, and a portable system will be constructed to be installed in the Fukushima Daiichi Nuclear PowerStation (1F). In addition, the development and combination of ETCC-based quantitative radioactivity distribution analysis methods will lead to innovative advances in the six key issues to be solved for the decommissioning of the 1F. This system will enable us to quantitatively visualize the three-dimensional radiation distribution and its origin.

JAEA Reports

Challenge to investigation of fuel debris in RPV by an advanced super dragon articulated robot arm (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Tokyo Institute of Technology*

JAEA-Review 2020-040, 55 Pages, 2021/01

JAEA-Review-2020-040.pdf:3.95MB

JAEA/CLADS had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project in FY2019. Among the adopted proposals in FY2019, this report summarizes the research results of the "Challenge to Investigation of Fuel Debris in RPV by an Advanced Super Dragon Articulated Robot Arm" conducted in FY2019.

JAEA Reports

Development of high-resolution imaging camera for alpha dust (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Tohoku University*

JAEA-Review 2020-039, 59 Pages, 2021/01

JAEA-Review-2020-039.pdf:4.18MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2019. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2018, this report summarizes the research results of the "Development of high-resolution imaging camera for alpha dust" conducted in FY2019. We have developed an imaging camera with a position resolution of less than approximately 10 $$mu$$m to monitor alpha dust in the nuclear plant during the decommissioning process, because the operators avoid to drawing in such dusts. Moreover, we have developed real-time monitor system with optical fiber and scintillator under high dose-rate condition.

JAEA Reports

Contribution to risk reduction in decommissioning works by the elucidation of basic property of radioactive microparticles (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Ibaraki University*

JAEA-Review 2020-033, 84 Pages, 2021/01

JAEA-Review-2020-033.pdf:4.9MB

JAEA/CLADS had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project in FY2019. Among the adopted proposals in FY2018, this report summarizes the research results of the "Contribution to Risk Reduction in Decommissioning Works by the Elucidation of Basic Property of Radioactive Microparticles" conducted in FY2019.

JAEA Reports

Basic research on the stability of fuel debris including alloy phase (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Tohoku University*

JAEA-Review 2020-032, 97 Pages, 2021/01

JAEA-Review-2020-032.pdf:4.16MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2019. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2018, this report summarizes the research results of the "Basic Research on the Stability of Fuel Debris Including Alloy Phase" conducted in FY2019. In the present study, we focus on fuel debris consisting of oxide phase and alloy phase generated by the high-temperature chemical reaction between structure materials (SUS pipes, pressure vessels, etc.) and fuels (melted fuels, claddings components, etc.). We synthesize the simulated debris of UO$$_{2}$$-SUS system and UO$$_{2}$$-Zr(ZrO$$_{2}$$)-SUS system by high-temperature heat treatment, and measure their chemical property and dissolution behavior in water. Also, we will conduct research and development to spectroscopically analyze secular changes of oxide phase and alloy phase in the simulated debris.

JAEA Reports

Analysis of microparticles generated by laser processing and development of a methodology for their nuclear identification (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; The University of Tokyo*

JAEA-Review 2020-031, 69 Pages, 2021/01

JAEA-Review-2020-031.pdf:4.22MB

JAEA/CLADS had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project in FY2019. Among the adopted proposals in FY2018, this report summarizes the research results of the "Analysis of microparticles generated by laser processing and development of a methodology for their nuclear identification" conducted in FY2019.

JAEA Reports

Human resource development related to remote control technology for monitoring inside RPV pedestal during retrieval of fuel debris (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; The University of Tokyo*

JAEA-Review 2020-028, 68 Pages, 2021/01

JAEA-Review-2020-028.pdf:4.01MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2019. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2019, this report summarizes the research results of the "Human Resource Development Related to Remote Control Technology for Monitoring Inside RPV Pedestal during Retrieval of Fuel Debris". This study deals with construction of a monitoring platform for understanding the status inside a reactor during fuel debris removal, and measurement and visualization by sensors moving on the platform. In addition, to develop research personnel through research education by participating in such research projects, classroom lectures, and facility tours is also a goal of this project. In FY2019, the main activities were conceptual design, prototyping, and conceptual planning.

JAEA Reports

Development of technology for rapid analysis of strontium-90 with low isotopic abundance using laser resonance ionization (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; The University of Tokyo*

JAEA-Review 2020-024, 75 Pages, 2021/01

JAEA-Review-2020-024.pdf:5.43MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2019. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2018, this report summarizes the research results of the "Development of Technology for Rapid Analysis of Strontium-90 with Low Isotopic Abundance using Laser Resonance Ionization" conducted in FY2019. In this study, we will develop a rapid analysis technique for strontium-90 using diode laser-based resonance ionization with elemental and isotopic selectivity. Strontium-90 is one of the major difficult-to-measure nuclides released into the environment due to the accident at TEPCO's Fukushima Daiichi Nuclear Power Station. Our method is particularly intended for real samples which contain high concentrations of strontium stable isotopes such as marine samples.

JAEA Reports

Estimation of oxygen consumption amount in LBE-cooled accelerator-driven system

Sugawara, Takanori; Komatsu, Atsushi

JAEA-Research 2020-016, 44 Pages, 2021/01

JAEA-Research-2020-016.pdf:2.94MB

It is required to control the oxygen concentration in lead-bismuth eutectic (LBE) to prevent the corrosion of structures in LBE-cooled nuclear system. This study estimated the oxygen consumption amount in the LBE-cooled accelerator-driven system (ADS). We used the evaluation formula for the oxide layer thickness, which were derived by various experiments, to estimate the oxygen consumption amount. It was found that the maximum oxide layer thicknesses for the fuel assembly and the beam window were about 35 [$$mu$$m] and 20 [$$mu$$m], respectively. Based on these results, the oxygen consumption amount for the ADS plant was estimated as 30 [kg] during one cycle (one year). Through this study, it was indicated that an oxygen supply device which could supply 3-4 [g/h] oxygen in the normal operation, 150 [g/h] in the peak and about 30 [kg] during one cycle was necessary.

JAEA Reports

Backfill material characteristics using the bentonite/excavated rock mixture in the Horonobe Underground Research Laboratory Project (Contract research)

Sugita, Yutaka; Kikuchi, Hirohito*; Hoshino, Emiko*

JAEA-Data/Code 2020-017, 39 Pages, 2021/01

JAEA-Data-Code-2020-017.pdf:2.94MB

In Japan, high-level radioactive waste (HLW) will be buried in a purpose built repository in deep underground. In the vertical disposal concept of HLW, nuclear waste canisters will be emplaced in excavated vertical disposal holes, surrounded by bentonite/sand mixture. And the galleries will be backfilled with bentonite/excavated rock mixture, which will be isolated with a concrete plug. Japan Atomic Energy Agency has performed swelling test, permeability test, thermal property measurement, uniaxial compression test, water potential measurement and infiltration tests to identify coupled thermal-hydraulic-mechanical-chemical behavior that will operate in the backfill material using excavated rock in the Horonobe Underground Research Laboratory (URL). The obtained data will be used to support an ongoing full scale, in-situ experiment being conducted in the Horonobe URL.

JAEA Reports

Investigations on distribution of radioactive substances owing to the Fukushima Dai-ichi Nuclear Power Station Accident in the fiscal year 2019 (Contract research)

Group for Fukushima Mapping Project

JAEA-Technology 2020-014, 158 Pages, 2020/12

JAEA-Technology-2020-014.pdf:23.82MB

This report presents results of the investigations on the distribution-mapping project of radioactive substances owing to TEPCO Fukushima Daiichi Nuclear Power Station (FDNPS) conducted in FY2019. Car-borne surveys, a flat ground measurement using survey meters, a walk survey and an unmanned helicopter survey were carried out to obtain air dose rate data. Air dose rate distribution maps were created and temporal changes of the air dose rates were analyzed. Regarding radiocesium deposition into the ground, surveys on depth profile of radiocesium and in-situ measurements were performed. Based on these measurement results, effective half-lives of the temporal changes in the air dose rates and the deposition were evaluated. In the examination of scoring to classify the importance of measurement points, we created a score map of Fukushima Prefecture and that within 80 km from the FDNPS based on the "score" method developed in 2018. The way of monitoring radioactive materials in land area was examined and the representativeness of monitoring points was proposed. Using the Bayesian hierarchical modeling approach, we obtained maps that integrated the air dose rate distribution data obtained from aircraft monitoring, car-borne surveys, and walk surveys with respect to the region within 80 km from the FDNPS and Fukushima Prefecture. The measurement results for FY2019 were published on the "Expansion Site of Distribution Map of Radiation Dose", and measurement data were stored as CSV format. Radiation monitoring and analysis of environmental samples owing to the comprehensive radiation monitoring plan were carried out.

JAEA Reports

Analysis of debris samples of Tokyo Electric Power Company Holdings Fukushima Daiichi Nuclear Power Station (Translated document)

Task Force on Research Strategy for Debris of Fukushima Daiichi Nuclear Power Station

JAEA-Review 2020-055, 171 Pages, 2020/12

JAEA-Review-2020-055.pdf:5.66MB

Design, planning and control of debris-related processes, namely retrieval, storage management, processing and disposal of the debris, are required for the safe and steady decommissioning of Fukushima Daiichi Nuclear Power Station (1F). Status inside primary containment vessel of 1F must be known by the PCV investigation and fuel debris sample analysis. Continuous updating and improvement of the process design are important through ascertainment of the cause of the accident. The roadmap for the 1F decommissioning have shown the milestone of commencement of trial retrieval of fuels debris within 2021, which indicates the analysis of fuel debris sample begin in earnest. This report recommends required debris analysis in relation with issues for the retrieval, storage management, processing and disposal, and ascertainment of the cause of the 1F accident. Practical analysis plan is expected to be prepared based on this report.

JAEA Reports

Improvement of critical safety technology in fuel debris retrieval (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Tokyo Institute of Technology*

JAEA-Review 2020-041, 30 Pages, 2020/12

JAEA-Review-2020-041.pdf:1.9MB

JAEA/CLADS had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project in FY2019. Among the adopted proposals in FY2019, this report summarizes the research results of the "Improvement of Critical Safety Technology in Fuel Debris Retrieval" conducted in FY2019.

JAEA Reports

Development of technology to simultaneously measure viscosity and surface tension of molten materials in reactor core (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Osaka University*

JAEA-Review 2020-038, 41 Pages, 2020/12

JAEA-Review-2020-038.pdf:3.28MB

JAEA/CLADS had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project in FY2019. Among the adopted proposals in FY2018, this report summarizes the research results of the "Development of Technology to Simultaneously Measure Viscosity and Surface Tension of Molten Materials in Reactor Core" conducted in FY2019.

JAEA Reports

Upgrading of recovery method for radioactive microparticles by heavy liquid separation aiming to volume reduction of contaminated soil (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; University of Tsukuba*

JAEA-Review 2020-037, 53 Pages, 2020/12

JAEA-Review-2020-037.pdf:3.46MB

JAEA/CLADS had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project in FY2019. Among the adopted proposals in FY2018, this report summarizes the research results of the "Upgrading of Recovery Method for Radioactive Microparticles by Heavy Liquid Separation Aiming to Volume Reduction of Contaminated Soil" conducted in FY2019.

JAEA Reports

Development of hydrogels for prevention of radioactive dust dispersion during fuel debris retrieval (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Osaka University*

JAEA-Review 2020-030, 55 Pages, 2020/12

JAEA-Review-2020-030.pdf:2.76MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2019. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2018, this report summarizes the research results of the "Development of hydrogels for prevention of radioactive dust dispersion during fuel debris retrieval" conducted in FY2019. In this study, we propose coating fuel debris with thixotropic gel materials to suppress dust dispersion during debris retrieval. Hectorite clay mineral - borax composite gel was selected based on the viscosity, the transparency and the radiation resistance. Simulated cutting tests confirm that the gel coating effectively suppress the dust dispersion.

JAEA Reports

Interdisciplinary evaluation of biological effect of internal exposure by inhaling alpha-ray emitting nuclides represented by radon (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Okayama University*

JAEA-Review 2020-029, 55 Pages, 2020/12

JAEA-Review-2020-029.pdf:2.08MB

JAEA/CLADS had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project in FY2019. Among the adopted proposals in FY2018, this report summarizes the research results of the "Interdisciplinary Evaluation of Biological Effect of Internal Exposure by Inhaling Alpha-ray Emitting Nuclides Represented by Radon" conducted in FY2019.

JAEA Reports

Development of tailor-made adsorbents for uranium recovery from seawater on the basis of uranyl coordination chemistry (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Tokyo Institute of Technology*

JAEA-Review 2020-026, 41 Pages, 2020/12

JAEA-Review-2020-026.pdf:3.25MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2019. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2019, this report summarizes the research results of the "Development of Tailor-Made Adsorbents for Uranium Recovery from Seawater on the Basis of Uranyl Coordination Chemistry". On the basis of deep understanding on uranyl coordination chemistry, we design molecular structures of pentadentate ligands as functional moieties for uranium adsorption from seawater and study coordination chemistry of uranyl ion with those ligands in order to resolve current problems in uranium recovery technology from seawater and to develop novel selective and efficient adsorbents for this purpose.

JAEA Reports

Semi-autonomous remote-control technology of an articulated mobile robot to recover from stuck states (Contract research); FY2019 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; The University of Electro-Communications*

JAEA-Review 2020-025, 34 Pages, 2020/12

JAEA-Review-2020-025.pdf:2.73MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2019. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2019, this report summarizes the research results of the "Semiautonomous Remote-control Technology of an Articulated Mobile Robot to Recover from Stuck States". The purpose of this work is to establish a recovery method of an articulated mobile robot from stuck states. In this work, a control method of the robot to recover from stuck states by using redundancy of the system is proposed. In addition, we develop two interfaces. One is a display interface as an operator can understand the situation of the robot and surrounding terrain, and the other is a control interface to provide a target motion using the proposed control method. Finally, the effectiveness of them is demonstrated by experiments using an actual robot.

22475 (Records 1-20 displayed on this page)