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Collaborative Laboratories for Advanced Decommissioning Science; National Institute of Maritime, Port and Aviation Technology*
JAEA-Review 2022-070, 70 Pages, 2023/03
JAEA-Review-2022-070.pdf:5.27MB
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 FY2021. 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 FY2020, this report summarizes the research results of the "Research and development of the sample-return technique for fuel debris using the unmanned underwater vehicle" conducted in FY2021. The present study aims to develop a fuel debris sampling device that comprises a neutron detector with radiation resistance and enhanced neutron detection efficiency, an end-effector with powerful cutting and collection capabilities, and a manipulator under the Japan-UK joint research team. We will also develop a fuel debris sampling system that can be mounted on an unmanned vehicle. In addition, we will develop a positioning system to identify the system position, and a technique to project the counting information of optical cameras, sonar, and neutron detectors to be developed ...
Collaborative Laboratories for Advanced Decommissioning Science; The University of Tokyo*
JAEA-Review 2022-040, 70 Pages, 2023/01
JAEA-Review-2022-040.pdf:3.17MB
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 FY2021. 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 FY2021, this report summarizes the research results of the "Novel mechanical manipulator for efficient fuel debris retrieval" conducted in FY2021. The present study aims to the development of a collision-tolerant robotic manipulator with the mechanical variable impedance actuators in an unknown environment. Another research target is the system architecture of an artificial intelligence-based control method for efficient exploration and decommissioning. In addition to conducting an investigation in the area deep inside the aperture, which has been difficult with conventional investigations, we aim to recover pebble-shaped fuel debris at the bottom of the pedestal using a gripper at the tip of the manipulator.
Collaborative Laboratories for Advanced Decommissioning Science; National Institute of Maritime, Port and Aviation Technology*
JAEA-Review 2021-049, 67 Pages, 2022/01
JAEA-Review-2021-049.pdf:7.54MB
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 FY2020. 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 FY2020, this report summarizes the research results of the "Research and development of the sample-return technique for fuel debris using the unmanned underwater vehicle" conducted in FY2020. The present study aims to develop a fuel debris sampling device that comprises a neutron detector with radiation resistance and enhanced neutron detection efficiency, an end-effector with powerful cutting and collection capabilities, and a manipulator under the Japan-UK joint research team. We will also develop a fuel debris sampling system that can be mounted on an unmanned vehicle. In addition, we will develop a positioning system to identify the system position, and a technique to project the counting information of optical cameras, sonar, …
Shimazaki, Yosuke; Ono, Masato; Tochio, Daisuke; Takada, Shoji; Sawahata, Hiroaki; Kawamoto, Taiki; Hamamoto, Shimpei; Shinohara, Masanori
Proceedings of International Topical Meeting on Research Reactor Fuel Management and Meeting of the International Group on Reactor Research (RRFM/IGORR 2016) (Internet), p.1034 - 1042, 2016/03
In High Temperature Engineering Test Reactor (HTTR), three neutron holders containing 
Cf with 3.7 GBq for each are loaded in the graphite blocks and inserted into the reactor core as a neutron startup source which is changed at the interval of approximately ten years. These neutron holders containing the neutron sources are transported from the dealer's hot cell to HTTR using the transportation container. The holders loading to the graphite block are carried out in the fuel handling machine maintenance pit of HTTR. There were two technical issues for the safety handling work of the neutron holder. The one is the radiation exposure caused by significant movement of the container due to an earthquake, because the conventional transportation container was so large (
1240 mm, h1855 mm) that it can not be fixed on the top floor of maintenance pit by bolts. The other is the falling of the neutron holder caused by the difficult remote handling work, because the neutron holder capsule was also so long (155 mm, h1285 mm) that it can not be pulled into the adequate working space in the maintenance pit. Therefore, a new and low cost transportation container, which can solve the issues, was developed. To avoid the neutron and 
ray exposure, smaller transportation container (820mm, h1150 mm) which can be fixed on the top floor of maintenance pit by bolts was developed. In addition, to avoid the falling of the neutron holder, smaller neutron holder capsule (75 mm, h135 mm) with simple handling mechanism which can be treated easily by manipulator was also developed. As the result of development, the neutron holder handling work was safely accomplished. Moreover, a cost reduction for manufacturing was also achieved by simplifying the mechanism of neutron holder capsule and downsizing.
Tachibana, Mitsuo; Shimada, Taro; Yanagihara, Satoshi
Nihon Kikai Gakkai Dai-8-Kai Doryoku, Enerugi Gijutsu Shimpojiumu Koen Rombunshu, p.489 - 492, 2002/06
A remote dismantling robot was developed for decommissioning in nuclear facilities. The remote dismantling robot consists of two electrical powered manipulators, end-effectors and a control system. To realize stable dismantling operation remotely, the remote dismantling robot is designed from view point of proper control in coping with different activity conditioning by feedback of image and of force to the control system. The image feedback was considered to obtain accurate positioning of the end-effectors and the force feedback was considered to supply proper force for direct interaction with an object. Motion tests were performed to verify the remote dismantling robot and its control system. As a result, it was confirmed that the remote dismantling activities such as cutting, radioactivity measurement, decontamination were conducted efficiently by using the image feedback and the force feedback.
Shibanuma, Kiyoshi
Isotope News, (574), p.2 - 6, 2002/02
no abstracts in English
Shibanuma, Kiyoshi
Denki Kyokai-Ho, (925), p.20 - 23, 2001/11
no abstracts in English
Shibanuma, Kiyoshi
Nihon Robotto Gakkai-Shi, 19(6), p.710 - 713, 2001/09
no abstracts in English
Kakudate, Satoshi; Oka, Kiyoshi; Yoshimi, Takashi*; Taguchi, Ko*; Nakahira, Masataka; Takeda, Nobukazu; Shibanuma, Kiyoshi; Obara, Kenjiro; Tada, Eisuke; Matsumoto, Yasuhiro*; et al.
Fusion Engineering and Design, 51-52(1-4), p.993 - 999, 2000/11
Times Cited Count：9 Percentile：54.14(Nuclear Science & Technology)no abstracts in English
Tachibana, Mitsuo; Shimada, Taro; Yanagihara, Satoshi
Proceedings of International Waste Management Symposium '00 (Waste Manegement '00) (CD-ROM), 9 Pages, 2000/02
no abstracts in English
Nakahira, Masataka; Kakudate, Satoshi; Oka, Kiyoshi; Takeda, Nobukazu; *; *; *; Tada, Eisuke; Shibanuma, Kiyoshi; T.Burgess*; et al.
Fusion Technology, 34(3), p.1160 - 1164, 1998/11
no abstracts in English
Tada, Eisuke; Shibanuma, Kiyoshi
J. Robot. Mechatron., 10(2), p.71 - 77, 1998/00
no abstracts in English
Kakudate, Satoshi; Nakahira, Masataka; Oka, Kiyoshi; *
J. Robot. Mechatron., 10(2), p.78 - 87, 1998/00
no abstracts in English
Nakahira, Masataka; Kakudate, Satoshi; Oka, Kiyoshi; *; *; Tada, Eisuke; *; Shibanuma, Kiyoshi; R.Haange*
Proceedings of 17th IEEE/NPSS Symposium Fusion Engineering (SOFE'97), 2, p.929 - 932, 1998/00
no abstracts in English
Kakudate, Satoshi; *; Nakahira, Masataka; Takeda, Nobukazu; Adachi, Junichi*; Matsumoto, Yasuhiro*
Purazuma, Kaku Yugo Gakkai-Shi, 73(1), p.29 - 41, 1997/01
no abstracts in English
Nakahira, Masataka; Oka, Kiyoshi; Kakudate, Satoshi; *; *; Tada, Eisuke; Shibanuma, Kiyoshi; Matsuhira, Nobuto*; Haange, R.*
Fusion Technology 1996, 0, p.1653 - 1656, 1997/00
no abstracts in English
Tada, Eisuke; D.Maisonnier*; J.Herndon*
Fusion Engineering and Design, 29, p.249 - 261, 1995/00
Times Cited Count：6 Percentile：54.93(Nuclear Science & Technology)no abstracts in English
Robotica, 13, p.233 - 241, 1995/00
Times Cited Count：9 Percentile：50.96(Robotics)no abstracts in English
Robotica, 12, p.309 - 322, 1994/00
Times Cited Count：2 Percentile：32.49(Robotics)no abstracts in English
JAERI-M 93-168, 17 Pages, 1993/09
no abstracts in English
