Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
鈴木 健太; 八代 大*; 川端 邦明
Proceedings of International Topical Workshop on Fukushima Decommissioning Research (FDR2022) (Internet), 4 Pages, 2022/10
This paper describes a development of PHITSPlugin for the radiation behavior calculation. The developed plugin calculates a dose distribution in conjunction with Choreonoid which is a physical simulator. It was developed to contribute to estimate an integral radiation dose on the robots. We discuss a procedure for calculating the dose distribution. Also, we demonstrate to calculate the dose distribution by utilizing experimental examples.
鈴木 健太; 川端 邦明
Journal of Robotics and Mechatronics, 32(6), p.1292 - 1300, 2020/12
This paper describes the development of a robot simulator for remote decommissioning tasks in the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings utilizing remotely operated robots. The robot simulator was developed to provide a remote operation training environment to ensure operator proficiency. The developed simulator allows for calculating physical aspects such as the hydrodynamics for a remotely operated vehicle and the aerodynamics for an unmanned aerial vehicle. The disturbed camera view presented to an operator can be generated by setting parameters such as transparency, color, distortion, and noise. Moreover, we implemented a communication failure emulator on the simulator, while functionalities for calculating the integral dose and generating the gamma camera image were also implemented. Here, we discuss the functional requirements and introduce the implemented functionalities. It is demonstrated that the simulator was built using the developed functions and that it can be executed integrally.
川端 邦明; 鈴木 健太
Proceedings of 16th International Conference on Ubiquitous Robots (UR 2019) (USB Flash Drive), p.501 - 504, 2019/06
This paper describes about the current development status of a robot simulator for remote operations for nuclear decommissioning. This simulator is designed for operator proficiency training and a robot development. We implemented plug-in functions that are required to simulate the situations and the conditions for task execution for decommissioning and also utilities for enhancing convenience for the users. We describe the current prototype of the robot simulator and such implemented functions and utilities. Functional details were also introduced and illustrated in this paper.
鈴木 健太; 川端 邦明; 磯和 充; 鳥居 建男
no journal, ,
This paper describes about recent report on the development of a robot simulator for nuclear emergency response robot. The robot simulator is being developed based on Choreonoid that is developed by AIST and also installs the environment and structural data of an unit of Fukushima Daiichi Nuclear Power Station (1F). Currently, we design the base system with the data of 1F and the extended simulation functions like underwater moving, the appearance of the obstacles on the camera view and the status of wired signal transmission. In this paper, we introduce such functions and the prototype of the robot simulator.
川妻 伸二
no journal, ,
原子力機構は、水中ロボット用試験水槽、モックアップ階段、モーションキャプチャーなどを備えた楢葉遠隔技術開発センターを立ち上げた。このセンターは廃止措置や緊急時対応のためのロボット開発を支援することが目的である。支援の一環として、ロボット標準試験法やロボットシミュレータの開発も行っている。
鈴木 健太; 堀内 一憲; 川端 邦明; 伊藤 倫太郎
no journal, ,
This paper describes about design of additional extended functions of a robotic simulator system. After the accident at Fukushima Dai-ichi Nuclear Power Stations, many remotely operated robots are being deployed. For realizing efficient task execution, we are developing a robotic simulator system to contribute to design the robots and train the operators. Currently, we are implementing additional simulation functions of physical behavior of the multi-copter and dose visualization by the gamma camera. For the simulation of multi-copter, aspiration effect and attracted effect depending on the working environment are added as unstable factors for remote operation in the indoor environment like the inside of the reactor buildings. For gamma camera simulation, pre-calculated air radiation dose data can be imported to the simulator. Also, the resolution of the gamma camera and the color contour expression can be selected for visualization depending on the specification of the camera.
鈴木 健太; 川端 邦明; 堀内 一憲
no journal, ,
This paper describes about design of additional simulation functions of the multicopter and gamma camera. In multicopter simulation function, it is simulated physical behavior in the air. For the gamma camera simulation, pre-calculated radiation dose data can be imported to the simulator, and present it visually.
阿部 文明; 川端 邦明; 朝比奈 信夫*
no journal, ,
This paper reported an experimental trial and the results of a subject experiment using a remote maneuvering skill test system based on a robot simulator. By utilizing developed robot simulator with data collection function, we conducted the experiments with several subjects, including both skilled and unskilled operators, on the task of passing through a narrow passage in a dark. We showed that it was possible to extract the remote operation characteristics and tendency of each subject based on collected data.
