Development of a cooperative operation robot system for radiation source exploration (Contract research); FY2022 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Tohoku University*

JAEA-Review 2023-030, 80 Pages, 2024/03

JAEA-Review-2023-030.pdf:4.96MB

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 FY2022. 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 "Development of a cooperative operation robot system for radiation source exploration" conducted in FY2022. The present study aims to develop a Cooperative Operation Robot system for RAdiation Source Exploration (CORRASE). The multiple robot system provides radiation source exploration with wide field of view, rapidity, and low cost. The radiation source exploration is realized with multiple robots carrying directional gamma-ray detectors determining the incident direction of the incoming gamma-rays. We will develop the system by the final year of this proposal aiming for application in the Fukushima Daiichi Nuclear Power Station.

Challenge to investigation of fuel debris in RPV by an advanced super dragon articulated robot arm (Contract research); FY2021 Nuclear Energy Science & Technology and Human Resource Development Project

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

JAEA-Review 2022-060, 91 Pages, 2023/02

JAEA-Review-2022-060.pdf:3.95MB

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 (1F), 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 "Challenge to investigation of fuel debris in RPV by an advanced Super Dragon articulated robot arm" conducted from FY2019 to FY2021. Since the final year of this proposal was FY2021, the results for three fiscal years were summarized. Through this research from FY2019 to FY2021, we will closely cooperate with each research item under the principal investigator as well as with CLADS, etc., to advance the research while exchanging opinions/information with the site and promote the research implementation plan in order to apply the technology to the actual equipment at the 1F site. Meetings and conferences were held to promote the research implementation plan, with the aim of realizing a technology …

Semi-autonomous remote-control technology of an articulated mobile robot to recover from stuck states (Contract research); FY2021 Nuclear Energy Science & Technology and Human Resource Development Project

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

JAEA-Review 2022-029, 37 Pages, 2022/11

JAEA-Review-2022-029.pdf:1.89MB

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 FY2019, this report summarizes the research results of the "Semiautonomous remote-control technology of an articulated mobile robot to recover from stuck states" conducted from FY2019 to FY2021. Since the final year of this proposal was FY2021, the results for three fiscal years were summarized. 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.

Development of semantic survey map building system using semi-autonomous mobile robots for surveying of disaster area and gathering of information in nuclear power station (Contract research); FY2020 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Tokyo Polytechnic University*

JAEA-Review 2022-011, 80 Pages, 2022/07

JAEA-Review-2022-011.pdf:5.42MB

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 FY2018, this report summarizes the research results of the "Development of semantic survey map building system using semi-autonomous mobile robots for surveying of disaster area and gathering of information in nuclear power station" conducted from FY2018 to FY2021 (this contract was extended to FY2021). Since the final year of this proposal was FY2021, the results for four fiscal years were summarized. The present study aims to research and develop semi-autonomous mobile robot systems (multi-sensor fusion system, semantic simultaneous localization and mapping (SLAM), system for traversable-route learning and safe traversable-route presentation, etc.) that simply, safely, and rapidly make semantic survey maps …

Semi-autonomous remote-control technology of an articulated mobile robot to recover from stuck states (Contract research); FY2020 Nuclear Energy Science & Technology and Human Resource Development Project

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

JAEA-Review 2021-025, 33 Pages, 2021/11

JAEA-Review-2021-025.pdf:1.68MB

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 FY2019, this report summarizes the research results of the "Semi- autonomous remote-control technology of an articulated mobile robot to recover from stuck states" conducted in FY2020. 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.

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.

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.

Design and produce training-way system for crawler-type robots against nuclear emergency of JAEA facilities

Tsubaki, Hirohiko; Koizumi, Satoshi*

JAEA-Technology 2020-016, 16 Pages, 2020/11

JAEA-Technology-2020-016.pdf:2.96MB

Maintenance and Operation Section for Remote Control Equipment in Naraha Center for Remote Control Technology Development is the main part of the nuclear emergency response team of JAEA deal with Act on Special Measures Concerning Nuclear Emergency Preparedness. The section needs to train operators from every nuclear facility in JAEA to control crawler-type robots, and so on. A driving training of a crawler-type robot used a reciprocating passage (U-shaped passage look from above) is one of the important training programs. The section always assembled a reciprocating passage with borrowed parts from other sections for every training of being used the passage. The section designed and produced training-way system included a reciprocating passage with stairs in 2019 fiscal year. The system makes the section members labor-saving, possible to set any time for training and diverse training-ways with easy assembling system. This report shows design and produce training-way system for crawler-type robots against nuclear emergency of JAEA facilities by Maintenance and Operation Section for Remote Control Equipment.

Development of semantic survey map building system using semi-autonomous mobile robots for surveying of disaster area and gathering of information in nuclear power station (Contract research); FY2018 Center of World Intelligence Project for Nuclear Science/Technology and Human Resource Development

Collaborative Laboratories for Advanced Decommissioning Science; Tokyo Polytechnic University*

JAEA-Review 2019-022, 35 Pages, 2020/01

JAEA-Review-2019-022.pdf:2.71MB

CLADS, JAEA, had been conducting the Center of World Intelligence Project for Nuclear Science/Technology and Human Resource Development (hereafter referred to "the Project") in FY2018. The Project aims to contribute to solving problems in nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. 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 Semantic Survey Map Building System Using Semi-autonomous Mobile Robots for Surveying of Disaster Area and Gathering of Information in Nuclear Power Station. The objective of the present study is to research and develop semi-autonomous mobile robot systems (multi-sensor fusion system, semantic simultaneous localization and mapping (SLAM), system for traversable-route learning and safe traversable-route presentation, etc.) that simply, safely, and rapidly make semantic survey maps including multiple information (air dose rate, temperature, obstacles, etc.). The system will be applied to the investigation of the situation inside the building of the nuclear power station where people cannot access at the time of disaster.

Designing test methods for running capabilities of ground robots for nuclear disaster response

Kawabata, Kuniaki; Yamada, Taichi; Shirasaki, Norihito; Ishiyama, Hiroki

Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019) (USB Flash Drive), p.559 - 564, 2019/07