Development of a simulator for operator proficiency training for seafloor exploration by remotely operated vehicle

Kamewari, Ryusei*; Fujishima, Yusuke*; Kawabata, Kuniaki; Suzuki, Kenta; Sakagami, Norimitsu*; Takemura, Fumiaki*; Takahashi, Satoru*

Proceedings of the IUTAM Symposium on Optimal Guidance and Control for Autonomous Systems 2023 (IUTAM Bookseries No.40), p.85 - 101, 2024/01

HAIROWorldPlugin operation manual (Revised edition)

Suzuki, Kenta; Yashiro, Hiroshi; Kawabata, Kuniaki

JAEA-Testing 2021-004, 125 Pages, 2022/03

JAEA-Testing-2021-004.pdf:6.1MB

This report is updated HAIROWorldPlugin Operation Manual (JAEA-Testing 2020-009). Our motivation is to develop a robot simulator based on Choreonoid for technological development to contribute the decommissioning work at the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings, Inc. Choreonoid is an open source simulator which calculates the behavior of robots. We are developing HAIROWorldPlugin which is an extended function of Choreonoid for providing a virtual decommissioning experience. In the latest HAIROWorldPlugin, the several functions were additionally implemented. In particular, we implemented new functionalities: logging a collision status between a robot and an object, showing and logging a status of the joystick input signals, generating an environmental object model (pipe, grating, and slope), bookmarking an often used simulation settings, and recording histories of a simulation settings. In addition, this report describes the installation of the plugin to Choreonoid on Ubuntu20.04-LTS and parameter settings of the plugin by presenting snapshots of operation windows.

Test methods for robots for nuclear emergency response and decommissioning; Tests for moving performances of robots (JAEA-TM-0004 and JAEA-TM-0005)

Kawabata, Kuniaki; Yamada, Taichi; Abe, Hiroyuki*

JAEA-Technology 2021-021, 30 Pages, 2021/11

JAEA-Technology-2021-021.pdf:2.55MB

This report describes the test procedures for performance evaluation of remotely operated robot utilized for nuclear emergency responses and decommissioning that provide to compare among the robot's performances quantitatively and relatively. After the accident at Fukushima Daiichi Nuclear Power Station of the Tokyo Electric Power Company Holdings Inc. (FDNPS) occurred, remotely operated robots have been deployed and utilized in the response tasks. Such post-accident work experiences and lessons learned are very valuable for developing the robots in the future. Therefore, we were motivated to develop the test methods for performance evaluation of the robot by referring with such experiences and lessons. In recent decommissioning tasks, reconnaissance on the distribution and status of nuclear fuel debris inside the Primary Containment Vessel (PCV) have been carried out. The insertion and deployment of robots into PCV were carried out through a penetration pipe with small diameter to prevent the scattering of radioactive materials. According to the authors' survey on such works have carried out in Units 1 and 2 of FDNPS, in order to carry out the reconnaissance work by the robot deployed into the PCV, it was clarified that the robots are required to run freely on the floor located below the exit of the penetration pipe and run freely on the inclined surface located below the exit of the pipe. This document describes two test procedures for performance evaluation of the robot connected with the cable such as running on the floor after being deployed through a penetration pipe and running on the inclined surface after being deployed through a penetration pipe. Typical course layout and the demonstration of test running are also illustrated for the references.

HAIROWorldPlugin operation manual

Suzuki, Kenta; Abe, Fumiaki; Yashiro, Hiroshi; Kawabata, Kuniaki

JAEA-Testing 2020-009, 254 Pages, 2021/03

JAEA-Testing-2020-009.pdf:18.61MB

This report is the user manual of HAIROWorldPlugin for Choreonoid. Our motivation is to develop a robot simulator based on Choreonoid for technological development to contribute the decommissioning work at the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings, Inc. Choreonoid is an open source simulator which calculates the behavior of robots. The plugin is an extended function of Choreonoid which provides simulated behavior and phenomenon related to decommissioning tasks utilizing remotely operated robots. In particular, we developed additional functionalities for simulating the behavior of an underwater swimming robot, the behavior of an unmanned aerial vehicle robot, low visibility camera images, network communication failures, etc., and packaged these in the plugin. This report describes the installation of the plugin to Choreonoid on Ubuntu18.04-LTS and parameter settings of the plugin by presenting snapshots of operation windows.

Toward technological contributions to remote operations in the decommissioning of the Fukushima Daiichi Nuclear Power Station

Kawabata, Kuniaki

Japanese Journal of Applied Physics, 59(5), p.050501_1 - 050501_9, 2020/05

https://doi.org/10.35848/1347-4065/ab82ad

This paper describes the decommissioning work being undertaken at the Fukushima Daiichi Nuclear Power Station of the Tokyo Electric Power Company Holdings Inc.'s (FDNPS) using remote controlled robotic systems, as well as lessons learned from past remote task executions. We also summarize the issues to be considered in promoting safe, steady, and efficient decommissioning based on past experiences. In response to these issues, we are developing test methods for performance evaluation of the robots for nuclear decommissioning, robot simulator for operator proficiency training, and information generation methods to improve the operator's status awareness. The current status of technological development is also described.

Laser cutting technology of thick steel components; Advanced technology developed at the era of decommissioning

Tamura, Koji*; Toyama, Shinichi

Nihon Genshiryoku Gakkai-Shi ATOMO, 61(5), p.413 - 415, 2019/05

In decommissioning of nuclear reactors, it is necessary to disassemble the nuclear reactor structure. In addition to the conventional cutting method, the laser method has many advantages such as remote controllability and no need for replacement parts such as blades, which can be a powerful choice. Nuclear reactor structure such as a pressure vessel are made of steel materials with a thickness exceeding 100 mm, and the laser method has poor knowledge and experience in cutting such thick steel materials. Therefore, as a result of trial cutting of steel materials under various cutting conditions with the high power fiber laser which is progressively available nowadays, it has been demonstrated that laser cutting is also possible for thick plates such as those used in nuclear reactors, and cutting of thick steel plates. We also developed the cutting technology using remote control using a robot in order to apply it to the decommissioning of thick steel cutting on the spot.

Training programs of emergency response robots operation for operators in each site of JAEA beginner class / intermediate class

Chiba, Yusuke; Nishiyama, Yutaka; Tsubaki, Hirohiko; Iwai, Masaki

JAEA-Technology 2019-002, 29 Pages, 2019/03

JAEA-Technology-2019-002.pdf:2.43MB

Act on Special Measures Concerning Nuclear Emergency Preparedness was amended on the 30th of October in 2017. As the JAEA Emergency Assistance Organization, Maintenance and Operation Section for Remote Control Equipment in Naraha Center for Remote Control Technology Development started training for emergency response robots operation for operators in each site of JAEA in response to the new amendment. The training consists of three operations: small crawler-type mobile scouting robots, big crawler-type mobile robots with a manipulator or a long tong and small radio-controlled helicopters. The training has three classes (beginner, intermediate and advanced classes) depending on skills and experiences. This paper reports the training programs of emergency response robots operation of the beginner and intermediate classes which were used in the first half of fiscal 2018.

Heating test of robot test pool

Arakawa, Ryoki; Nosaki, Nobuhisa; Hirata, Yuji*

JAEA-Technology 2018-009, 28 Pages, 2019/01

JAEA-Technology-2018-009.pdf:2.94MB

The Naraha Center for Remote Control Technology Development consists of a mock-up test building and a research management building, and various test facilities are installed in them for the decommissioning work after the accident of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings. In the test facilities, the robot test pool for the underwater robot can be tested under temperature conditions raised from room temperature to 60C. Then, for the purpose of grasping the temperature distribution inside of the pool and the temperature rising behavior in temperature raising condition, a temperature heating test with room temperature to 60C. (maximum setting temperature) was performed, and as well as an analytical study was performed. This report summarizes the obtained both experimental and analytical studies.

Development of an altitude-keeping system for underwater robots using laser beams

Takemura, Fumiaki*; Taba, Ryo*; Hirayama, Keita*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*

Artificial Life and Robotics, 22(4), p.405 - 411, 2017/12

https://doi.org/10.1007/s10015-017-0377-y

The manta method is a survey method that divers investigate the degree of coral and whitening state while being towed to a boat. The manta method makes great physical burden. Therefore, the authors think that this task can substitute an underwater robot. This underwater robot is desirable to be able to keep altitude above the seabed. Hence, the authors have been developing the altitude (its distance above the sea floor) keeping system for an underwater robot. Visual recognition of distant underwater objects is possible in the water with high transparency, for example, in the coastal sea area of Okinawa prefecture, Japan. So, the authors have been adopting the distance measuring method using the two laser beams and a monocular camera with image processing. It realize to keep altitude of an underwater robot by using such devices. The evaluation experiments of the altitude keeping system are carried out in the pool.

Full operation of JAEA Naraha Remote Technology Development Center

Daido, Hiroyuki

Hozengaku, 15(3), p.20 - 25, 2016/10

Naraha Remote Technology Development Center is open for various users to contribute to recovery of the coast area of Fukushima as well as the decommissioning of Fukushima Daiichi Nuclear Power Station. The center is located within a distance of 20 km from the Fukushima Daiichi station. This is the first development center funded by the Government near the Fukushima Daiichi. Many people expect that the center plays a significant role to contribute to the decommissioning of Fukushima Daiichi and recovery of Fukushima area from the hazards. The author describe details of the facility and our plan.