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Akiyama, Yoichi; Shibanuma, So; Yanagisawa, Kenichi*; Yamada, Taichi; Suzuki, Kenta; Yoshida, Moeka; Ono, Takahiro; Kawabata, Kuniaki; Watanabe, Kaho; Morimoto, Kyoichi; et al.
JAEA-Review 2023-015, 60 Pages, 2023/09
JAEA-Review-2023-015.pdf:4.78MB
Naraha Center for Remote Control Technology Development (NARREC) was established in Japan Atomic Energy Agency to promote a decommissioning work of Fukushima Daiichi Nuclear Power Station (Fukushima Daiichi NPS). NARREC consists of a Full-scale Mock-up Test Building and Research Management Building. Various test facilities are installed in these buildings for the decommissioning work of Fukushima Daiichi NPS. These test facilities are intended to be used for various users, such as companies engaged in the decommissioning work, research and development institutions, educational institutions and so on. The number of NARREC facility uses was 84 in FY2021. We participated booth exhibitions and presentations on the decommissioning related events. Moreover, we also contributed to the development of human resources by supporting the 6th Creative Robot Contest for Decommissioning. As a new project, "Narahakko Children's Classroom" was implemented for elementary school students in Naraha Town. This report summarizes the activities of NARREC in FY2021, such as the utilization of facilities and equipment of NARREC, the development of remote-control technologies for supporting the decommissioning work, arrangement of the remote-control machines for emergency response, and training for operators by using the machines.
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.
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.
Kawabata, Kuniaki
Japanese Journal of Applied Physics, 59(5), p.050501_1 - 050501_9, 2020/05
Times Cited Count：11 Percentile：18.54(Physics, Applied)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.
Kawabata, Kuniaki
Nihon Robotto Gakkai-Shi, 36(7), p.460 - 463, 2018/09
no abstracts in English
Kawabata, Kuniaki; Suzuki, Kenta; Isowa, Mitsuru*; Horiuchi, Kazunori; Ito, Rintaro
Proceedings of 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2017) (USB Flash Drive), p.561 - 564, 2017/06
This paper describes the current status of the development of a simulation system for remotely operated robots. The system will be used for operator proficiency training and robot performance verification. Our purpose for developing this system is to contribute to decommissioning of the Fukushima Daiichi Nuclear Power Station (FDNPS). The simulator system was designed using Choreonoid, a simulator development tool. The effects of view disturbances, communication failures, and so on are extended functions that are implemented on the simulator. The effects of water submergence on the physical behavior of underwater robots are also implemented. In this paper, we introduce the prototype of the robotic simulator system with the newly implemented extended functions. Some examples of system output are shown.
Suzuki, Kenta; Isowa, Mitsuru; Kawatsuma, Shinji; Kawabata, Kuniaki; Torii, Tatsuo
no journal, ,
We are developing a robot simulator for nuclear emergency response. By using this simulator, we can carry out a robot development and operation training, etc. efficiently.
Suzuki, Kenta; Isowa, Mitsuru; Ito, Rintaro; Horiuchi, Kazunori*; Kawabata, Kuniaki
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Kawabata, Kuniaki
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no abstracts in English
Suzuki, Kenta; Abe, Fumiaki
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no abstracts in English
Suzuki, Kenta; Kawabata, Kuniaki; Abe, Fumiaki
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Kawabata, Kuniaki
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Suzuki, Kenta; Kawabata, Kuniaki
no journal, ,
no abstracts in English
Suzuki, Kenta; Kawabata, Kuniaki
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no abstracts in English
