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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
Arakawa, Ryoki; Nosaki, Nobuhisa
JAEA-Technology 2019-018, 157 Pages, 2020/03
JAEA-Technology-2019-018.pdf:12.97MB
The Naraha Center for Remote Control Technology Development has various test facilities for the decommissioning work after the accident of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, and is now promoting external use. In the test facilities, the robot test pool for the underwater robot can be used in different temperature conditions from room temperature to 60
C, maximum setting temperature. In order to clarify the temperature behavior in heating condition, a heating test from room temperature to 60C was performed. The data was obtained this way. From the data, a heat transfer model for evaluating the temperature behavior was investigated, and the temperature evaluation method for the robot test pool was developed. By using the developed evaluation method, the influence of various factors such as flow rate and humidity on the temperature behavior was investigated for the condition of temperature heating, holding (test condition) and cooling. From the investigation, the temperature behavior of the robot test pool was analytically clarified, and a reasonable operation method was proposed. This report summarizes the results of analytical study at the temperature heating, holding and cooling condition.
Arakawa, Ryoki; Nosaki, Nobuhisa
JAEA-Technology 2018-013, 51 Pages, 2019/02
JAEA-Technology-2018-013.pdf:7.75MB
The Naraha Center for Remote Control Technology Development has various test facilities for the decommissioning work after the accident of the Fukushima Daiichi Nuclear Power Station, TEPCO Holdings, and is now promoting external use. In the test facilities, the robot test pool for the underwater robot can be used in different temperature conditions from room temperature to 60C, maximum setting temperature. In order to clarify the temperature behavior in heating condition, a heating test from room temperature to 60C was performed, and obtained the data. From the obtained temperature data, a heat transfer model for evaluating the temperature behavior was investigated, and the temperature evaluation method for the robot test pool was developed. This report summarizes the developed heat transfer model, and also summarizes the temperature evaluation method during heating and cooling conditions. Moreover, user's manual for the temperature evaluation code was also created.
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.
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
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.
Noha, Kazuma*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sakagami, Norimitsu*; Sagara, Shinichi*
no journal, ,
This paper described an automatic visual tracking system for underwater mobile object. We developed a prototype system and reported the experiments.
Hirayama, Keita*; Takemura, Fumiaki*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
This paper discussed about the study and development of a towed underwater robot. We described about the required specifications for designing a robot prototype.
Taba, Ryo*; Hirayama, Keita*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
This paper proposed an observation altitude maintenance method with a monocular camera for realizing Manta method-like observation. We developed a test platform and attempted the basic experiments.
Kobashigawa, Shuta*; Hirayama, Keita*; Hirayasu, Shimon*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*
no journal, ,
In this paper, we describe the development of hovering control of underwater robot for injecting the acetic acid to the crown-of-thorn. Underwater robot uses a hovering on image processing to operation assistance.
Katakura, Junichi*; Okumura, Keisuke; Kim, K.*; Joyce, M. J.*; Lennox, B.*
no journal, ,
To contribute to the decommissioning acceleration of the Fukushima Daiichi Nuclear Power Station, the following two key technology developments have been carried out in cooperation with UK research organization. One is "the development of the evaluation technology of dose rate distribution" which is aiming to evaluate the most probable dose rate distribution by combination of the actual measurement value and the theoretical calculation. Another is "the technology development to search for the submerged fuel debris" by using sonar, small detector, underwater robot. In this presentation, we report on the research objectives and the overall plan.
Takemura, Fumiaki*; Hirayama, Keita*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
This paper reported that the development of an underwater robot for coral reef inspection and also basic experiments with the prototype.
Hirayama, Keita*; Taba, Ryo*; Takemura, Fumiaki*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
We have been studying and developing an underwater robot for coral reef conservation. In this research, we propose a towed robot using flap device for underwater survey. This underwater robot is developed for two purposes. The first purpose of this underwater robot is reducing the physical load on the research diver. The Seconds purpose of this underwater robot is to investigate underwater of improving efficiency. We designed with towed underwater robot and umbilical cable. The robot consist of three parts, two pressure vessels, and a flap device. The umbilical cable using PLC (Power Line Communication). Preliminary experiments indicate that the towed underwater robot have basic performance.
Taba, Ryo*; Hirayama, Keita*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
Distribution map of the degree of coral has been created by Manta method to use coral conservation activities. The manta method is a survey method that divers investigate the degree of coral and whitening state while being towed to a boat. But the manta method makes great physical burden also underwater robot can substitute, and desirable underwater robot that can maintain an altitude between underwater robot and seabed. Therefore, we have developed the altitude maintenance system for underwater robot for the purpose of investigate by Manta method is described in this paper. The distance measuring method using the laser beams and a monocular camera with image processing is adopted reason that waters inhabiting coral is high transparency. The evaluation experiments in the pool with the system and underwater robots were confirmed to have sufficient accuracy for the assumed survey mission.
