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JAEA Reports

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.

JAEA Reports

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.

Journal Articles

Development of a robot simulator for decommissioning tasks utilizing remotely operated robots

Suzuki, Kenta; Kawabata, Kuniaki

Journal of Robotics and Mechatronics, 32(6), p.1292 - 1300, 2020/12

Oral presentation

Development of robotic simulator

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.

Oral presentation

Development of a robot simulator for supporting to develop nuclear emergency response robots

Suzuki, Kenta; Kawabata, Kuniaki; Isowa, Mitsuru; Torii, Tatsuo

no journal, , 

Oral presentation

Development of a simulator of remotely operated robots and implementation of user support tools

Suzuki, Kenta; Isowa, Mitsuru; Ito, Rintaro; Horiuchi, Kazunori*; Kawabata, Kuniaki

no journal, , 

Oral presentation

Oral presentation

Development of multicopter simulation function and traffic control simulation function for Choreonoid

Suzuki, Kenta; Horiuchi, Kazunori*; Kawabata, Kuniaki

no journal, , 

Oral presentation

Remote robot simulation affected by network communication failures

Suzuki, Kenta; Kawabata, Kuniaki; Abe, Fumiaki

no journal, , 

Oral presentation

Development and utilization of a robot simulator for operator proficiency training

Suzuki, Kenta; Kawabata, Kuniaki

no journal, , 

no abstracts in English

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