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. Finally,

Phase-field mobility for crystal growth rates in undercooled silicates, SiO and GeO liquids

Kawaguchi, Munemichi; Uno, Masayoshi*

Journal of Crystal Growth, 585, p.126590_1 - 126590_7, 2022/05

https://doi.org/10.1016/j.jcrysgro.2022.126590

Phase-field mobility, , and crystal growth rates in crystallization of 11 oxides or mixed oxides in undercooled silicates, SiO and GeO liquids were calculated with a simple phase-field model (PFM), and material dependence of the was discussed. Ratios between experimental crystal growth rates and the PFM simulation with were confirmed to be proportional to a power of on the solid/liquid interface process during the crystal growth in a log-log plot. We determined that parameters, and , of the were to mJs and to , which were unique for the materials. It was confirmed that our PFM simulation with the determined reproduced quantitively the experimental crystal growth rates. The has a proportional relationship with the diffusion coefficient of a cation molar mass average per unit an oxygen molar mass at in a log-log graph. The depends on the sum of the cation molar mass per the oxygen molar mass, , in a compound. In , the decreases with the cation molar mass increasing. The assumed cause is that the B represents the degree of the temperature dependence of the . Since the cation molar mass is proportional to an inertial resistance of the cation transfer, the decreases with inverse of the cation molar mass. In crystallization of the silicates of heavy cation in , the saturates at approximately 0.67, which leads to .

Development of dispersed phase tracking method for time-series 3-dimensional interface shape data

Horiguchi, Naoki; Yoshida, Hiroyuki; Yamamura, Sota*; Fujiwara, Kota*; Kaneko, Akiko*; Abe, Yutaka*

Proceedings of 19th International Topical Meeting on Nuclear Reactor Thermal Hydraulics (NURETH-19) (Internet), 14 Pages, 2022/03

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.

Continuous and discontinuous yielding behaviors in ferrite-cementite steels

Wang, Y.*; Tomota, Yo*; Omura, Takahito*; Gong, W.*; Harjo, S.; Tanaka, Masahiko*

Acta Materialia, 196, p.565 - 575, 2020/09

https://doi.org/10.1016/j.actamat.2020.07.017

Observation of aerosol particle capturing behavior near gas-liquid interface

Uesawa, Shinichiro; Yoshida, Hiroyuki

Mechanical Engineering Journal (Internet), 7(3), p.19-00539_1 - 19-00539_9, 2020/06

https://doi.org/10.1299/mej.19-00539

Development of numerical simulation method for small particles behavior in two-phase flow by combining interface and Lagrangian particle tracking methods

Yoshida, Hiroyuki; Uesawa, Shinichiro; Horiguchi, Naoki; Miyahara, Naoya; Ose, Yasuo*

Proceedings of 11th Korea-Japan Symposium on Nuclear Thermal Hydraulics and Safety (NTHAS-11) (Internet), 6 Pages, 2018/11

Numerical simulation of two-phase flow behavior in Venturi scrubber by interface tracking method

Horiguchi, Naoki; Yoshida, Hiroyuki; Abe, Yutaka*

Nuclear Engineering and Design, 310, p.580 - 586, 2016/12

https://doi.org/10.1016/j.nucengdes.2016.10.043

Mineralogical changes and associated decrease in tritiated water diffusivity after alteration of cement-bentonite interfaces

Yamaguchi, Tetsuji; Sawaguchi, Takuma; Tsukada, Manabu; Hoshino, Seiichi*; Tanaka, Tadao

Clay Minerals, 51(2), p.279 - 287, 2016/02

https://doi.org/10.1180/claymin.2016.051.2.13

Alteration of bentonite-cement interfaces and accompanying changes in diffusivity of tritiated water was experimentally investigated using intact hardened cement specimens. The alteration by carbonate solution was accompanied by mineralogical changes at the interface and a decrease in the diffusivity to 70% of the initial value after 180-day period. Another alteration under silicate system contacting hardened cement and compacted bentonite was accompanied by mineralogical changes at the interface and a decrease in the diffusivity to 71% of the initial value after 600-day period. The changes in the diffusivity were much less than those observed for mixed specimens of granulated hardened cement and bentonite where the diffusivity decreased down to 20% of the initial value over 180 days. The results were extrapolated to 15 years under simple assumptions and showed good agreement with those observed in the cement-argillite interface at Tournemire URL. Such an explanation enhances our confidence in our assessment of alteration of cement-bentonite systems and can be a base for using our data and models in long term assessment of radioactive waste disposal.

A High-precision calculation method for interface normal and curvature on an unstructured grid

Ito, Kei; Kunugi, Tomoaki*; Ohno, Shuji; Kamide, Hideki; Ohshima, Hiroyuki

Journal of Computational Physics, 273, p.38 - 53, 2014/09

https://doi.org/10.1016/j.jcp.2014.04.058