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Collaborative Laboratories for Advanced Decommissioning Science; The University of Electro-Communications*
JAEA-Review 2022-029, 37 Pages, 2022/11
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,
Cantarel, V.; Yamagishi, Isao
Journal of Nuclear Science and Technology, 59(7), p.888 - 897, 2022/07
Times Cited Count:1 Percentile:0.01(Nuclear Science & Technology)Kawaguchi, Munemichi; Uno, Masayoshi*
Journal of Crystal Growth, 585, p.126590_1 - 126590_7, 2022/05
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
m
J
s
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
.
Dehbi, A.*; Cheng, X.*; Liao, Y.*; Okagaki, Yuria; Pellegrini, M.*
Proceedings of 19th International Topical Meeting on Nuclear Reactor Thermal Hydraulics (NURETH-19) (Internet), 15 Pages, 2022/03
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
Collaborative Laboratories for Advanced Decommissioning Science; The University of Electro-Communications*
JAEA-Review 2021-025, 33 Pages, 2021/11
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 FY2020. 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 "Semi- autonomous remote-control technology of an articulated mobile robot to recover from stuck states" conducted in FY2020. 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.
Collaborative Laboratories for Advanced Decommissioning Science; The University of Electro-Communications*
JAEA-Review 2020-025, 34 Pages, 2020/12
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.
Ito, Kanae; Harada, Masashi*; Yamada, Norifumi*; Kudo, Kenji*; Aoki, Hiroyuki; Kanaya, Toshiji*
Langmuir, 36(43), p.12830 - 12837, 2020/11
Times Cited Count:12 Percentile:58.79(Chemistry, Multidisciplinary)Wang, Y.*; Tomota, Yo*; Omura, Takahito*; Gong, W.*; Harjo, S.; Tanaka, Masahiko*
Acta Materialia, 196, p.565 - 575, 2020/09
Times Cited Count:25 Percentile:90.28(Materials Science, Multidisciplinary)El-Asaad, H.*; Nagai, Haruyasu; Sagara, Hiroshi*; Han, C. Y.*
Annals of Nuclear Energy, 141, p.107292_1 - 107292_9, 2020/06
Times Cited Count:0 Percentile:0.01(Nuclear Science & Technology)Atmospheric dispersion simulations can provide crucial information to assess radioactive plumes in the environment for nuclear emergency preparedness. However, it is a difficult and time-consuming task to make simulations assuming many possible scenarios and to derive data from a vast number of results. Therefore, an interface was developed to assist users in conveying characteristics of plumes from simulation results. The interface uses a large database that contains WSPEEDI-II simulations for the first 20-days of radioactive release from the Fukushima Daiichi Nuclear Power Plant, and it displays essential quantitative data to the user from the database. The user may conduct sensitivity analysis with the help of the interface by changing release condition to generate many different case scenarios.
Uesawa, Shinichiro; Yoshida, Hiroyuki
Mechanical Engineering Journal (Internet), 7(3), p.19-00539_1 - 19-00539_9, 2020/06
Uesawa, Shinichiro; Miyahara, Naoya; Horiguchi, Naoki; Yoshida, Hiroyuki; Osaka, Masahiko
Proceedings of 27th International Conference on Nuclear Engineering (ICONE-27) (Internet), 5 Pages, 2019/05
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
Gu, B.; Takahashi, Saburo*; Maekawa, Sadamichi
Physical Review B, 96(21), p.214423_1 - 214423_6, 2017/12
Times Cited Count:9 Percentile:45.84(Materials Science, Multidisciplinary)Horiguchi, Naoki; Yoshida, Hiroyuki; Abe, Yutaka*
Nuclear Engineering and Design, 310, p.580 - 586, 2016/12
Times Cited Count:9 Percentile:68.22(Nuclear Science & Technology)Yokota, Sho*; Chugo, Daisuke*; Hashimoto, Hiroshi*; Kawabata, Kuniaki
Proceedings of 25th IEEE International Symposium on Robot and Human Interactive Communication, p.910 - 911, 2016/08
The purpose of this paper is to experimentally investigate specific ranges of play (software backlash, deadzone) on the saddle type interface for the personal mobility (PM), and to implement them into the control scheme.
Yamaguchi, Tetsuji; Sawaguchi, Takuma; Tsukada, Manabu; Hoshino, Seiichi*; Tanaka, Tadao
Clay Minerals, 51(2), p.279 - 287, 2016/02
Times Cited Count:7 Percentile:27.2(Chemistry, Physical)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.
Kato, Yuki; Yoshida, Hiroyuki; Yokoyama, Ryotaro*; Kanagawa, Tetsuya*; Kaneko, Akiko*; Monji, Hideaki*; Abe, Yutaka*
Proceedings of 23rd International Conference on Nuclear Engineering (ICONE-23) (DVD-ROM), 8 Pages, 2015/05
Ito, Kei; Kunugi, Tomoaki*; Ohno, Shuji; Kamide, Hideki; Ohshima, Hiroyuki
Journal of Computational Physics, 273, p.38 - 53, 2014/09
Times Cited Count:15 Percentile:69.3(Computer Science, Interdisciplinary Applications)Yoshida, Hiroyuki; Nagatake, Taku; Takase, Kazuyuki; Kaneko, Akiko*; Monji, Hideaki*; Abe, Yutaka*
Mechanical Engineering Journal (Internet), 1(4), p.TEP0025_1 - TEP0025_11, 2014/08