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JAEA Reports

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


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.

Journal Articles

Water distribution in Nafion thin films on hydrophilic and hydrophobic carbon substrates

Ito, Kanae; Harada, Masashi*; Yamada, Norifumi*; Kudo, Kenji*; Aoki, Hiroyuki; Kanaya, Toshiji*

Langmuir, 36(43), p.12830 - 12837, 2020/11

 Times Cited Count:0 Percentile:0(Chemistry, Multidisciplinary)

Journal Articles

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

 Times Cited Count:1 Percentile:39.31(Materials Science, Multidisciplinary)

Journal Articles

Development of a user-friendly interface IRONS for atmospheric dispersion database for nuclear emergency preparedness based on the Fukushima database

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.

Journal Articles

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

Journal Articles

Observation of aerosol particle behavior near gas-liquid interface

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

Journal Articles

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

Journal Articles

Enhanced magneto-optical Kerr effect at Fe/insulator interfaces

Gu, B.; Takahashi, Saburo*; Maekawa, Sadamichi

Physical Review B, 96(21), p.214423_1 - 214423_6, 2017/12

 Times Cited Count:5 Percentile:38.08(Materials Science, Multidisciplinary)

Journal Articles

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

 Times Cited Count:8 Percentile:74.21(Nuclear Science & Technology)

Journal Articles

Design of play specific to the saddle type interface and its implementation

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.

Journal Articles

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

 Times Cited Count:5 Percentile:16.85(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.

Journal Articles

Development of prediction technology of two-phase flow dynamics under earthquake acceleration, 16; Experimental and numerical study of pressure fluctuation effects on bubble motion

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

Journal Articles

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

 Times Cited Count:12 Percentile:68.55(Computer Science, Interdisciplinary Applications)

Journal Articles

Development of prediction technology of two-phase flow dynamics under earthquake acceleration

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

Journal Articles

Current status of thermal/hydraulic feasibility project for reduced-moderation water reactor, 2; Development of two-phase flow simulation code with advanced interface tracking method

Yoshida, Hiroyuki; Tamai, Hidesada; Onuki, Akira; Takase, Kazuyuki; Akimoto, Hajime

Nuclear Engineering and Technology, 38(2), p.119 - 128, 2006/04

The reduced-moderation water reactor core adopts a hexagonal tight-lattice arrangement. In the core, there is no sufficient information about the effects of the gap spacing and grid spacer configuration on the flow characteristics. Thus, we start to develop a predictable technology for thermal-hydraulic performance of the core using an advanced numerical simulation technology. As a part of this technology development, we are developing a two-phase flow simulation code TPFIT with an advanced interface tracking method. The vector and parallelization of the code was conducted to fit the large-scale simulations. The numerical results applied to large-scale water-vapor two-phase flow in tight lattice rod bundles are shown and compared with experimental results. In the results, a tendency of the predicted void fraction distribution in horizontal plane agreed with the measured values including the bridge formation of the liquid at the position of adjacent fuel rods where an interval is the narrowest.

Journal Articles

Large-scale direct simulation of two-phase flow structure around a spacer in a tight-lattice nuclear fuel bundle

Takase, Kazuyuki; Yoshida, Hiroyuki; Ose, Yasuo*; Akimoto, Hajime

Computational Fluid Dynamics 2004, p.649 - 654, 2006/00

no abstracts in English

JAEA Reports

Research and development of remote maintenance equipment for ITER divertor maintenance

Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka

JAERI-Tech 2004-071, 85 Pages, 2005/02


To facilitate easy maintainability, the ITER divertor is divided into 60 cassettes, which are transported for replacement using the remote equipments. The cassette of 25 tons has to be transported and installed with a positioning accuracy less than 2 mm in the limited space under the intense gamma radiation field. Based on these requirements, the following design and tests were performed. (1) Link mechanism was studied to apply to the transportation. A compact mechanism with links is designed through the optimization of the link angle taking account of space requirement and force efficiency. The lifting capacity of 30 tons has been demonstrated. (2) Compact link mechanism was also studied to apply for locking of the cassette. The final positioning accuracy of 0.03 mm for installation from the initial positioning error of 5 mm has been demonstrated. (3) Sensor-based control of the remote equipment was tested using simple sensors. It is found that the positioning accuracy of 0.16 mm has been achieved and this value is sufficient.

Journal Articles

Characterization of interface defects related to negative-bias temperature instability in ultrathin plasma-nitrided SiON/Si$$<$$100$$>$$ systems

Fujieda, Shinji*; Miura, Yoshinao*; Saito, Motofumi*; Teraoka, Yuden; Yoshigoe, Akitaka

Microelectronics Reliability, 45(1), p.57 - 64, 2005/01

 Times Cited Count:11 Percentile:53.16(Engineering, Electrical & Electronic)

To characterize the interface defects that are responsible for the negative-bias temperature instability (NBTI) of a thin plasma-nitrided SiON/Si system, we carried out inerface trap density measurements, electron-spin resonance spectroscopy and synchrotron radiation XPS. The NBTI was shown to occur mainly through the dehydrogenation of the interfacial Si dangling bonds (P$$_{b}$$ defects). Although we suggest that non- P$$_{b}$$ defects are also generated by the negative-bias temperature stress, nitrogen dangling bonds do not seem to be included. The plasma-nitridation process was confirmed to generate sub-oxides at the interface and thus increase the interface trap density. Furthermore, it was found that the nitridation induces another type of P$$_{b1}$$ defect than that at pure-SiO$$_{2}$$/Si interfacec. Such an increase and structural change of the interfacial defects are likely the causes of the nitridation-enhanced NBTI.

Journal Articles

Master plan and current status for feasibility study on thermal-hydraulic performance of reduced-moderation water reactors

Onuki, Akira; Takase, Kazuyuki; Kureta, Masatoshi*; Yoshida, Hiroyuki; Tamai, Hidesada; Liu, W.; Akimoto, Hajime

Proceedings of Japan-US Seminar on Two-Phase Flow Dynamics, p.317 - 325, 2004/12

We start R&D project to develop the predictable technology for thermal-hydraulic performance of Reduced-Moderation Water Reactor (RMWR) in collaboration with Power Company/reactor vendor/university since 2002. The RMWR can attain the favorable characteristics such as effective utilization of uranium resources, multiple recycling of plutonium, high burn-up and long operation cycle, based on matured BWR technologies. MOX fuel assemblies with tight lattice arrangement are used to increase the conversion ratio by reducing the moderation of neutron energy. Increasing the in-core void fraction also contributes to the reduction of neutron moderation. The confirmation of thermal-hydraulic feasibility is one of the most important R&D items for the RMWR because of the tight lattice configuration. In this paper, we will show the R&D plan and describe the current status on experimental and analytical studies. We will confirm the thermal-hydraulic performance in the tight-lattice bundles by this project and develop a predictable technology for the RMWR in future.

Journal Articles

Investigation of water-vapor two-phase flow characteristics in a tight-lattice core by large scale numerical simulation, 1; Development of a direct analysis procedure on two-phase flow with an advanced interface tracking method

Yoshida, Hiroyuki; Nagayoshi, Takuji*; Ose, Yasuo*; Takase, Kazuyuki; Akimoto, Hajime

Nihon Genshiryoku Gakkai Wabun Rombunshi, 3(3), p.233 - 241, 2004/09

When there are no experimental data such as the reduced-moderation water reactor (RMWR), therefore, it is very difficult to obtain highly precise predictions. The RMWR core adopts a hexagonal tight lattice arrangement with about 1 mm gap between adjacent fuel rods. In the core, there is no sufficient information about the effects of the gap spacing and grid spacer configuration on the flow characteristics. Thus, we start to develop a predictable technology for thermal-hydraulic performance of RMWR core using advanced numerical simulation technology. As part of this technology development, we are developing advanced interface tracking method to improve conservation of volume of fluid. In this paper, we describe a newly developed interface tracking method and examples of the numerical results. In the present results, the error of volume conservation in the bubbly flow is within 0.6%.

63 (Records 1-20 displayed on this page)