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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.
Collaborative Laboratories for Advanced Decommissioning Science; Tokyo Polytechnic University*
JAEA-Review 2022-011, 80 Pages, 2022/07
JAEA-Review-2022-011.pdf:5.42MB
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 FY2018, this report summarizes the research results of the "Development of semantic survey map building system using semi-autonomous mobile robots for surveying of disaster area and gathering of information in nuclear power station" conducted from FY2018 to FY2021 (this contract was extended to FY2021). Since the final year of this proposal was FY2021, the results for four fiscal years were summarized. The present study aims to research and develop semi-autonomous mobile robot systems (multi-sensor fusion system, semantic simultaneous localization and mapping (SLAM), system for traversable-route learning and safe traversable-route presentation, etc.) that simply, safely, and rapidly make semantic survey maps …
Collaborative Laboratories for Advanced Decommissioning Science; The University of Electro-Communications*
JAEA-Review 2021-025, 33 Pages, 2021/11
JAEA-Review-2021-025.pdf:1.68MB
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; Tokyo Polytechnic University*
JAEA-Review 2020-062, 47 Pages, 2021/01
JAEA-Review-2020-062.pdf:3.43MB
JAEA/CLADS had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project in FY2019. Among the adopted proposals in FY2018, this report summarizes the research results of the "Development of Semantic Survey Map Building System using Semi-autonomous Mobile Robots for Surveying of Disaster Area and Gathering of Information in Nuclear Power Station" conducted in FY2019.
Sato, Yuki; Minemoto, Kojiro*; Nemoto, Makoto*; Torii, Tatsuo
Journal of Instrumentation (Internet), 16(1), p.P01020_1 - P01020_18, 2021/01
Times Cited Count：1 Percentile：8.86(Instruments & Instrumentation)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.
Collaborative Laboratories for Advanced Decommissioning Science; Tokyo Polytechnic University*
JAEA-Review 2019-022, 35 Pages, 2020/01
JAEA-Review-2019-022.pdf:2.71MB
CLADS, JAEA, had been conducting the Center of World Intelligence Project for Nuclear Science/Technology and Human Resource Development (hereafter referred to "the Project") in FY2018. The Project aims to contribute to solving problems in nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. 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 FY2018, this report summarizes the research results of the Development of Semantic Survey Map Building System Using Semi-autonomous Mobile Robots for Surveying of Disaster Area and Gathering of Information in Nuclear Power Station. The objective of the present study is to research and develop semi-autonomous mobile robot systems (multi-sensor fusion system, semantic simultaneous localization and mapping (SLAM), system for traversable-route learning and safe traversable-route presentation, etc.) that simply, safely, and rapidly make semantic survey maps including multiple information (air dose rate, temperature, obstacles, etc.). The system will be applied to the investigation of the situation inside the building of the nuclear power station where people cannot access at the time of disaster.
Kawabata, Kuniaki
Artificial Life and Robotics, 21(4), p.500 - 509, 2016/12
In this paper, we propose a trajectory generation method for mobile robot based on iterative extension-like process. Due to use mobile robots in the real world, trajectory generation must be done depending on the faced situation on each occasion. Proposed method enables online iterative trajectory extension process based on a low-order polynomial curve named as trajectory segment. The waypoints on the existing trajectory segment and a waypoint designated every fixed interval are the constraints to trigger the trajectory extension. For maintaining the smooth continuity of the trajectory, the velocity state must be sustained at the connecting point. Resultantly, the trajectory segments are organized into a single smooth trajectory.
Yamada, Taichi; Oya, Akihisa*
Keisoku Jido Seigyo Gakkai Rombunshu, 52(12), p.661 - 670, 2016/12
This paper introduces a laser-scanner measurement model using the statistic of laser-scanner data collected in advance for a mobile robot localization. In autonomous navigation, robots usually run based on self position in a map, and laser-scanners are useful sensors for localization. However, in human living environments like urban areas and parks, laser-scanner data is unstable due to moving objects and natural objects, and it is difficult to obtain landmarks like fixed objects. Therefore, our method make a map using statistics of laser-scanner data and calculates the laser-scanner measurement model based on the statistics. Our method is applied to Monte Carlo localization/particlelter. Because the map makes possible to use the frequency and distribution of laser-scanner data for localization, our method allows a robust localization for unstable laser scanner data. In extensive experiments, our method presented an accurate localization and a robot using our method ran stably in actual sidewalks.
Yanagihara, Satoshi; Hatakeyama, Mutsuo; Ito, Hirokuni; Mori, Shunji*; Takagi, Akira*
Advanced Robotics, 15(3), p.293 - 300, 2001/06
Times Cited Count：1 Percentile：10.29(Robotics)Automatic measurement of building surface radioactivity must be a useful approach for decommissioning and maintenance activities in nuclear facilities. In particular, in the final step of decommissioning a nuclear power plant, it is essential to confirm that there is no effective radioactivity on building surfaces by measurement. However, experience showed that hands-on measurement using conventional detectors requires a great deal of labor-hours for all building surfaces in relatively large facilities. To realize the automatic measurement of building surface radioactivity, a mobile robot equipped with highly sensitive surface detectors has been developed; it can move automatically based on route plans to measure radioactivity on concrete floors and walls. In the development of this system, efforts were especially made to realize accurate robot motions by applying self-position identification system in consideration of the fact that the measurement should cover all the surfaces of planned areas with minimum overlap.
Proc. of 1998 IEEE Int. Conf. on Control Applications (CD-ROM), p.1323 - 1327, 1998/00
no abstracts in English
; *
Syst. Comput. Jpn., 28(4), p.25 - 35, 1997/00
no abstracts in English
; Suzuki, Katsuo; Fujii, Yoshio; Shinohara, Yoshikuni
JAERI-M 89-191, 25 Pages, 1989/11
no abstracts in English
Yamada, Taichi; Kawabata, Kuniaki
no journal, ,
In reactor buildings of Fukushima Daiichi, there are still uninvestigated areas due to the accident on 11th March. Hence the reconnaissance by using remotely operated robot in reactor buildings is important for planning the decommissioning. Therefore, Simultaneous Localization And Mapping (SLAM) is a key technology in robotics. This research aims to construct the sensor database for the SLAM research base.
