Decommissioning robot manipulator for fuel debris retrieval

Nakashima, Shinsuke*; Moro, A.*; Komatsu, Ren*; Faragasso, A.*; Matsuhira, Nobuto*; Woo, H.*; Kawabata, Kuniaki; Yamashita, Atsushi*; Asama, Hajime*

Proceedings of International Topical Workshop on Fukushima Decommissioning Research 2024 (FDR2024) (Internet), 4 Pages, 2024/10

Novel mechanical manipulator for efficient fuel debris retrieval (Contract research); FY2021 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; The University of Tokyo*

JAEA-Review 2022-040, 70 Pages, 2023/01

JAEA-Review-2022-040.pdf:3.17MB

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 FY2021, this report summarizes the research results of the "Novel mechanical manipulator for efficient fuel debris retrieval" conducted in FY2021. The present study aims to the development of a collision-tolerant robotic manipulator with the mechanical variable impedance actuators in an unknown environment. Another research target is the system architecture of an artificial intelligence-based control method for efficient exploration and decommissioning. In addition to conducting an investigation in the area deep inside the aperture, which has been difficult with conventional investigations, we aim to recover pebble-shaped fuel debris at the bottom of the pedestal using a gripper at the tip of the manipulator.

Development of human and robot collaborative navigation technology in nuclear power plants

Ishikawa, Nobuyuki; ; ; Suzuki, Katsuo

Proc. of AIR & IHAS '97, p.213 - 225, 1997/00

no abstracts in English