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JAEA Reports

Semi-autonomous remote-control technology of an articulated mobile robot to recover from stuck states (Contract research); FY2020 Nuclear Energy Science & Technology and Human Resource Development Project

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.

Journal Articles

Numerical reproduction of dissolved U concentrations in a PO$$_{4}$$-treated column study of Hanford 300 area sediment using a simple ion exchange and immobile domain model

Saito, Tatsuo; Sato, Kazuhiko; Yamazawa, Hiromi*

Journal of Environmental Radioactivity, 237, p.106708_1 - 106708_9, 2021/10

 Times Cited Count:0 Percentile:0(Environmental Sciences)

We succeeded at numerical reproduction of dissolved U concentrations from column experiments with PO$$_{4}$$-treated Hanford 300 Area sediment. The time-series curves of dissolved U concentrations under various Darcy flow rate conditions were reproduced by the numerical model in the present study through optimization of the following parameters:(i) the mass of U in mobile domain (on surface soil connected to the stream) and the rest of the total U left as precipitation in immobile domain (isolated in deep soil);(ii) the mixing ratio between immobile and mobile domains, to fit the final recovering curve of concentration; and (iii) the cation exchange capacity (CEC$$_{Zp}$$) and equilibrium constant (k$$_{Zp}$$) of the exchange reaction of UO$$_{2}$$$$^{2+}$$ and H$$^{+}$$ on simulated soil surface ($$Zp$$), to fit the transient equilibrium concentration, forming the bed of the bathtub curve.

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

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.

Journal Articles

The Evaluation of the properties of the collision-plate-type jet mill for dry recycling of MOX powder

Kawaguchi, Koichi; Segawa, Tomomi; Yamamoto, Kazuya; Makino, Takayoshi; Iso, Hidetoshi; Ishii, Katsunori

Funtai Kogakkai-Shi, 57(9), p.478 - 484, 2020/09

A collision plate type jet mill is assumed to be a pulverizer that can control the particle size for nuclear fuel fabrication. The collision plate type jet mill consists of two modules, a classifier and a mill chamber. Coarse component of powder is cycled in the equipment and finally pulverized into objective particle size. In this report, simulated crushed powders were classified and pulverized step by step, and particle size distribution were compared. The collision plate type jet mil can produce objective size particles with low overgrinding.

Journal Articles

Microscopic analyses on Zr adsorbed IDA chelating resin by PIXE and EXAFS

Arai, Yoichi; Watanabe, So; Ono, Shimpei; Nomura, Kazunori; Nakamura, Fumiya*; Arai, Tsuyoshi*; Seko, Noriaki*; Hoshina, Hiroyuki*; Hagura, Naoto*; Kubota, Toshio*

Nuclear Instruments and Methods in Physics Research B, 477, p.54 - 59, 2020/08

 Times Cited Count:0 Percentile:0.02(Instruments & Instrumentation)

Journal Articles

Quantitative analysis of Zr adsorbed on IDA chelating resin using Micro-PIXE

Arai, Yoichi; Watanabe, So; Ono, Shimpei; Nomura, Kazunori; Nakamura, Fumiya*; Arai, Tsuyoshi*; Seko, Noriaki*; Hoshina, Hiroyuki*; Kubota, Toshio*

QST-M-23; QST Takasaki Annual Report 2018, P. 59, 2020/03

JAEA Reports

Data report of ROSA/LSTF experiment SB-SG-10; Recovery actions from multiple steam generator tube rupture accident

Takeda, Takeshi

JAEA-Data/Code 2018-004, 64 Pages, 2018/03

JAEA-Data-Code-2018-004.pdf:3.33MB

Experiment SB-SG-10 was conducted on November 17, 1992 using LSTF. Experiment simulated recovery actions from multiple steam generator (SG) tube rupture accident in PWR. Primary pressure was kept higher than broken SG secondary-side pressure due to coolant injection from high pressure injection (HPI) system into cold and hot legs even after start of full opening of intact SG relief valve (RV). Full opening of power-operated relief valve (PORV) in pressurizer (PZR) resulted in pressure equalization between primary and broken SG systems as well as PZR liquid level recovery. Broken SG RV opened once after start of intact SG RV full opening. Core was filled with saturated or subcooled liquid through experiment. Significant natural circulation prevailed in intact loop after start of intact SG RV full opening. Significant thermal stratification appeared in hot legs especially during time period of HPI coolant injection into hot legs.

Journal Articles

Engineering applications using probabilistic aftershock hazard analyses; Aftershock hazard map and load combination of aftershocks and tsunamis

Choi, B.; Nishida, Akemi; Itoi, Tatsuya*; Takada, Tsuyoshi*

Geosciences (Internet), 8(1), p.1_1 - 1_22, 2018/01

After the Tohoku earthquake in 2011, we observed that aftershocks tended to occur in a wide region after such a large earthquake. These aftershocks resulted in secondary damage or delayed rescue and recovery activities. However, it is difficult to evaluate the hazards of an aftershock before the main shock due to various uncertainties. For possible great earthquakes, we must make decisions based on such uncertainties, and it is important to quantify the various uncertainties. We previously proposed a probabilistic aftershock occurrence model that is expected to be useful to develop plans for recovery activities after future large earthquakes. In this paper, engineering applications of the proposed approach for probabilistic aftershock hazard analysis are shown for demonstration purposes. One application is to use aftershock hazard maps to plan recovery activities. Another application is to derive load combination equations of the load and resistance factor design (LRFD) considering the simultaneous occurrence of tsunamis and aftershocks for the tsunami-resistant design of tsunami evacuation buildings and nuclear facilities.

JAEA Reports

Countercurrent extraction/stripping experiments using TDdDGA solvent extractant in a centrifugal contactor system,2; Evaluation on the improved flowsheet for MA recovery

Kibe, Satoshi; Fujisaku, Kazuhiko*; Sakamoto, Atsushi; Sano, Yuichi; Takeuchi, Masayuki; Suzuki, Hideya; Tsubata, Yasuhiro; Matsumura, Tatsuro

JAEA-Research 2016-024, 40 Pages, 2017/02

JAEA-Research-2016-024.pdf:6.73MB

The Japan Atomic Energy Agency has been developing some flowsheets with TDdDGA (N,N,N,Ntetradodecyldiglycolamide) extractant to recover MA (minor actinide) from raffinate. In this study, countercurrent experiments with the improved flowsheet, e.g. the addition of alcohol into the solvent for preventing the precipitation, were performed using miniature centrifugal contactors in order to compare the extraction/stripping behavior of each element with the mixer-settler type. As a result, no entrainments were observed and sufficient phase separation was achieved by centrifugal contactors without any abnormal fluid behavior, such as overflow. The extraction and stripping of Ln(III) which show the similar tendencies as MA could be achieved successfully, especially their stripping proceeded more efficiently in centrifugal contactors. This might be due to the increase in stripping rates by improving the flowsheet and to superior phase separation performance of centrifugal contactors.

JAEA Reports

Study on engineering technologies in the Mizunami Underground Research Laboratory (FY 2014); Development of recovery and mitigation technology on excavation damage (Contract research)

Fukaya, Masaaki*; Hata, Koji*; Akiyoshi, Kenji*; Sato, Shin*; Takeda, Nobufumi*; Miura, Norihiko*; Uyama, Masao*; Kaneda, Tsutomu*; Ueda, Tadashi*; Hara, Akira*; et al.

JAEA-Technology 2016-002, 195 Pages, 2016/03

JAEA-Technology-2016-002.pdf:46.3MB
JAEA-Technology-2016-002-appendix(CD-ROM).zip:16.11MB

The researches on examination of the plug applied to the future reflood test was conducted as a part of (5) development of technologies for restoration and/on reduction of the excavation damage relating to the engineering technology in the MIU (2014), specifically focused on (1) plug examination (e.g. functions, structure and material) and the quality control methods and (2) analytical evaluation of rock mass behavior around the plug through the reflood test. As the result, specifications of the plug were determined. These specifications should be able to meet requirements for the safety structure and surrounding rock mass against predicted maximum water pressure, temperature stress and seismic force, and for controlling the groundwater inflow, ensuring the access into the reflood gallery and the penetration performance of measurement cable. Also preliminary knowledge regarding the rock mass behavior around the plug after flooding the reflood gallery by installed plug was obtained.

JAEA Reports

Countercurrent extraction/stripping experiments using TDdDGA solvent extractant in a centrifugal contactors system

Kibe, Satoshi; Fujisaku, Kazuhiko*; Ambai, Hiromu; Sakamoto, Atsushi; Sano, Yuichi; Takeuchi, Masayuki; Suzuki, Hideya; Tsubata, Yasuhiro; Matsumura, Tatsuro

JAEA-Research 2015-021, 40 Pages, 2016/02

JAEA-Research-2015-021.pdf:2.3MB

The flowsheet with TDdDGA extractant has been being developed for recovering MA from PUREX raffinate. In the previous study, the yields of MA and other elements in countercurrent extraction/stripping experiments using mixer-settlers were not enough for the target and it would be due to the insufficient phase (aqueous/organic) separation. In this study, we carried out countercurrent experiments with surrogate PUREX raffinate using centrifugal contactors which had superior phase separation ability, and evaluated the extraction/stripping behavior of each element. During the operation, abnormal fluid behavior, such as overflow and entrainment, was not observed, and sufficient phase separation was achieved by centrifugal contactors. Extraction behavior of lanthanides was similar to that in mixer-settlers, but their stripping efficiencies decreased. This would be due to shorter residence time in mixing zone.

Journal Articles

Preparation of new class composite adsorbent for enhanced palladium(II) detection and recovery

Awual, M. R.; Hasan, M. M.*; Naushad, M.*; Shiwaku, Hideaki; Yaita, Tsuyoshi

Sensors and Actuators B; Chemical, 209, p.790 - 797, 2015/03

 Times Cited Count:123 Percentile:99.3(Chemistry, Analytical)

Journal Articles

Groundwater recovery experiment in Mizunami Underground Research Laboratory; Numerical simulation of H-M coupled behavior of rock and backfill materials to evaluate the influence on the surrounding rock

Takayama, Yusuke; Sato, Toshinori; Onoe, Hironori; Iwatsuki, Teruki; Saegusa, Hiromitsu; Onuki, Kenji

Dai-43-Kai Gamban Rikigaku Ni Kansuru Shimpojiumu Koenshu (CD-ROM), p.313 - 318, 2015/01

In the Mizunami Underground Research Laboratory, groundwater recovery experiment is being conducted to construct the method to understand the transition of geological environment due to groundwater recovery at the -500m access and research gallery-north. As a part of this experiment, backfill test is planned using drilling pits filled with artificial materials (clay and concrete) to evaluate the influence on the surrounding rock mass due to the interaction of rock and artificial materials. In this study, numerical simulation of the backfill test has been carried out to predict the qualitative hydro-mechanical behavior.

Journal Articles

Introduction to development of advanced safeguards and security NDA technologies by JAEA-ISCN

Seya, Michio; Kureta, Masatoshi; Soyama, Kazuhiko; Nakamura, Hironobu; Harada, Hideo; Hajima, Ryoichi

Proceedings of INMM 55th Annual Meeting (Internet), 10 Pages, 2014/07

JAEA has been implementing development programs of basic technologies of the following advanced NDA (non-destructive assay) of nuclear material (NM) for nuclear safeguards and security. (1) Alternative to $$^{3}$$He neutron detection using ZnS/B$$_{2}$$O$$_{3}$$ ceramic scintillator, (2) NRD (neutron resonance densitometry) using NRTA (neutron resonance transmission analysis) and NRCA (neutron resonance capture analysis), (3) NRF (nuclear resonance fluorescence)-NDA using laser Compton scattered (LCS) $$gamma$$-rays (intense mono-energetic $$gamma$$-rays). The development program (1) is for NDA systems that use ZnS/B$$_{2}$$O$$_{3}$$ ceramic scintillator as alternative neutron detector to $$^{3}$$He for coming shortage of its supply. The program (2) is for a NDA system of isotopic composition measurement (non-destructive mass spectroscopy) in targets such as particle-like melted fuel debris using NRTA and NRCA. The program (3) is for NDA systems using a specific NRF reaction of certain Pu/U isotope caused by mono-energetic LCS $$gamma$$-ray with energy tuned to the specific excited state of the isotope. This paper introduces above three programs.

Journal Articles

Feasibility study on the blanket tritium recovery system using the palladium membrane diffuser

Kawamura, Yoshinori; Enoeda, Mikio; Yamanishi, Toshihiko; Nishi, Masataka

Fusion Engineering and Design, 81(1-7), p.809 - 814, 2006/02

 Times Cited Count:14 Percentile:71.07(Nuclear Science & Technology)

Tritium bred in the solid breeder blanket of a fusion reactor is extracted by passing of a helium sweep gas. Tritium is separated from sweep gas at the blanket tritium recovery system. Palladium membrane diffuser is one of the applicable processes for the blanket tritium recovery system. It is usually applied for hydrogen purification system such as TEP in ITER. However, it has been reported that the rate controlling step changes at lower hydrogen pressure such as the blanket sweep gas condition, and discussion about application for the blanket sweep gas condition is not enough. Recently, conceptual design of the demonstration reactor, named "DEMO2001", has been proposed from JAERI. In this report, the application of the Pd diffuser for the blanket sweep gas condition is discussed based on the condition of DEMO 2001.

Journal Articles

Development and operation of the JAERI superconducting energy recovery linacs

Minehara, Eisuke

Nuclear Instruments and Methods in Physics Research A, 557(1), p.16 - 22, 2006/02

 Times Cited Count:9 Percentile:56.05(Instruments & Instrumentation)

The JAERI FEL facility at Tokai, Ibaraki, Japan has been well known one of the two existing and operating superconducting energy recovery linacs together with one more of JLAB (Jefferson national accelerator facility) FEL facility at Newport News, Virginia, U.S.A. We have independently and successfully developed one of the most advanced and newest accelerator technologies named "superconducting energy recovery linacs (ERLs)" and the application technologies using ERLs in future. We plan to report the current high power FEL upgrade program research, stress corrosion cracking prevention technology research, large current and high brightness photoelectron gun research of negative-electron affinity (NEA) photocathode and NEA electron-excitation cathode as the most important elemental technology in realizing many powerful ERLs.

Journal Articles

Technetium separation for future reprocessing

Asakura, Toshihide; Hotoku, Shinobu; Ban, Yasutoshi; Matsumura, Masakazu; Morita, Yasuji

Journal of Nuclear and Radiochemical Sciences, 6(3), p.271 - 274, 2005/12

Tc extraction and separation experiments were performed basing on PUREX technique with using spent UO$$_{2}$$ fuel with burn-up of 44 GWd/t. The experimental results were examined with performing calculations by a simulation code ESSCAR (Extraction System Simulation Code for Advanced Reprocessing). It was demonstrated that Tc can be almost quantitatively extracted from a dissolver solution and that Tc can also be almost quantitatively recovered by scrubbing. Further, it was clearly presented from the calculation results of ESSCAR that the extraction mechanism of Tc is dominated by the synergistic effect of Zr and U.

Journal Articles

Preliminary measurements on single and multi-crystal diamond electron cathodes

Minehara, Eisuke

Proceedings of 2nd Annual Meeting of Particle Accelerator Society of Japan and 30th Linear Accelerator Meeting in Japan, p.55 - 56, 2005/07

The next generation high brightness and high current electron source like a photo cathode, a thermionic cathode, a crystal Diamond electron cathode and others would be expected to realize the next generation ERL (energy recovery linac) based light source and SASE X-ray free-electron laser. The JAERI FEL group has recently started to develop a new crystal Diamond electron cathode technology for high current, high brightness, and long life electron source. In the presentation, we plan to explain and to discuss our strategy and a preliminary experimental measurements of the crystal Diamond cathode, and related Diamond cathode evaluation system.

Journal Articles

Report of ERL-2005 Workshop

Hajima, Ryoichi; Suwada, Tsuyoshi*

Hoshako, 18(3), p.200 - 201, 2005/05

no abstracts in English

Journal Articles

Large-scaled non-thermal laser peeling, cutting and drilling in nuclear decommissioning industry

Minehara, Eisuke; Hajima, Ryoichi; Sawamura, Masaru; Nagai, Ryoji; Kikuzawa, Nobuhiro; Nishimori, Nobuyuki; Iijima, Hokuto; Nishitani, Tomohiro; Kimura, Hideaki*; Oguri, Daiichiro*; et al.

Proceedings of 13th International Conference on Nuclear Engineering (ICONE-13) (CD-ROM), 10 Pages, 2005/05

The JAERI FEL has recently discovered the new FEL lasing of 255fs ultra fast pulse, 6-9% high-efficiency, one gigawatt high peak power, a few kilowatts average power, and wide tunability of medium and far infrared wavelength regions at the same time. Using the new lasing and energy-recovery linac technology, we could extend a more powerful and more efficient free-electron laser (FEL) than 10kW and 25%, respectively, for nuclear industry, pharmacy, medical, defense, shipbuilding, semiconductor industry, chemical industries, environmental sciences, space-debris, power beaming and so on. In order to realize such a tunable, highly-efficient, high average power, high peak power and ultra-short pulse FEL, we need the efficient and powerful FEL driven by the JAERI compact, stand-alone and zero boil-off super-conducting RF linac with an energy-recovery geometry. Our discussions on the FEL will cover the application of non-thermal peeling, cutting, and drilling to decommission the nuclear power plants, and to prevent stress-corrosion cracking in nuclear industry and roadmap for the industrial FELs, the JAERI compact, stand-alone and zero-boil-off cryostat concept and operational experience, the new, highly-efficient, high-power, and ultra fast pulse lasing mode, and the energy-recovery geometry.

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