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論文

Development of a robot simulator for remote operations for nuclear decommissioning

川端 邦明; 鈴木 健太

Proceedings of 16th International Conference on Ubiquitous Robots (UR 2019) (USB Flash Drive), p.501 - 504, 2019/06

This paper describes about the current development status of a robot simulator for remote operations for nuclear decommissioning. This simulator is designed for operator proficiency training and a robot development. We implemented plug-in functions that are required to simulate the situations and the conditions for task execution for decommissioning and also utilities for enhancing convenience for the users. We describe the current prototype of the robot simulator and such implemented functions and utilities. Functional details were also introduced and illustrated in this paper.

口頭

原子力災害対応ロボット開発支援のためのロボットシミュレータ開発

鈴木 健太; 川端 邦明; 磯和 充; 鳥居 建男

no journal, , 

This paper describes about recent report on the development of a robot simulator for nuclear emergency response robot. The robot simulator is being developed based on Choreonoid that is developed by AIST and also installs the environment and structural data of an unit of Fukushima Daiichi Nuclear Power Station (1F). Currently, we design the base system with the data of 1F and the extended simulation functions like underwater moving, the appearance of the obstacles on the camera view and the status of wired signal transmission. In this paper, we introduce such functions and the prototype of the robot simulator.

口頭

Start-up of Naraha Remote Technology Development Center

川妻 伸二

no journal, , 

原子力機構は、水中ロボット用試験水槽、モックアップ階段、モーションキャプチャーなどを備えた楢葉遠隔技術開発センターを立ち上げた。このセンターは廃止措置や緊急時対応のためのロボット開発を支援することが目的である。支援の一環として、ロボット標準試験法やロボットシミュレータの開発も行っている。

口頭

原子力災害対応に向けたシミュレーション技術開発; マルチコプタ, ガンマカメラシミュレーション

鈴木 健太; 堀内 一憲; 川端 邦明; 伊藤 倫太郎

no journal, , 

This paper describes about design of additional extended functions of a robotic simulator system. After the accident at Fukushima Dai-ichi Nuclear Power Stations, many remotely operated robots are being deployed. For realizing efficient task execution, we are developing a robotic simulator system to contribute to design the robots and train the operators. Currently, we are implementing additional simulation functions of physical behavior of the multi-copter and dose visualization by the gamma camera. For the simulation of multi-copter, aspiration effect and attracted effect depending on the working environment are added as unstable factors for remote operation in the indoor environment like the inside of the reactor buildings. For gamma camera simulation, pre-calculated air radiation dose data can be imported to the simulator. Also, the resolution of the gamma camera and the color contour expression can be selected for visualization depending on the specification of the camera.

口頭

Development of simulation technology for deccomissioning of FDNPS; Multicoper simulation and Gamma camera simulation

鈴木 健太; 川端 邦明; 堀内 一憲

no journal, , 

This paper describes about design of additional simulation functions of the multicopter and gamma camera. In multicopter simulation function, it is simulated physical behavior in the air. For the gamma camera simulation, pre-calculated radiation dose data can be imported to the simulator, and present it visually.

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