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Takeda, Nobukazu; Kakudate, Satoshi; Matsumoto, Yasuhiro; Kozaka, Hiroshi; Aburadani, Atsushi; Negishi, Yusuke; Nakahira, Masataka*; Tesini, A.*
Fusion Engineering and Design, 85(7-9), p.1190 - 1195, 2010/12
Times Cited Count：2 Percentile：17.37(Nuclear Science & Technology)Several R&Ds for the ITER blanket remote handling system had been performed from the Engineering Design Activity phase until now and only several technical issues regarding the control system remained such as noise caused by slip ring, control of cable handling system, signal transmission through very long cable and radiation-hard amplifier. This study concentrates on these issues. As a conclusion, major issues for the control system have been solved and the ITER blanket remote handling system becomes further feasible.
Nakahira, Masataka; Matsumoto, Yasuhiro; Kakudate, Satoshi; Takeda, Nobukazu; Shibanuma, Kiyoshi; Tesini, A.*
Fusion Engineering and Design, 84(7-11), p.1394 - 1398, 2009/06
Times Cited Count：20 Percentile：77.63(Nuclear Science & Technology)Invessel components of ITER have to be maintained by remote handling (RH) equipment due to high radiation level in the vacuum vessel (VV) after D-D operation. Blanket module (BM) is maintained by a manipulator mounted on a vehicle traveled through an articulated rail deployed inside the VV. Towards the construction, the BLRH equipment design has been improved and developed in more detail. The overview of design results are introduced in this paper. The design of rail deployment system of the BLRH has been updated to enable the rail connection in the transfer cask in order to minimize occupation space. For this purpose, design works have been performed for concept, sequence and typical simulation of BL replacement in the VV and rail deployment of the RH equipment in the cask, including cask docking. The technical issues of the rail connection in the cask are (1) tight tolerance of a pin at a hinge, (2) limited space of the connection inside a cask and (3) tight positioning accuracy. This paper summarizes the idea to solve these issues and a result of the design work. The paper also introduces a new cable handling equipment, rail support equipment and BL receiver/transporter.
Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Matsumoto, Yasuhiro; Taguchi, Ko; Kozaka, Hiroshi; Shibanuma, Kiyoshi; Tesini, A.*
Fusion Engineering and Design, 84(7-11), p.1813 - 1817, 2009/06
Times Cited Count：11 Percentile：59.65(Nuclear Science & Technology)The maintenance operation of the ITER in-vessel component, such as a blanket and divertor, must be executed by the remote equipment because of the high 
-ray environment. During the Engineering Design Activity (EDA), the Japan Atomic Energy Agency had been fabricated the prototype of the vehicle manipulator system for the blanket remote handling and confirmed feasibility of this system including automatic positioning of the blanket and rail deployment procedure of the articulated rail. The JAEA is continuing several R&Ds so that the system can be procured smoothly to ITER. The residual key issues after the EDA are rail connection, cable handling and in-situ replacement of first wall. The last issue is newly raised and currently under the discussion. This presentation concentrates on the former two issues.
Kakudate, Satoshi; Takeda, Nobukazu; Nakahira, Masataka; Matsumoto, Yasuhiro; Shibanuma, Kiyoshi; Tesini, A.*
Fusion Engineering and Design, 83(10-12), p.1850 - 1855, 2008/12
Times Cited Count：13 Percentile：64.46(Nuclear Science & Technology)The design of in-vessel transporter (IVT) including vehicle manipulator has been updated according to the design changes such as blanket segmentation and structure, taking account of the interface between modules and vehicle manipulator. In particular, the updated design of the vehicle manipulator and rail has been carried out in order to avoid the interference between modules and vehicle manipulator. According to the updated design, the vehicle manipulator has been reduced by about 30%, compared with the reference design. In parallel with design activities, the R&D to clarify the specifications of the IVT design in detail is also performed, i.e., simulation system to provide the visual information during maintenance, dry lubricant to prevent the lubricant oil from spreading in the VV. The rail connection and cable handling in the transfer cask, which are critical issues for IVT system, are under preparation of the demonstration tests to finalize the design of the IVT system. Connection of the rail joint and cable handling test facilities are planned and under fabrication now. These test facility will be installed by the end of March 2008, and the performance tests will be carried out from April 2008.
Honda, Tsutomu*; Hattori, Yukiya*; Holloway, C.*; Martin, E.*; Matsumoto, Yasuhiro*; Matsunobu, Takashi*; Suzuki, Toshiyuki*; Tesini, A.*; Baulo, V.*; Haange, R.*; et al.
Fusion Engineering and Design, 63-64, p.507 - 518, 2002/12
Times Cited Count：16 Percentile：69.75(Nuclear Science & Technology)The requirement to reduce the construction cost for ITER as compared with the 1998 ITER design, has led to a reduction in the size of the ITER machine and a number of design changes which have an impact on the remote maintenance of ITER. Major components to be considered for remote handling (RH) include the divertor cassettes, shield blanket modules, neutral beamline components, as well as in-port components, which are integrated with the port shield plug such as auxiliary heating equipment, limiters and test blanket modules. The design of the following equipment has been adapted for the smaller machine with reduced access space for the RH equipment: the RH equipment used for the in-vessel RH operationsto be deployed from the casks, the RH equipment that is used to remove the in-port assemblies (port plugs), as well as the remotely operated casks, which can be attached to and removed from vacuum vessel ports by using double -door systems. Defective components are loaded in transfer casks and moved to the hot cell facility by means of a remotely-operated air floatation system attached underneath the cask, where they dock against identical port interfaces and unload the component for remote refurbishment and/or waste storage.
Kakudate, Satoshi; Oka, Kiyoshi; Yoshimi, Takashi*; Hiyama, Masayuki; Taguchi, Ko*; Shibanuma, Kiyoshi; Koizumi, Koichi; Matsumoto, Yasuhiro*; Honda, Tsutomu*; Haange, R.*
Nuclear Fusion, 42(3), p.243 - 246, 2002/03
Times Cited Count：3 Percentile：10.69(Physics, Fluids & Plasmas)no abstracts in English
Kakudate, Satoshi; Oka, Kiyoshi; Yoshimi, Takashi*; Taguchi, Ko*; Nakahira, Masataka; Takeda, Nobukazu; Shibanuma, Kiyoshi; Obara, Kenjiro; Tada, Eisuke; Matsumoto, Yasuhiro*; et al.
Fusion Engineering and Design, 51-52(1-4), p.993 - 999, 2000/11
Times Cited Count：9 Percentile：54.09(Nuclear Science & Technology)no abstracts in English
Kakudate, Satoshi; *; Nakahira, Masataka; Takeda, Nobukazu; Adachi, Junichi*; Matsumoto, Yasuhiro*
Purazuma, Kaku Yugo Gakkai-Shi, 73(1), p.29 - 41, 1997/01
no abstracts in English
Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Matsumoto, Yasuhiro; Taguchi, Ko; Kozaka, Hiroshi; Shibanuma, Kiyoshi
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no abstracts in English
Matsumoto, Yasuhiro; Kakudate, Satoshi; Takeda, Nobukazu; Taguchi, Ko; Kozaka, Hiroshi; Koizumi, Koichi; Shibanuma, Kiyoshi
no journal, ,
The ITER Blanket (BL) has to be maintained by remote handling means due to high radiation level in the VV after D-D operation. The ITER blanket system is maintained by a BL remote handling (RH) system consist of vehicles with manipulator traveled through an articulated rail deployed inside the VV. Towards the construction, the BL RH system design has been improved and developed in more detail. On the BL RH system, the articulated rail has to be assembled inside transfer casks to deploy the rail inside the VV. In particular, the technical issues of the rail connection in the cask are (1) tight tolerance of a pin at a hinge and (2) limited space for the rail connection inside a cask. To solve the issues, a rail connection mechanism which has compliance mechanisms and positioning mechanisms to realize the rail connection in good accuracy has been developed. This paper summarizes a result of the design work and status of R&D on the rail connection mechanism for the ITER BM RH system.
Kakudate, Satoshi; Takeda, Nobukazu; Matsumoto, Yasuhiro; Shibanuma, Kiyoshi; Koizumi, Koichi
no journal, ,
Cable handling technology is also a critical issue for mobile robots. The length of cable is estimated to be about 60 m. Excessive tension of the cable should be avoided for stable movement of the vehicle manipulator along the rail. The feasibility of a new proposal for a drum cable winding mechanism is under evaluation to determine if it enables compact storage of the long cable.
Kakudate, Satoshi; Takeda, Nobukazu; Nakahira, Masataka*; Aburadani, Atsushi; Matsumoto, Yasuhiro; Kozaka, Hiroshi; Negishi, Yusuke
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no abstracts in English
Kozaka, Hiroshi; Takeda, Nobukazu; Aburadani, Atsushi; Matsumoto, Yasuhiro; Negishi, Yusuke; Kakudate, Satoshi
no journal, ,
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Aburadani, Atsushi; Takeda, Nobukazu; Matsumoto, Yasuhiro; Kozaka, Hiroshi; Negishi, Yusuke; Kakudate, Satoshi
no journal, ,
no abstracts in English
Aburadani, Atsushi; Takeda, Nobukazu; Kozaka, Hiroshi; Negishi, Yusuke; Kakudate, Satoshi; Matsumoto, Yasuhiro*
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Kakudate, Satoshi; Takeda, Nobukazu; Aburadani, Atsushi; Shigematsu, Soichiro; Matsumoto, Yasuhiro*; Tsuji, Koichi*
no journal, ,
Maintenance of the ITER blanket will be carried out in the vacuum vessel (VV) using remote handling equipment, including the in-vessel transporter (IVT) with vehicle type manipulators. An estimated 440 blanket modules, each with a maximum weight of 44.kN, will be installed in the VV. The ray dose rate is expected to be approximately 500 Gy/h during the periods of blanket maintenance. This paper describes the system integration of maintenance robot for ITER (International thermonuclear experimental reactor). This design items include design requirements, in-vessel transporter (maintenance robot) mechanism, installation mechanism and the rescue concept in case of failure mode.
Aburadani, Atsushi; Kozaka, Hiroshi; Kakudate, Satoshi; Negishi, Yusuke; Matsumoto, Yasuhiro*; Nakahira, Masataka*; Tesini, A.*; Takeda, Nobukazu
no journal, ,
R&D for the major devices, rail deployment equipment and cable handling system, was performed for the ITER blanket remote handling system. Regarding the rail deployment, the relation between the Oldham's coupling used for the positioning arm and the positioning error at the end of rail was investigated. The result shows that the coupling allowing 4 mm displacement causes the positioning error of 19 mm. The possible countermeasures are suggested. Regarding the cable handling system, a possibility is shown to keep the cable tension at the adequate level by controlling the torque of the cable handling system. A schedule for the procurement of the blanket remote handling system, which will be delivered to the ITER in 2016, is also shown.
Onawa, Toshio*; Kono, Wataru*; Matsumoto, Yasuhiro*; Sakurai, Shinji; Hayashi, Takao
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no abstracts in English
