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Yokomura, Ryota*; Goto, Masataka*; Yoshida, Takehito*; Warisawa, Shinichi*; Hanari, Toshihide; Kawabata, Kuniaki; Fukui, Rui*
IEEE Robotics and Automation Letters (Internet), 9(4), p.3275 - 3282, 2024/04
Times Cited Count：0 Percentile：0.05To reduce errors in the remote control of robots during decommissioning, we developed a Rail DRAGON, which enables continuous observation of the work environment. The Rail DRAGON is constructed by assembling and pushing a long rail structure inside the primary containment vessel (PCV), and then repeatedly deploying several monitoring robots on the rails to enable constant observation in a high-radiation environment. In particular, we have developed the following components of Rail DRAGON: bendable rail modules, straight rail modules, a basement unit, and monitoring robots. Concretely, this research proposes and demonstrates a method to realize an ultralong articulated structure with high portability and workability. In addition, it proposes and verifies the feasibility of a method for deploying observation equipment that can be easily deployed and replaced, while considering disposal.
Matsuhira, Nobuto*; Komatsu, Ren*; Nakashima, Shinsuke*; Yamashita, Atsushi*; Fukui, Rui*; Takahashi, Hiroyuki*; Shimazoe, Kenji*; Woo, H.*; Tamura, Yusuke*; Takashi, Takayuki*; et al.
no journal, ,
Matsuhira, Nobuto*; Komatsu, Ren*; Nakashima, Shinsuke*; Yamashita, Atsushi*; Fukui, Rui*; Takahashi, Hiroyuki*; Shimazoe, Kenji*; Woo, H.*; Tamura, Yusuke*; Takashi, Takayuki*; et al.
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This research aims to develop human resources in the field of remote technology for the decommissioning of the Fukushima Daiichi Nuclear Power Plant. We conduct research on a monitoring platform for fuel debris removal. Here, the developments on prototype experiments were described. We expect to develop research personnel through participation in projects, lectures, and facility tours.
Kawabata, Kuniaki; Matsumoto, Taku; Hanari, Toshihide; Yashiro, Hiroshi*; Goto, Masataka*; Fukui, Rui*; Nakamura, Keita*
no journal, ,
Chen, B.*; Yoshida, Takehito*; Yokomura, Ryota*; Terashima, Hikaru*; Hanari, Toshihide; Kawabata, Kuniaki; Fukui, Rui*
no journal, ,
In the decommissioning of Fukushima Daiichi Nuclear Power Station, the modularized rail structure, "Rail DRAGON" has been developed to observe inside the PCV for avoiding the troubles of robot teleoperation. Because there are obstacles on the path of the extending rail, the operators need to control the joint angles and avoid them. In this research, we propose "wire switch method" to concurrently execute the module connection and the control of joint angles. By setting up a detour of the power line and automatically judging the suitable moment that the fluctuation of angle signals is small, we proved that joint control can be maintained during the wire switching.
