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Kawabata, Kuniaki; Mori, Fumiaki; Tanifuji, Yuta; Shirasaki, Norihito; Hanari, Toshihide
no journal, ,
This paper describes about development of modular style test field for Remotely Operated Mobile Robots. Our motivation is to provide test methods for development of the robots and operator proficiency to contribute decommissioning works of Fukushima Daiichi Nuclear Power Station (FDNPS). We currently design prototypes of modular style test fields based on analysis of emergency response tasks at FDNPS and construct them. Developed prototypes including a pile-shape obstacle that is three mutually perpendicular elements, steps with iron surface, grating floor and so on were reported in this paper. Developed modules are capable of reconfiguring kinds of the test fields by arranging their layout utilizing modular mobile carts.
Hirayama, Keita*; Taba, Ryo*; Takemura, Fumiaki*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
We have been studying and developing an underwater robot for coral reef conservation. In this research, we propose a towed robot using flap device for underwater survey. This underwater robot is developed for two purposes. The first purpose of this underwater robot is reducing the physical load on the research diver. The Seconds purpose of this underwater robot is to investigate underwater of improving efficiency. We designed with towed underwater robot and umbilical cable. The robot consist of three parts, two pressure vessels, and a flap device. The umbilical cable using PLC (Power Line Communication). Preliminary experiments indicate that the towed underwater robot have basic performance.
Suzuki, Kenta; Horiuchi, Kazunori; Kawabata, Kuniaki; Ito, Rintaro
no journal, ,
Taba, Ryo*; Hirayama, Keita*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
Distribution map of the degree of coral has been created by Manta method to use coral conservation activities. The manta method is a survey method that divers investigate the degree of coral and whitening state while being towed to a boat. But the manta method makes great physical burden also underwater robot can substitute, and desirable underwater robot that can maintain an altitude between underwater robot and seabed. Therefore, we have developed the altitude maintenance system for underwater robot for the purpose of investigate by Manta method is described in this paper. The distance measuring method using the laser beams and a monocular camera with image processing is adopted reason that waters inhabiting coral is high transparency. The evaluation experiments in the pool with the system and underwater robots were confirmed to have sufficient accuracy for the assumed survey mission.