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Morimoto, Kyoichi; Ono, Takahiro; Kakutani, Satomi; Yoshida, Moeka; Suzuki, Soichiro
Journal of Robotics and Mechatronics, 36(1), p.125 - 133, 2024/02
The Naraha Center for Remote Control Technology Development was established for the purpose of developing and verifying remote control equipment for promoting the decommissioning of the Fukushima Daiichi Nuclear Power Station and the external use of this center was started in 2016. The mission of this center is to contribute to the decommissioning of the Fukushima Daiichi Nuclear Power Station and for the reconstruction of Fukushima Prefecture. In this review, we describe the equipment related to the full-scale mock-up test, the component test for a remote-control device and the virtual reality system in this center. In addition, the case examples for usage of these equipment are introduced.
Kawabata, Kuniaki; Osumi, Hisashi*; Onishi, Ken*
Nihon Kikai Gakkai-Shi, 122(1211), p.16 - 17, 2019/10
no abstracts in English
Kawabata, Kuniaki; Suzuki, Kenta
Proceedings of 16th International Conference on Ubiquitous Robots (UR 2019) (USB Flash Drive), p.501 - 504, 2019/06
Ito, Hirokuni*; Hatakeyama, Mutsuo*; Tachibana, Mitsuo; Yanagihara, Satoshi
JAERI-Tech 2003-012, 34 Pages, 2003/03
JAERI-Tech-2003-012.pdf:2.87MB
The MISE was developed to evaluate low-level radiological contaminations of inner surfaces of piping. The MISE consists of a cylindrically-formed double layered type detector and a piping crawling robot, which were designed and manufactured separately. In measurements of the contaminations, an outer cylindrical detector close to the surface of piping measures 
-rays and 
-rays and an inner cylindrical detector set after a shielding plate for shield of -rays measures -rays. The -ray counting rates are derived by subtracting -ray counts measured by the inner detector from - and -ray counts measured by the outer detector. The robot transports the double layered type detector with observing inner surfaces of piping. The detection limit for the contamination of 
Co was found to be about 0.17Bq/cm
with measurement time of 30 seconds. It is expected that 0.2Bq/cm corresponding to clearance level of Co (0.4Bq/g) can be evaluated with measurement time of 2 seconds, which is equal to measurement speed of 54m/h.
Tachibana, Mitsuo; Shimada, Taro; Yanagihara, Satoshi
Nihon Kikai Gakkai Dai-8-Kai Doryoku, Enerugi Gijutsu Shimpojiumu Koen Rombunshu, p.489 - 492, 2002/06
A remote dismantling robot was developed for decommissioning in nuclear facilities. The remote dismantling robot consists of two electrical powered manipulators, end-effectors and a control system. To realize stable dismantling operation remotely, the remote dismantling robot is designed from view point of proper control in coping with different activity conditioning by feedback of image and of force to the control system. The image feedback was considered to obtain accurate positioning of the end-effectors and the force feedback was considered to supply proper force for direct interaction with an object. Motion tests were performed to verify the remote dismantling robot and its control system. As a result, it was confirmed that the remote dismantling activities such as cutting, radioactivity measurement, decontamination were conducted efficiently by using the image feedback and the force feedback.
Yanagihara, Satoshi; Hatakeyama, Mutsuo; Ito, Hirokuni; Mori, Shunji*; Takagi, Akira*
Advanced Robotics, 15(3), p.293 - 300, 2001/06
Times Cited Count：1 Percentile：10.29(Robotics)Automatic measurement of building surface radioactivity must be a useful approach for decommissioning and maintenance activities in nuclear facilities. In particular, in the final step of decommissioning a nuclear power plant, it is essential to confirm that there is no effective radioactivity on building surfaces by measurement. However, experience showed that hands-on measurement using conventional detectors requires a great deal of labor-hours for all building surfaces in relatively large facilities. To realize the automatic measurement of building surface radioactivity, a mobile robot equipped with highly sensitive surface detectors has been developed; it can move automatically based on route plans to measure radioactivity on concrete floors and walls. In the development of this system, efforts were especially made to realize accurate robot motions by applying self-position identification system in consideration of the fact that the measurement should cover all the surfaces of planned areas with minimum overlap.
Fujiki, Kazuo; ; ;
Proc. of the Int. Conf. on Dismantling of Nuclear Facilities; Policies-Techniques, p.219 - 232, 1992/00
no abstracts in English
Kawatsuma, Shinji
no journal, ,
Japan Atomic Energy Agency has just started up NARAHA Remote Technology Development Center equipped with UUV testing pool, Mockup Stairs, Motion capture, etc. The center would support development of robots for decommissioning and emergency response. In the course of the support, JAEA is also developing Robot simulator and Standard testing method.
Yamada, Taichi; Kawabata, Kuniaki
no journal, ,
In reactor buildings of Fukushima Daiichi, there are still uninvestigated areas due to the accident on 11th March. Hence the reconnaissance by using remotely operated robot in reactor buildings is important for planning the decommissioning. Therefore, Simultaneous Localization And Mapping (SLAM) is a key technology in robotics. This research aims to construct the sensor database for the SLAM research base.
