Development of semantic survey map building system using semi-autonomous mobile robots for surveying of disaster area and gathering of information in nuclear power station (Contract research); FY2020 Nuclear Energy Science & Technology and Human Resource Development Project

Collaborative Laboratories for Advanced Decommissioning Science; Tokyo Polytechnic University*

JAEA-Review 2022-011, 80 Pages, 2022/07

JAEA-Review-2022-011.pdf:5.42MB

The Collaborative Laboratories for Advanced Decommissioning Science (CLADS), Japan Atomic Energy Agency (JAEA), had been conducting the Nuclear Energy Science & Technology and Human Resource Development Project (hereafter referred to "the Project") in FY2020. The Project aims to contribute to solving problems in the nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. (TEPCO). For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2018, this report summarizes the research results of the "Development of semantic survey map building system using semi-autonomous mobile robots for surveying of disaster area and gathering of information in nuclear power station" conducted from FY2018 to FY2021 (this contract was extended to FY2021). Since the final year of this proposal was FY2021, the results for four fiscal years were summarized. The present study aims to research and develop semi-autonomous mobile robot systems (multi-sensor fusion system, semantic simultaneous localization and mapping (SLAM), system for traversable-route learning and safe traversable-route presentation, etc.) that simply, safely, and rapidly make semantic survey maps …

Development of semantic survey map building system using semi-autonomous mobile robots for surveying of disaster area and gathering of information in nuclear power station (Contract research); FY2018 Center of World Intelligence Project for Nuclear Science/Technology and Human Resource Development

Collaborative Laboratories for Advanced Decommissioning Science; Tokyo Polytechnic University*

JAEA-Review 2019-022, 35 Pages, 2020/01

JAEA-Review-2019-022.pdf:2.71MB

CLADS, JAEA, had been conducting the Center of World Intelligence Project for Nuclear Science/Technology and Human Resource Development (hereafter referred to "the Project") in FY2018. The Project aims to contribute to solving problems in nuclear energy field represented by the decommissioning of the Fukushima Daiichi Nuclear Power Station, Tokyo Electric Power Company Holdings, Inc. For this purpose, intelligence was collected from all over the world, and basic research and human resource development were promoted by closely integrating/collaborating knowledge and experiences in various fields beyond the barrier of conventional organizations and research fields. The sponsor of the Project was moved from the Ministry of Education, Culture, Sports, Science and Technology to JAEA since the newly adopted proposals in FY2018. On this occasion, JAEA constructed a new research system where JAEA-academia collaboration is reinforced and medium-to-long term research/development and human resource development contributing to the decommissioning are stably and consecutively implemented. Among the adopted proposals in FY2018, this report summarizes the research results of the Development of Semantic Survey Map Building System Using Semi-autonomous Mobile Robots for Surveying of Disaster Area and Gathering of Information in Nuclear Power Station. The objective of the present study is to research and develop semi-autonomous mobile robot systems (multi-sensor fusion system, semantic simultaneous localization and mapping (SLAM), system for traversable-route learning and safe traversable-route presentation, etc.) that simply, safely, and rapidly make semantic survey maps including multiple information (air dose rate, temperature, obstacles, etc.). The system will be applied to the investigation of the situation inside the building of the nuclear power station where people cannot access at the time of disaster.

Development of a variable baseline type distance sensor in the high radiation environment

Oka, Kiyoshi; Hiyama, Masayuki*

Keisoku Jido Seigyo Gakkai Rombunshu, 40(1), p.109 - 116, 2004/01

http://joi.jlc.jst.go.jp/JST.Journalarchive/sicetr1965/15.109

Remote maintenance technology is essential to realize ITER since the reactor components are activated by 14-MeV neutrons and have to be maintained remotely. For this purpose, the JAERI has been conducting remote handling technology development mainly for in-vessel components. On the other hand, a critical accident at the JCO occurred in September 1999, which was the most serious nuclear accident in Japan. Therefore, the JAERI has developed a Radiation-proof Robot (called RaBOT) operating under high radiation field. Under such a background, a variable baseline type distance sensor has been developed for use under the severe conditions such as gamma radiation. The aim of the sensor is to be used for the measurement of the distance between a robot and an object under the severe conditions of the maintenance for fusion plants and atomic disaster. This report describes the outline of the variable baseline type distance sensor and the results of the basic performance test.

Two new methods for stereo-view problems; Two-stage dynamic programming model(TDM) and physical-space method(PSM)

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Proc. of the Joint Int. Conf. on Mathematical Methods and Supercomputing in Nuclear Applications,Vol. 2, p.677 - 688, 1993/00

no abstracts in English