Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
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：0To 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.
Kawabata, Kuniaki
Japanese Journal of Applied Physics, 59(5), p.050501_1 - 050501_9, 2020/05
Times Cited Count：13 Percentile：19.78(Physics, Applied)This paper describes the decommissioning work being undertaken at the Fukushima Daiichi Nuclear Power Station of the Tokyo Electric Power Company Holdings Inc.'s (FDNPS) using remote controlled robotic systems, as well as lessons learned from past remote task executions. We also summarize the issues to be considered in promoting safe, steady, and efficient decommissioning based on past experiences. In response to these issues, we are developing test methods for performance evaluation of the robots for nuclear decommissioning, robot simulator for operator proficiency training, and information generation methods to improve the operator's status awareness. The current status of technological development is also described.
Kawabata, Kuniaki; Ishiyama, Hiroki; Shirasaki, Norihito; Ono, Takahiro; Hanari, Toshihide; Tanifuji, Yuta
no journal, ,
Uchida, Shunsuke*; Karasawa, Hidetoshi*; Kino, Chiaki*; Naito, Masanori*; Osaka, Masahiko
no journal, ,
Development of analysis code of FP behavior both for short and long terms after severe accident is conduced. A risk analysis method for workers' radiation and FP release is proposed based on the evaluation result for FP distribution during 10 years after the accident.
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Naruse, Keitaro*
no journal, ,
no abstracts in English
Kawabata, Kuniaki
no journal, ,
no abstracts in English
Nakamura, Keita*; Hanari, Toshihide; Madokoro, Hirokazu*; Imabuchi, Takashi; Kawabata, Kuniaki; Nix, S.*; Doi, Akio*
no journal, ,
This paper introduces a research effort for faster 3D environment modeling of the workspace for decommissioning activities at the Fukushima Daiichi Nuclear Power Plant, applying as input video images shot during an investigation of the reactor containment vessel and reactor building. Especially, we construct a system that allows the selection of a 3D reconstruction method with as much information as possible within a specified time limit. We challenge this study with three methods: photogrammetry, simulation, and AI technology. Finally, we aim to integrate the results of each research to build a prototype system that automatically generates a more informative 3D reconstruction result within a specified time and according to the extracted feature values.
Hanari, Toshihide; Imabuchi, Takashi; Nakamura, Keita*; Kawabata, Kuniaki
no journal, ,
This paper introduces an image quality assessment on a 3D modeling to grasp the internal state of the nuclear reactor for a decommissioning of the Fukushima Daiichi Nuclear Power Station. We try a quantitative evaluation of videos or images acquired by the investigation inside the primary containment vessels and the reactor buildings for an efficient 3D reconstruction. Finally, we aim to develop a rapid 3D reconstruction method based on the image quality assessment.
