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Kawabata, Kuniaki; Suzuki, Kenta; Isowa, Mitsuru*; Horiuchi, Kazunori; Ito, Rintaro
Proceedings of 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2017) (USB Flash Drive), p.561 - 564, 2017/06
This paper describes the current status of the development of a simulation system for remotely operated robots. The system will be used for operator proficiency training and robot performance verification. Our purpose for developing this system is to contribute to decommissioning of the Fukushima Daiichi Nuclear Power Station (FDNPS). The simulator system was designed using Choreonoid, a simulator development tool. The effects of view disturbances, communication failures, and so on are extended functions that are implemented on the simulator. The effects of water submergence on the physical behavior of underwater robots are also implemented. In this paper, we introduce the prototype of the robotic simulator system with the newly implemented extended functions. Some examples of system output are shown.
Seki, Masahiro; Ohara, Yoshihiro; Tada, Eisuke; Akiba, Masato
Fusion Engineering and Design, 51-52, p.941 - 948, 2000/11
Times Cited Count:1 Percentile:12.08(Nuclear Science & Technology)no abstracts in English
Horita, M.*; *; Okutsu, Kazuo*; Yamamoto, Takuya*; Amemiya, Kiyoshi*
JNC TJ8400 2000-022, 303 Pages, 2000/02
This report gives supplementary information and discussions on issues of the high-level waste geological disposal study. The following subjects are discussed ; (1)Evaluation of the effects of coefficient of lateral pressure to the specifications of disposal facilities (2)Functional development of remote operational machinery (3)Arrangement of basic data on cost estimation for disposal (4)Understanding of engineering countermeasures to potential phenomena deep under the ground (5)Selection of construction technologies (6)Establishment of the disposal concept under the coasts. For the coefficient of lateral pressure equal to 2, the cross section of disposal drift, the disposal drift spacing, the waste package pitch in the disposal drift and the specification of supporting system are designed. They are compared with those for the case of coefficient of lateral pressure equal to 1. In the case of coefficient of lateral pressure equal to 2, total length of drifts is 1.5 times, and total excavation volume is 1.8 times larger than later case. For the sealing, transportation and emplacement equipment for waste, technology of the fundamental function, remote operation, accidental events and countermeasures are discussed. The plan for developments on those items is proposed. The item of the cost for the construction, operation, and backfilling are discussed. The surface facilities, and, worker arrangement plan are proposed. For the potential phenomena encountered deep under the ground, the countermeasures are investigated form the construction experience, and the future research subjects are discussed for the underground research laboratory. For the construction technologies, the experience of construction management for the tunnel is investigated, and, the research subjects are proposed. For the disposal concept under coasts, rock condition, design condition, construction management, and quality control are compared with the disposal concept under the ground. The ...