原子力発電所の廃止措置に向けた水査用遊泳ロボットの基盤技術開発
英字タイトル:
Development of underlying techniques for underwater survey robot to decommission nuclear power plants
著者:
小林 亮介 Ryosuke KOBAYASHI 河野 尚幸 Naoyuki KOUNO 大谷 健一 Kenichi OTANI 山田 泰一郎 Taiichiro YAMADA 高取 洋介 Yousuke TAKATORI 稲田 崇 Takas INADA
発刊日:
公開日:
Cable HandlingDecommissioningLocalizationMap MatchingUnderwater Robot
Development of underlying techniques for underwater survey robot to decommission nuclear power plants
著者:
小林 亮介 Ryosuke KOBAYASHI 河野 尚幸 Naoyuki KOUNO 大谷 健一 Kenichi OTANI 山田 泰一郎 Taiichiro YAMADA 高取 洋介 Yousuke TAKATORI 稲田 崇 Takas INADA
発刊日:
公開日:
カテゴリ: 第11回
キーワードタグ:Cable HandlingDecommissioningLocalizationMap MatchingUnderwater Robot
概要
This paper describes localization and cable handling me thod as the underlying techniques for underwater surveyrobot. Map matching method comparing cross-sectional hape data cut from a 3-D CAD with structural shapesmeasured by a range sensor is proposed as the localiza tion. The cable handling system mounted to a robot isdeveloped to operate the cable remotely. Some experime nts to evaluate performance of the proposed techniqueswere implemented at mock-ups of a reactor building and he real field. As a result, it was confirmed that theposition was detected with an accuracy f 100 mm, and 100m cable was handled.
