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 resu...
英字タイトル:
Development of underlying techniques for underwater survey robot to decommission nuclear power plants

The underwater vehicle system to inspect a nuclear power plant has been developed. In this work, the function of position dete ction to show the moving vehicle's position to operators is proposed. This paper describes the new method using map matching th at consists of the cross-section shape data cutted by 3-D CAD data and the inner surface geometry measured by laser range find er. Finally, by the fundamental examination using the sensor unit, it was confirmed that the position was detected within 48mm....
英字タイトル:
Position Detection Technology of Underwater Vehicle for Core Internal Inspection

For safety and early decommissioning of Fukushima, internal survey techniques have been expected to gain an understanding of the state of Fukushima Dai-ichi Nuclear Power Station. Underwater operation and survey is considered to be necessary for vessels and buildings partially filled with retained water. As a complementary of optical instrumentation, ultrasonic underwater visualization techniques have been important for recognizing environment and obstacles for supporting remote operation. In this stud...
英字タイトル:
Development of visualization techniques for underwater environment using ultrasonic array sensors: shape measurement