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 high level radioactive liquid waste is analyzed for the vitrification process control and the vitrified waste quality in the hot cell of Tokai Vitrification Facility, Tokai Reprocessing Plant. There are 8 Master-slave manipulators, 7 lighting equipment, an electronic balance, and an inductively coupled plasma-optical emission spectrometer used for remote operation, securing visibility, total oxide analysis, and elemental analysis in the analytical hot cell. These equipment and analytical apparatus must ...
英字タイトル:
Remote maintenance technologies of equipment and analyzing apparatus in hot cell of Tokai Vitrification Facility, Tokai Reprocessing Plant