The Fukushima Daiichi Nuclear Power Station was damaged by the Great East Japan Earthquake on March 11, 2011. Since it has been difficult for workers to approach the reactor buildings due to high radiation environment, remote operated robots are required on behalf of workers. For this reason, we have developed a quadruped walking robot which can walk on uneven terrain and carry loads such as various tools. When the arm for handling loads is mounted on the robot, the conveyable load is decreased by weig...
英字タイトル:
Development of Load Carriage and Unloading Functions for Quadruped Walking Robots

Alpha Camera has been developed to check the alpha contamination of solid wastes generated during decommissioning of Fukushima Daiichi Nuclear Power Station (1F). A lot of measurements are needed to reveal the alpha contamination distributions due to the narrow field of view of the Alpha Camera. Therefore, in this paper, we propose a novel approach which reconstructs the divided measurement data in a three-dimensional space to identify the contaminated area easily. In primitive demonstration using new recon...
英字タイトル:
Development of 3D reconstruction for remote alpha contamination measurement

This study proposes an algorithm for automatic generating motion trajectories of robot manipulator. This algorithm consists of two procedures. First, motion trajectories of the tool head are generated by using the concept of repulsive vector fields and motion trajectories model which consists of a number of spr ings and mass. Then, a posture of robot manipulator is also automatically generated using the same concept. We are planning to apply this system as a remote handling device for nuclear power plants....
英字タイトル:
Algorithm for Automatic Generating Motion Trajectories of Robot Manipulator in Nuclear Power Plant