Development of a Robot Simulator for Decommissioning Tasks Utilizing Remotely Operated Robots

Author:

Suzuki Kenta, ,Kawabata Kuniaki

Abstract

This paper describes the development of a robot simulator for remote decommissioning tasks using remotely operated robots at the Fukushima Daiichi Nuclear Power Station of the Tokyo Electric Power Company Holdings. The robot simulator was developed to provide a remote operation training environment to ensure operator proficiency. The developed simulator allows for the calculation of physical aspects, such as the hydrodynamics of a remotely operated vehicle and the aerodynamics of an unmanned aerial vehicle. A disturbed camera view presented to an operator can be generated by setting parameters such as transparency, color, distortion, and noise. We implemented a communication failure emulator on the simulator in addition to functionalities for calculating the integral dose and generating the gamma camera image. We discuss the functional requirements and introduce the implemented functionalities. The simulator was built using the developed functions and can be executed integrally.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference11 articles.

1. K. Nagatani, S. Kuribayashi, Y. Otake, K. Yoshida, S. Tadokoro, T. Nishimura, T. Yoshida, E. Koyanagi, M. Fukushima, and S. Kawatsuma, “Emergency response to the nuclear accident at the Fukushima Daiichi nuclear power plants using mobile rescue robots,” J. of Robotics, Vol.30, No.1, pp. 44-63, doi: 10.1002/rob. 21439, 2013.

2. S. Kawatsuma, K. Kawabata, Y. Tsuchida, and Y. Tanifuji, “Analysis of Emergency Response robots deployed for Fukushima Daiichi Nuclear Power Plants’ Accidents,” Proc. of Decommissioning and Remote Systems, pp. 67-69, 2016.

3. K. Suzuki and K. Kawabata, “Development of a Multi-copter Simulator and a Projection System for Virtual Operation Experience,” Proc. of the 2019 IEEE/SICE Int. Symp. on System Integration, Paris, France, January 14-16, doi: 10.1109/SII.2019.8700412, 2019.

4. K. Kawabata and K. Suzuki, “Development of a Robot Simulator for Remote Operations for Nuclear Decommissioning,” 2019 16th Int. Conf. on Ubiquitous Robots (UR), Jeju, Korea, June 24-27, doi: 10.1109/URAI.2019.8768640, 2019.

5. K. Suzuki and K. Kawabata, “Development of a Simulator for Underwater Reconnaissance Tasks by Utilizing Remotely Operated Robots,” Proc. of the 2020 IEEE/SICE Int. Symp. on System Integration, Honolulu, Hawaii, pp. 1100-1106, USA, doi: 10.1109/SII46433.2020.9026281, 2020.

Cited by 8 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Development of a Simulator for Operator Proficiency Training for Seafloor Exploration by Remotely Operated Vehicle;Proceedings of the IUTAM Symposium on Optimal Guidance and Control for Autonomous Systems 2023;2024

2. Disaster Rescue via Multi-Robot Collaboration: Development, Control, and Deployment;Journal of Robotics and Mechatronics;2023-02-20

3. Development of ROV Simulator based on Real Oceanographic Data;IFAC-PapersOnLine;2023

4. Design and Manufacture of a New Debris Retrieval Robot;Journal of Robotics and Mechatronics;2022-06-20

5. Development of Robot Simulating Fuel Debris Retrieval;Journal of Robotics and Mechatronics;2022-06-20

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3