Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility

Nancekievill, M. and Espinosa, J. and Watson, S. and Lennox, B. and Jones, A. and Joyce, M.J. and Katakura, J.-I. and Okumura, K. and Kamada, S. and Katoh, M. and Nishimura, K. (2019) Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility. Sensors, 19 (20). ISSN 1424-8220

Full text not available from this repository.

Abstract

The use of robotics in harsh environments, such as nuclear decommissioning, has increased in recent years. Environments such as the Fukushima Daiichi accident site from 2011 and the Sellafield legacy ponds highlight the need for robotic systems capable of deployment in hazardous environments unsafe for human workers. To characterise these environments, it is important to develop robust and accurate localization systems that can be combined with mapping techniques to create 3D reconstructions of the unknown environment. This paper describes the development and experimental verification of a localization system for an underwater robot, which enabled the collection of sonar data to create 3D images of submerged simulated fuel debris. The system was demonstrated at the Naraha test facility, Fukushima prefecture, Japan. Using a camera with a bird’s-eye view of the simulated primary containment vessel, the 3D position and attitude of the robot was obtained using coloured LED markers (active markers) on the robot, landmarks on the test-rig (passive markers), and a depth sensor on the robot. The successful reconstruction of a 3D image has been created through use of a robot operating system (ROS) node in real-time.

Item Type:
Journal Article
Journal or Publication Title:
Sensors
Additional Information:
Export Date: 7 November 2019
Uncontrolled Keywords:
/dk/atira/pure/subjectarea/asjc/2200/2208
Subjects:
ID Code:
138810
Deposited By:
Deposited On:
11 Nov 2019 10:55
Refereed?:
Yes
Published?:
Published
Last Modified:
29 Mar 2020 06:51