JRM Vol.32 No.6 pp. 1292-1300
doi: 10.20965/jrm.2020.p1292

Development Report:

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

Kenta Suzuki and Kuniaki Kawabata

Japan Atomic Energy Agency
1-22 Nakamaru, Yamadaoka, Naraha, Futaba, Fukushima 979-0513, Japan

April 19, 2020
August 11, 2020
December 20, 2020
remotely operated vehicle simulation, unmanned aerial vehicles simulation, network traffic control, gamma camera, robot simulator
Development of a Robot Simulator for Decommissioning Tasks Utilizing Remotely Operated Robots

Virtual experience of robot operation using the developed robot simulator

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.

Cite this article as:
Kenta Suzuki and Kuniaki Kawabata, “Development of a Robot Simulator for Decommissioning Tasks Utilizing Remotely Operated Robots,” J. Robot. Mechatron., Vol.32, No.6, pp. 1292-1300, 2020.
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Last updated on Feb. 25, 2021