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

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.

Virtual experience of robot operation using the developed robot simulator

Virtual experience of robot operation using the developed robot simulator

Cite this article as:
K. Suzuki and K. Kawabata, “Development of a Robot Simulator for Decommissioning Tasks Utilizing Remotely Operated Robots,” J. Robot. Mechatron., Vol.32 No.6, pp. 1292-1300, 2020.
Data files:
  1. [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. [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. [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. [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. [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.
  6. [6] M. Kamezaki, J. Yang, H. Iwata, and S. Sugano, “A Basic Framework of Virtual Reality Simulator for Advancing Disaster Response Work Using Teleoperated Work Machines,” J. Robot. Mechatron., Vol.26, No.4, pp. 486-495, doi: 10.20965/jrm.2014.p0486, 2014.
  7. [7] S. Nakaoka, “Choreonoid: Extensible Virtual Robot Environment Built on an Integrated GUI Framework,” Proc. of the 2012 IEEE/SICE Int. Symp. on System Integration (SII2012), pp. 79-85, December 2012.
  8. [8] T. Hanari and K. Kawabata, “3D Environment Reconstruction Based on Images Obtained by Reconnaissance Task in Fukushima Daiichi Nuclear Power Station,” E-Journal of Advanced Maintenance, Vol.11, No.2, pp. 99-105, Japan Society of Maintenology, 2019.
  9. [9] C. Lubert, “On Some Recent Applications of the Coanda Effect,” Int. J. of Acoustics and Vibration, Vol.16, No.3, pp. 144-153 2011.
  10. [10] Y. Sato, Y. Tanifuji, Y. Terasaka, Y. Morishita, H. Usami, M. Kaburagi, K. Kawabata, and T. Torii, “Visualization of radioactive substances by integrating radiation measurement and 3D optical measurement inside the Fukushima Daiichi Nuclear Power Station,” Optics & Photonics Int. Congress 2018 (OPIC 2018), Yokohama, Japan, 2018.
  11. [11] F. Abe and K. Kawabata, “Development of Training System for Remotely Operation using Robot Simulator – Implement of Collision Data Collection Function with Environment and Subject Experiment –,” Pcoc. 2020 JSME Conf. on Robotics Mechatronics, 2P1-P02(1)-(4), 2020 (in Japanese).

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on May. 19, 2024