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JRM Vol.36 No.1 pp. 39-48
doi: 10.20965/jrm.2024.p0039
(2024)

Paper:

Development of Remote Construction System of Modularized Rail Structure for Inexperienced Operators

Hikaru Terashima, Koki Honda ORCID Icon, Ryota Yokomura ORCID Icon, and Rui Fukui ORCID Icon

Department of Human and Engineered Environmental Studies, Graduate School of Frontier Sciences, The University of Tokyo
5-1-5 Kashiwanoha, Kashiwa-shi, Chiba 277-8563, Japan

Received:
August 21, 2023
Accepted:
December 19, 2023
Published:
February 20, 2024
Keywords:
modular robot, user interface, modularized rail structure, remote construction, decommissioning of nuclear power plant
Abstract

Remotely controlled robots are required to operate in human-inaccessible environments, such as the decommissioning of nuclear power plants. In our previous studies, we proposed a modularized rail structure for such environments. In long-term decommissioning work at a nuclear power plant, robots are controlled by inexperienced operators who have limited knowledge of the design details of the robots. In this study, we developed a remote construction system for supporting inexperienced operators by transmitting the status information of the constructor robot to the operator during the remote construction of a modularized rail structure. The proposed remote construction system was designed based on a human information-processing model. Experiments were conducted using the developed remote construction system. The proposed method achieved a success count of inexperienced operators equivalent to that of skilled operators. Furthermore, a questionnaire administered to participants showed that their cognitive, psychological, and physical loads during construction were sufficiently low during the experiment.

Remote construction of modularized rail structure

Remote construction of modularized rail structure

Cite this article as:
H. Terashima, K. Honda, R. Yokomura, and R. Fukui, “Development of Remote Construction System of Modularized Rail Structure for Inexperienced Operators,” J. Robot. Mechatron., Vol.36 No.1, pp. 39-48, 2024.
Data files:
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Last updated on Apr. 05, 2024