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Research Article
Study of a robotic system to detect water leakage and fuel debris -System proposal and feasibility study of visual odometry providing intuitive bird's eye view-
Zhenyu Wang
Tokyo Institute of Technology
Corresponding Author
ORCiD: https://orcid.org/0000-0002-3439-5632
License:
This work is licensed under a CC BY 4.0 License. Read Full License
View the published version at ROBOMECH Journal.
To obtain the necessary information on fuel debris and water leakages during the decommissioning task of the Fukushima Daiichi Nuclear Power Plant, an ultrasonic-based method was proposed for future internal investigation of the primary containment vessel (PCV). In this article, we describe the rotatable winch mechanism and visual localization method, which were used to aid the investigation. We used the rotatable winch mechanism to adjust the height and orientation of the ultrasonic sensor and localized the robot with cameras to localize the sensor, to provide assisting information for data combination. We studied the feasibility of the conventional visual odometry method for application to the situation and performed localizing accuracy evaluation experiments with a mobile robotic platform prototype. The results showed that the visual odometry method could generate intuitive bird’s-eye-view maps, and provided an average error rate of 35 mm/1500 mm, which met the required maximum error rate of 100 mm/1500 mm for the grating movement. Experiments were also conducted with adjustable parameter ranges that could provide the required accuracy.
Keywords
decommissioning, fuel debris, Fukushima Daiichi Nuclear, ultrasonic, visual odometry
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Peer Review Timeline
CURRENT STATUS: Published
Version 2
Posted 17 Sep, 2020
Published
On 13 Oct, 2020
No community comments so far
Editorial decision: Accept
On 28 Sep, 2020
Review #1 received
Received 26 Sep, 2020
Reviewer #2 agreed
On 19 Sep, 2020
Review #2 received
Received 19 Sep, 2020
Editor assigned
On 15 Sep, 2020
Reviewers invited
Invitations sent on 15 Sep, 2020
Reviewer #1 agreed
On 15 Sep, 2020
Submission checks complete
On 14 Sep, 2020
Editor invited
On 14 Sep, 2020
No comments provided
Review #2 received
Received 07 Aug, 2020
Editorial decision: Major revision
On 07 Aug, 2020
Review #1 received
Received 21 Jun, 2020
Reviewer #2 agreed
On 27 May, 2020
Reviewers invited
Invitations sent on 25 May, 2020
Reviewer #1 agreed
On 25 May, 2020
Editor assigned
On 16 May, 2020
Submission checks complete
On 15 May, 2020
Editor invited
On 15 May, 2020
First submitted
On 09 May, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Robotics
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This preprint is under consideration at ROBOMECH Journal. A preprint is a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
Learn more about In Review
Research Article
Study of a robotic system to detect water leakage and fuel debris -System proposal and feasibility study of visual odometry providing intuitive bird's eye view-
Zhenyu Wang
Tokyo Institute of Technology
Corresponding Author
ORCiD: https://orcid.org/0000-0002-3439-5632
Badges
Prescreen
This manuscript passed our Prescreen assessment
Complete author information
Appropriate declaration statements
Potential risks to human health
Prescreen
Peer Review Timeline
CURRENT STATUS: Published
Version 2
Posted 17 Sep, 2020
Published
On 13 Oct, 2020
No community comments so far
Editorial decision: Accept
On 28 Sep, 2020
Review #1 received
Received 26 Sep, 2020
Reviewer #2 agreed
On 19 Sep, 2020
Review #2 received
Received 19 Sep, 2020
Editor assigned
On 15 Sep, 2020
Reviewers invited
Invitations sent on 15 Sep, 2020
Reviewer #1 agreed
On 15 Sep, 2020
Submission checks complete
On 14 Sep, 2020
Editor invited
On 14 Sep, 2020
No comments provided
Review #2 received
Received 07 Aug, 2020
Editorial decision: Major revision
On 07 Aug, 2020
Review #1 received
Received 21 Jun, 2020
Reviewer #2 agreed
On 27 May, 2020
Reviewers invited
Invitations sent on 25 May, 2020
Reviewer #1 agreed
On 25 May, 2020
Editor assigned
On 16 May, 2020
Submission checks complete
On 15 May, 2020
Editor invited
On 15 May, 2020
First submitted
On 09 May, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Robotics
License:
This work is licensed under a CC BY 4.0 License. Read Full License
View the published version at ROBOMECH Journal.
To obtain the necessary information on fuel debris and water leakages during the decommissioning task of the Fukushima Daiichi Nuclear Power Plant, an ultrasonic-based method was proposed for future internal investigation of the primary containment vessel (PCV). In this article, we describe the rotatable winch mechanism and visual localization method, which were used to aid the investigation. We used the rotatable winch mechanism to adjust the height and orientation of the ultrasonic sensor and localized the robot with cameras to localize the sensor, to provide assisting information for data combination. We studied the feasibility of the conventional visual odometry method for application to the situation and performed localizing accuracy evaluation experiments with a mobile robotic platform prototype. The results showed that the visual odometry method could generate intuitive bird’s-eye-view maps, and provided an average error rate of 35 mm/1500 mm, which met the required maximum error rate of 100 mm/1500 mm for the grating movement. Experiments were also conducted with adjustable parameter ranges that could provide the required accuracy.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
Figure 13
Figure 14