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-
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.
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Posted 17 Sep, 2020
On 13 Oct, 2020
On 28 Sep, 2020
Received 26 Sep, 2020
On 19 Sep, 2020
Received 19 Sep, 2020
On 15 Sep, 2020
Invitations sent on 15 Sep, 2020
On 15 Sep, 2020
On 14 Sep, 2020
On 14 Sep, 2020
Received 07 Aug, 2020
On 07 Aug, 2020
Received 21 Jun, 2020
On 27 May, 2020
Invitations sent on 25 May, 2020
On 25 May, 2020
On 16 May, 2020
On 15 May, 2020
On 15 May, 2020
On 09 May, 2020
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-
Posted 17 Sep, 2020
On 13 Oct, 2020
On 28 Sep, 2020
Received 26 Sep, 2020
On 19 Sep, 2020
Received 19 Sep, 2020
On 15 Sep, 2020
Invitations sent on 15 Sep, 2020
On 15 Sep, 2020
On 14 Sep, 2020
On 14 Sep, 2020
Received 07 Aug, 2020
On 07 Aug, 2020
Received 21 Jun, 2020
On 27 May, 2020
Invitations sent on 25 May, 2020
On 25 May, 2020
On 16 May, 2020
On 15 May, 2020
On 15 May, 2020
On 09 May, 2020
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.
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Figure 10
Figure 11
Figure 12
Figure 13
Figure 14