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J. Robotics Mechatronics最新文献

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Discrimination of Plant Structures in 3D Point Cloud Through Back-Projection of Labels Derived from 2D Semantic Segmentation 通过对二维语义分割得出的标签进行反投影，识别三维点云中的植物结构
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0063
Takashi Imabuchi, Kuniaki Kawabata
{"title":"Discrimination of Plant Structures in 3D Point Cloud Through Back-Projection of Labels Derived from 2D Semantic Segmentation","authors":"Takashi Imabuchi, Kuniaki Kawabata","doi":"10.20965/jrm.2024.p0063","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0063","url":null,"abstract":"In the decommissioning of the Fukushima Daiichi Nuclear Power Station, radiation dose calculations necessitate a 3D model of the workspace are performed to determine suitable measures for reducing exposure. However, the construction of a 3D model from a 3D point cloud is a costly endeavor. To separate the geometrical shape regions on 3D point cloud, we are developing a structure discrimination method using 3D and 2D deep learning to contribute to the advancement of 3D modeling automation technology. In this paper, we present a method for transferring and fusing labels to handle 2D prediction labels in 3D space. We propose an exhaustive label fusion method designed for plant facilities with intricate structures. Through evaluation on a mock-up plant dataset, we confirmed the method’s effective performance.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"47 1","pages":"63-70"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140447685","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Japan Atomic Energy Agency: Contribution to the Decommissioning of the Fukushima Daiichi Nuclear Power Station and the Reconstruction of Fukushima Prefecture at the Naraha Center for Remote Control Technology Development 日本原子能研究开发机构：在遥控技术开发楢叶中心为福岛第一核电站的退役和福岛县的重建做出贡献
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0125
Kyoichi Morimoto, Takahiro Ohno, Satomi Kakutani, Moeka Yoshida, Soichiro Suzuki
{"title":"Japan Atomic Energy Agency: Contribution to the Decommissioning of the Fukushima Daiichi Nuclear Power Station and the Reconstruction of Fukushima Prefecture at the Naraha Center for Remote Control Technology Development","authors":"Kyoichi Morimoto, Takahiro Ohno, Satomi Kakutani, Moeka Yoshida, Soichiro Suzuki","doi":"10.20965/jrm.2024.p0125","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0125","url":null,"abstract":"Naraha Center for Remote Control Technology Development was established for the development and demonstration of remote control equipment and apparatus to promote the decommissioning of the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings, Inc. The center has been in operation since 2016. The mission of the center is to contribute to the decommissioning of the Fukushima Daiichi Nuclear Power Station and the reconstruction of Fukushima Prefecture. This report describes the center’s full-scale mock-up test facility, component test equipment for the development of remote control equipment and apparatus, and virtual reality systems and their utilization for the realization of the mission.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"88 2","pages":"125-133"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140448596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Integration of Multiple Sensors into an ROV for Remote Measurement in the Fukushima Daiichi Nuclear Power Station 将多个传感器集成到遥控潜水器中，用于福岛第一核电站的远程测量
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0071
So Kamada, Kazuya Nishimura
{"title":"Integration of Multiple Sensors into an ROV for Remote Measurement in the Fukushima Daiichi Nuclear Power Station","authors":"So Kamada, Kazuya Nishimura","doi":"10.20965/jrm.2024.p0071","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0071","url":null,"abstract":"To measure and analyze the distribution and criticality of submerged fuel debris “in situ” in the decommissioning process of the Fukushima Daiichi Nuclear Power Station (1F), we developed a system for remote measurement using multiple sensors consisting of the neutron sensor, the sonar, and the sub-bottom profiler (SBP) mounted on a small remotely operated underwater vehicle (ROV). First, the locations presumed to contain fuel debris were explored based on the information of the water bottom shape obtained using the sonar and the bottom surface substructure obtained using the SBP. Second, the system identified the location of fuel debris by detecting neutrons emitted by spontaneous fissions of fuel debris using the neutron sensor with diamond elements. Simulated fuel debris was placed at the bottom of a test water tank that simulated the pedestal. In the primary containment vessel (PCV) of 1F, and a verification test of remote measurement was conducted using the ROV mounted on the multiple sensors. The desired results were obtained.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"270 ","pages":"71-78"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140448151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Method of Detection and Identification for Axillary Buds 腋芽的检测和识别方法
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0201
Manabu Kawaguchi, N. Takesue
{"title":"A Method of Detection and Identification for Axillary Buds","authors":"Manabu Kawaguchi, N. Takesue","doi":"10.20965/jrm.2024.p0201","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0201","url":null,"abstract":"During the period from sowing and planting to harvesting, outdoor crops are directly affected by the natural environment, including wind, rain, frost, and sunlight. Under such circumstances, vegetables change their growth conditions, shape, and flexibility daily. We aimed to develop an agricultural work-support robot that automates monitoring, cultivation, disease detection, and treatment. In recent years, many researchers and venture companies have developed agricultural harvesting robots. In this study, instead of focusing on intensive harvesting operations, we focused on daily farm operations from the beginning of cultivation to immediately before harvest. Therefore, gripping and cutting are considered basic functions that are common to several routine agricultural tasks. To find the assumed objects from a camera image with a low computational load, this study focuses on branch points to detect and identify even if the stems, lateral branches, and axillary buds are swaying in the wind. A branch point is a characteristic part close to the working position, even when the wind blows. Therefore, we propose a method to detect the assumed branch points simultaneously and divide each branch point into the main stem, lateral branch, and axillary bud. The effectiveness of this method is demonstrated through experimental evaluations using three types of vegetables, regardless of whether their stems are swaying.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"132 ","pages":"201-210"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140447056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of Zeolite Removal Robot for Decommissioning 开发用于退役的沸石清除机器人
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0107
Daisaku Uchijima, Kenichi Tao, Koju Nishizawa, Shiro Kikuchi, Tomoki Sakaue, Hajime Hanaoka
{"title":"Development of Zeolite Removal Robot for Decommissioning","authors":"Daisaku Uchijima, Kenichi Tao, Koju Nishizawa, Shiro Kikuchi, Tomoki Sakaue, Hajime Hanaoka","doi":"10.20965/jrm.2024.p0107","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0107","url":null,"abstract":"The transfer of stagnant water from the basement floor of the waste treatment building at the Fukushima Daiichi Nuclear Power Station is planned because of the possibility of water flowing out of the building if another tsunami occurs. However, the basement floor is installed with high-dose zeolite sandbags as adsorbents for radioactive materials, which renders their removal challenging. In this study, we conduct a field survey and field reproduction as well as develop a robot that can perform zeolite removal based on the results obtained. In addition, we perform verification tests in a full-scale mock-up test environment and extract issues for application to actual equipment.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"299 ","pages":"107-114"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140447295","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Enhancement of Control Stability Using Double Pulleys for Coupled Tendon-Driven Long-Reach Manipulator "Super Dragon" 使用双滑轮增强 "超级龙 "韧带驱动长距离机械手的控制稳定性
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0021
Yuki Shizume, Atsushi Takata, Gen Endo
{"title":"Enhancement of Control Stability Using Double Pulleys for Coupled Tendon-Driven Long-Reach Manipulator \"Super Dragon\"","authors":"Yuki Shizume, Atsushi Takata, Gen Endo","doi":"10.20965/jrm.2024.p0021","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0021","url":null,"abstract":"The exploration and inspection of narrow spaces in nuclear facilities require the use of long-reach manipulators. Coupled tendon-driven manipulators can realize lightweight and slender arms by positioning actuators, such as motors, at the base. Currently, we are developing a coupled tendon-driven super long-reach articulated arm, which we name “Super Dragon.” Super Dragon is a robot arm with a total length of 10 m, a maximum arm diameter of 0.2 m, and 10 joints. In this paper, we focused on the elasticity and elongation of ropes. The joint actuation of Super Dragon utilizes synthetic fiber ropes characterized by their high strength and flexible bending. However, when these ropes are used over long lengths, wire elongation occurs, thus causing the joint angles to exhibit unintended and unstable behavior. Therefore, we focused on a specific posture and employ a double pulley as a mechanical solution to suppress unstable behavior. We introduced stability criteria and performed parametric searches to obtain the appropriate double pulley radii. Subsequently, we identified the position and radius of the introduced double pulley that can be analytically stabilized. By installing a double pulley in the actual machine and conducting experiments, we successfully suppressed the unstable behavior.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"526 ","pages":"21-29"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140446918","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Motion Evaluation of Variable-Stiffness Link Based on Shape-Memory Alloy and Jamming Transition Phenomenon 基于形状记忆合金和干扰过渡现象的变刚度连杆运动评估
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0181
Kazuto Takashima, Hidetaka Suzuki, Toshiki Imazawa, Hiroki Cho
{"title":"Motion Evaluation of Variable-Stiffness Link Based on Shape-Memory Alloy and Jamming Transition Phenomenon","authors":"Kazuto Takashima, Hidetaka Suzuki, Toshiki Imazawa, Hiroki Cho","doi":"10.20965/jrm.2024.p0181","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0181","url":null,"abstract":"In rapidly aging societies, the application of robots has spread from industry to nursing and social welfare. As the designs of industrial and non-industrial robots are different, numerous robot components with various shapes and stiffness are required for different tasks. In this study, we attached a variable-stiffness link based on a shape-memory alloy (SMA) and the jamming transition phenomenon to a robot arm and evaluated its pick-and-place motion for various objects with different shapes and weights. The link can be fixed in an arbitrary shape and then restored to its initial shape via the shape memory effect. The objects were picked up and moved by a prototype link, which consisted of four SMA wires inserted in the jamming mechanism. We compared two states of the link, namely with and without deformation of the link into a shape (the centerline and the cross section) to suit the target object using a mold. Experiments confirmed that changing and fixing the link shape to suit the target object increased both positioning accuracy and weight capacity.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"294 ","pages":"181-189"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140447376","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of Unmanned Remote System to Find Radiation Sources Based on 4π Gamma Imaging 开发基于 4π 伽马成像的无人遥控系统以查找辐射源
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0079
Atsushi Mukai, M. Kanda, K. Shimazoe, Fumihiko Ishida, Eiji Takada, Yusuke Tamura, Hanwool Woo, Hiroyuki Takahashi, Mizuki Uenomachi, Hajime Asama, J. Kawarabayashi, K. Tanabe, Ken’ichi Tsuchiya, Kei Kamada, Hideki Tomita
{"title":"Development of Unmanned Remote System to Find Radiation Sources Based on 4π Gamma Imaging","authors":"Atsushi Mukai, M. Kanda, K. Shimazoe, Fumihiko Ishida, Eiji Takada, Yusuke Tamura, Hanwool Woo, Hiroyuki Takahashi, Mizuki Uenomachi, Hajime Asama, J. Kawarabayashi, K. Tanabe, Ken’ichi Tsuchiya, Kei Kamada, Hideki Tomita","doi":"10.20965/jrm.2024.p0079","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0079","url":null,"abstract":"A prototype system based on a combination of 4π sensitive gamma imaging and simultaneous localization and mapping (SLAM) was developed to find unknown radiation source(s) rapidly. The system consisted of a spherical visible camera, a three-dimensional light detection and ranging, a CdTe pixel array detector for 4π gamma imaging, a portable battery, and a control laptop personal computer; these were mounted on an unmanned vehicle. In a search area of 16 × 16 m2 with a height of 3 m, the prototype system successfully demonstrated the finding of a 137Cs point source with an activity of 0.67 MBq in the surrounding thin walls.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"42 31","pages":"79-87"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140448974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Development and Application of Robotics for Decommissioning of Fukushima Daiichi NPS by IRID 福岛第一核电站退役机器人技术的开发与应用（IRID
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0009
Naoaki Okuzumi, Kenji Matsuzaki, Satoshi Okada
{"title":"Development and Application of Robotics for Decommissioning of Fukushima Daiichi NPS by IRID","authors":"Naoaki Okuzumi, Kenji Matsuzaki, Satoshi Okada","doi":"10.20965/jrm.2024.p0009","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0009","url":null,"abstract":"The most challenging task in the decommissioning of the Fukushima Daiichi Nuclear Power Station is to retrieve molten and solidified fuel debris, including in reactor internals. The International Research Institute for Nuclear Decommissioning (IRID) has developed various robots that can investigate the interior of a primary containment vessel (PCV) to clarify where fuel debris has accumulated and how it has formed. The scenarios of each unit caused by the accident are different; therefore, IRID has developed robots to satisfy the requirements of each unit. The robots can be categorized into three types: non-submersible robots driving through air, submersible robots swimming underwater, and investigation robots with arms that can extend to enter the PCV. This review focuses on the technological development of robots based on their functionality. Most of the robotic technology is acquired and utilized based on the results of subsidy projects for countermeasures for decommissioning and contaminated water granted by the Japanese government.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"1090 ","pages":"9-20"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140445890","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Determinants of Performance for Robotics Teleoperated Activities: From Emergency Response to Decommissioning 机器人远程操作活动绩效的决定因素：从应急响应到退出运行
J. Robotics Mechatronics Pub Date : 2024-02-20 DOI: 10.20965/jrm.2024.p0139
Philippe Fauquet-Alekhine, Julien Bleuze
{"title":"Determinants of Performance for Robotics Teleoperated Activities: From Emergency Response to Decommissioning","authors":"Philippe Fauquet-Alekhine, Julien Bleuze","doi":"10.20965/jrm.2024.p0139","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0139","url":null,"abstract":"After the nuclear accidents of Chernobyl and Fukushima, several countries concerned with nuclear energy production set up robotic accident intervention groups with the aim to intervene in place of humans in hostile environments with high levels of contamination or irradiation. It is the case of France. The operational feedback of such robotic groups may be of interest for teams performing decommissioning on nuclear facilities. In this aim, a comparative analysis of robotic intervention contexts was undertaken between training contexts and a real operating situation. This allowed us to confirm determinants of performance already identified in the literature and highlighted new determinants of performance for intervention in nuclear environments.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"235 ","pages":"139-147"},"PeriodicalIF":0.0,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140448866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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