In-house Project
Development of Technology for Detailed Investigation inside
Primary Containment Vessel (PCV)(Onsite Demonstration for Detailed Investigation inside PCV
Through X-6 Penetration)
Final Report for FY2021
May 2022
International Research Institute for Nuclear Decommissioning(IRID)All rights reserved.
©International Research Institute for Nuclear Decommissioning (IRID)

1
Table of Contents
1. Background and Purpose of the Project
2. Positioning of the Project
3. Project Organization and Implementation Schedule
4. Implementation Details and Results
4.1 Access and Investigation Equipment
4.2 Access Route Establishment Related Equipment
4.3 Other Ancillary System
4.4 Fuel Debris Collection Equipment
4.5 On-site demonstration
5. Summary and Future Plans©International Research Institute for Nuclear Decommissioning

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1. Background and Purpose of the Project[Background]As a result of the investigation inside Unit 2 PCV
conducted in January 2018, pebble-like and claylike deposits were found all over the bottom inside
the pedestal.
Moreover, some of the fuel assemblies had fallenat the bottom, and the deposits found around them
are assumed to be fuel debris.

[Purpose]This project aims to confirm the validity of thedeveloped investigation technology by enlarging the
opening of the equipment insertion part of X-6
penetration used in past PCV internal investigations,and carrying out detailed investigation by inserting theaccess and investigation equipment and theinvestigation technology inside the PCV through that
opening. In addition, the fuel debris collection
equipment is installed to collect deposits from inside the
PCV and to confirm the validity of said developed
technology.

Primary
Containment Vessel(PCV)

Reactor Building
frame

Reactor Pressure
Vessel (RPV)

Pedestal

CRD bottom

X-6 penetration

Main investigation areas(Inside the pedestal)[PCV cross-section and overview of thesites to be investigated]©International Research Institute for Nuclear Decommissioning3

2. Positioning of the Project
FY2016 to FY2017

FY2017 to FY2018

Development of Technology for Investigation inside PCVDevelopment of Technology for Detailed Investigation inside PCV
Subsidized
Projects

FY2018 - FY2019

Development of Technology for Detailed Investigation Inside PCV(On-site demonstration of the technology fordetailed internal investigation using X-6 penetration)

FY2020 - FY2023

Development of Technology for Detailed Investigation inside PCV(On-site demonstration of the technology for detailed
internal investigation using X-6 penetration)

Development of Technology for Retrieval of Fuel
Debris and Reactor Internal Structures

IRID In-house
Project

Development of Technology for Gradually
Increasing the Scale of Fuel Debris Retrieval©International Research Institute for Nuclear Decommissioning3. Project Organization and Implementation Schedule: Project Organization

International
Research
Institute for Nuclear
技術研究組合国内廃炉研究開発機構（本部）Decommissioning(IRID) (Headquarters)○ Development planning and technological management○ 開発計画の策定と技術統括○ Technological process control: Progress of technology○ and
技術・装置開発の進捗などの技術工程管理
equipment development○○ Technology
management for development phase
装置開発フェーズにおけるマネジメント

三菱重工業株式会社
Mitsubishi
Heavy Industries, Ltd.
→Access
and investigation equipment and other work
→アクセス・調査装置、その他の作業訓練
training→On-sitedemonstration (detailed investigation inside→現地実証（内部詳細調査）
PCV)○
and investigation equipment○Access
アクセス・調査装置[1]
Mock-uptests considering site
①現場状況を考慮したモックアップ試験
conditions
②作業訓練
[2]
Work training○Equipment
アクセスルート構築のための関連機器○
related to establishing theaccessroute①作業訓練[1] Work training○ その他付帯設備○ Other Ancillary System①設計、製作[1]
Design and manufacturing○
amount fuel debris collection○Small
少量燃料デブリ回収装置
equipment①作業訓練[1] Work training○
現場実証 on-site demonstrations○ Conducting

Tokyo ElectricPower Company (TEPCO) Holdings, Inc.
東京電力ホールディングス株式会社○
management for on-site demonstration○ Schedule
現場実証における工程管理○ Management of on-site demonstration phase○ Administration
現場実証フェーズのマネジメント○
work including communication withgovernment○ 役所等対外対応

Toshiba
Energy Systems and Solutions
東芝エネルギーシステムズ株式会社
Corporation

Tokyo Electric Power Company
東京電力ホールディングス株式会社(TEPCO)
Holdings, Inc.

→
Work training
for X-6 penetration hatch opening→X-6ペネハッチ関連装置の作業訓練
equipment→
On-site demonstration (X-6 penetration hatch→現地実証（X-6ペネハッチ開放）
opening)→Work training for access and investigation equipment→アクセス・調査装置の作業訓練→ On-site demonstration (access and investigationequipment operation)→現地実証（アクセス・調査装置運転）○
Overall planningof X-6
penetration hatch○ X-6ペネ
ハッチの開放全体計画
opening○ X-6ペネ
ハッチ開放に向けた準備○
Preparation
for X-6 penetration hatch
opening〇現地実証○ Conducting on-site demonstrations○
Access and investigation equipment○ アクセス・調査装置[1] Mock-up test considering the site
①現場状況を考慮したモックアップ試験
condition[2] Work training②作業訓練○ Small amount fuel debris collection○ equipment
少量燃料デブリ回収装置[1] Work training①作業訓練○ Conducting on-site demonstrations○ 現場実証©International Research Institute for Nuclear Decommissioning

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3. Project Organization and Implementation Schedule: Implementation Schedule
Items
項目
Large大分類
classification

Small

小分類
classification

Apr
4月

May
5月

Jun
6月

Jul
7月

FY2020
令和2年度（2020年度）
Aug
Nov 12月
Oct 11月
Dec Jan
8月 Sep9月 10月
1月

Feb
2月 Mar
3月

Apr
4月

May
5月

Jun
6月

Jul
7月

FY2021
令和3年度（2021年度）
Aug Sep
Nov 12月
Dec JanOct 11月
1月
8月
9月 10月Master schedule
マスタースケジュール

Feb
2月

FY2022～
令和4年度（2022年度） ～

Mar
3月
ハッチ開放
Hatch
opening▽

備考
Remarks

Internal
investigation
内部調査

In-factory
英国verification
工場検証 in UK[1] Mock①現場状
up tests
況を考慮しconsidering
たモック
the site(1)
Access and アップ試験
conditions(1)アクセス・調
investigation
査装置
equipment

In-factory
国内verification
工場検証 in Japan
Mock-uptraining
モックアップ・トレーニング

Work
training
作業訓練[2] Work②作業訓練
training

事前作業訓練Preliminary
work training（隔離部屋・ハッチ開放装置）(Isolation
room and hatch opening
equipment)

作業訓練Work training（堆積物除去装置）(Deposit
removalequipment)

作業訓練
Work
training（隔離部屋・ハッチ開放装置）(Isolation
room and hatch opening
equipment)(2) access(2)アクセス
route[1] Work
ルート構築の
establishment ①作業訓練
training
ための関連機related器
equipment

Work training(Access
作業訓練
investigation equipment
installation)（アクセス調査装置据付）

作業訓練
Work training(Robotcarrying-inchamber removal)（ロボット搬入部屋撤去）
Work training(Extension pipe / X-6
作業訓練
penetration
connection structure)（延長管/X6ペネ接続構造）

リスク対策（隔離部屋他）
Risk countermeasures(Isolation room,etc.)(3) Other(3)その他付帯[1] Design and①設計・製作
Ancillary
manufacturing
設備
System(4) Fuel debris collection(4)燃料デブリ回収装置
equipment

付帯設備の設計・製作
Design and manufacturingof ancillary equipment

Improved改良設計・試作・検証・製作
design, test manufacturing, verification, manufacturing

組合せ試験・習熟訓練
Combination
test and proficiency training

その他関連工事※１
Other related
construction work *1

※１
*1
X53
related work
東電HD実施のX53
implemented
by
関連工事
TEPCO HD※２
*2
東電HD実施のX53
X53
related work
andwork related to
関連工事及び堆積
depositremoval物除去関連工事
implemented by
TEPCO HD

Installationof isolation room / hatch opening
隔離部屋据付／ハッチ開放

隔離部屋据付
事前工事
Installationof isolation
room Preliminary construction work
その他関連工事※２
Otherrelated construction work*2
Installation堆積除去装置据付・除去・撤去
and removal of deposit removal
equipment
Installationof X-6 penetration
X6ペネ接続構造据付
connection structure(5)
On-site demonstration(5)現場実証

Removalof robot carry-in chamber
ロボット搬入部屋撤去

延長管据付of extension pipe
Installation
Carrying-in and installation of access
アクセス・調査装置搬入・据付
andinvestigation equipment
Internal内部調査・試験的取り出し
investigation and trial retrieval
Removal of
related equipment
関連機器撤去Summarizationof investigation results
調査結果まとめ©International Research Institute for Nuclear Decommissioning6

4. Implementation Details and Results
4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (i) Arm verification testa. Comparative evaluation with deflection measurement and analysis[Test overview]・Acquisition of data on arm deflection in every position (Verifying that the actual measured value roughly matches the analytical value)
・The deflection data will be reflected in the arm operation and control program and is planned to be verified at the JAEA Naraha mock-up
facility.
Folded arm (Position 01)

Link No. 4

Full extension of arm (Position 04)

Link No. 1

Link No. 2

Arm extension positions

X-6 penetration

Unfolding of link3456 (Position 03)

X-6 penetration

Link No. 6 Telescopic mechanism

X-6 penetration

Unfolding of Link 56 (Position 02)

Onward motion of the arm

Approx. 10 mm
difference at the tip

Vertical direction
Measurement withactual equipment

Mechanism
analysis

Position 04: Comparison of the actual measured value and the analytical value

Arm extension direction©International Research Institute for Nuclear Decommissioning4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (i) Arm verification test

7b. X-6 penetration passage test
*AWJ: Abrasive Water Jet[Test overview]• It was confirmed that the tip tool (AWJ)* installed on the arm can pass through the simulated X-6 penetration.
• Minimum clearance 15 mm (nominal dimensions are 25 mm)• A program file (teach and repeat file) was created for the process up to arm extension ⇒ It will be used as the basic information
for future arm operation
Simulated X-6
penetration

Robot arm

Frame for the test

Robot arm

Simulated X-6
penetration

AWJ tool
Simulated X-6 penetration

Upper side clearance

X-6 penetration passage test(with AWJ tool mounted)

Simulated X-6 penetration

Lower side clearance

Clearance measurement Minimum clearance(upper side of the X-6 penetration inlet)©International Research Institute for Nuclear Decommissioning4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (i) Arm verification testc. AWJ cutting test (1/2)[Test overview]
・The tip tool (AWJ) installed on the arm cut the CRD rail and the grating (without the cables).
・The prospects of removing obstacles from the area through which the arm can pass through, were verified.

AWJ tool
Grating
Direction of arm
movement

Stainless steel
containerArm

CRD rail

External appearanceof test equipment
Inside thestainless steel
container

AWJ
nozzleAWJ
CRD railWidth of the passage where
the arm can pass through:Max. 250mm

Inside the stainlesssteel container

Status of AWJ cutting(CRD rail and grating partially cut)

Before AWJ spray©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (i) Arm verification testc. AWJ cutting test (2/2)

X-6 penetration[Test overview]
Arm tip tool・The prospect of cutting and removing the cables on the CRD rail were verified while(AWJ)
the tip tool (AWJ) was installed on the arm.
Grating(fallen as a result of・From the viewpoint of reducing operating time, the detailed and revised procedures
the earthquake)are needed such as the order of cutting the sites to be cut (CRD rail, cables, etc.)
Cables(after removal of interferingand direction of AWJ spray, etc. ⇒ Continued testing at the JAEA Naraha mock-up objects inside thepenetration)
facility.
CRD rail

AWJ nozzle
CablesCablesAWJ nozzle

Before the test
DuringAWJ spray

After the test

Verification that the cables can be cut andremoved by the AWJ spray

Test status©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (ii) Verification tests for the work efficiency of the
Arm tip
maintenance manipulator(Part where camera is
Dummy arm
installed on the arm)

Overview of test conditions

Layout inside the enclosure

Overview of the dummy arm:••

Range of motion of the

The section from the arm carriage to the telescopic mechanism is simulated using wood
carriage for the manipulator
The basic structure and the main measurements of the arm are simulated, but the rigidity,
cantilever structure and mobility structure is not simulated except for some part. The
for maintenance
Links and telescopic arm
carriage, links, telescopic arm are supported from the floor by a supporting leg.

Carriage
Interface with external cables
between carriage and telescopic arm

Links
Carriage

Only the wrist move horizontally and vertically toverify the work area for installation and removal of
the wand and tool.

Telescopic arm
Pan
Tilt
Wand/tool, arm camera
interface©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (ii) Verification tests for the work efficiency of themaintenance manipulator
a. Replacement of arm camera/lighting[Test overview]
・The dummy arm camera and lighting were replaced, and their viability was confirmed. The following improvements wereidentified.
・Slip prevention measures when holding the connector ⇒ Effects of improvement will be verified at the JAEA Naraha mock-up
facility.
Brackets
Arm

Manipulator arm
for maintenanceLighting
Arm camera

GripperLighting(dummy)Arm camera(Dummy camera)

Dummy arm

Brackets

Test status

Installation part

Installation/removal byholding with the gripper of themanipulator for maintenance
Cameraside cable*
Arm side cable**Dummy used
for the test

Connector*
When holding the connector, it can easily slip.
Hence slip prevention measures are required.

Layout drawing of the inside
Dummy armof the enclosure

Work area of themanipulator for
maintenanceArm camera/lighting replacement area (tip of arm)
©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (ii) Verification tests for the work efficiency of the maintenancemanipulatorb. Installation of sensor and tool
[Test overview]
・The work of connecting with the dummy arm using the actual wand, a sensor container, a dummy sensor and a dummy tool
was conducted and their viability was confirmed. The following improvements were identified.
・Improvement in the field of vision of the tool installation position ⇒ Effects of improvement will be verified at the JAEA
Naraha mock-up facility.

Sensor container

Dummy sensor

Manipulator arm

The field of visionneeds to be improved
as the tool installation
position is not
sufficiently visible.

Manipulator for
maintenanceSensor and arm
connecting part

Dummy tools
Tool installation position

CameraWand

Dummy arm
Dummy arm

Connection of the sensor and arm (wand)Connection of the tool and arm©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (ii) Verification tests for the work efficiency of the maintenancemanipulatorc. Installation of external cables (1/2)[Test overview]
・The external cables on the wand was installed and their viability was confirmed. The following improvements were identified.
・ Modification of a part of the metal bracket structure for installing external cables in connection with drawing around theexternal cables to the wand
⇒ Effects of improvement will be verified at the JAEA Naraha mock-up facility,
External cables

Manipulator arm for
maintenance

Wand

Metal bracket for
installing external cables
External cables

External cables

Wand
When installing themetal bracket

Wand
External cables

Wand
A Cable route to the wandWork of drawing around cables to the wand

Metal bracket for installingexternal cables

External cables

View AThe structure of the metal bracket needs to be modified
as the work of installing the metal bracket for installingthe cables will be done in limited space.
©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (ii) Verification tests for the work efficiency of themaintenance manipulatorc. Installation of external cables (2/2)[Test overview]
・The installation of the external cables with the dummy arm was conducted and their viability was confirmed. The following
improvements were identified.
・ Improvement of the metal bracket structure for installing external cables in connection with drawing around the externalcables to the arm link part
⇒ Effects of improvement will be verified at the JAEA Naraha mock-up facility.

Cable tray

The structure of the metal bracket
for installing external cables needs
to be improved as there is limited
space under the cable tray.

Manipulator for maintenance
Manipulator arm
Actual AWJ tool

External cables

Metal bracket for installingexternal cables

External
cablesDummy arm
(Link part)
Dummy arm

Installation of external cables on to the tool

Installation of the external cables on to the arm link part©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (ii) Verification tests for the work efficiency of themaintenance manipulator
d. Carrying-in/out of the sensor and tool (1/2)[Overview of carrying-in/out]
Cable drum

Sensorcontainer
Rod
Transportation rail

Inside the container

Container
Inner lid of the hatch for access
Hatch for access

Trolley

Transportationequipment (trolley)

DrawerRange of motion of themanipulator for
maintenanceSensor storage area
Cable drum
Cable drum installation areaArm
(Dummy used for the test)
Layout inside the enclosure

Shoulder bolt
BracketPulleyRotates90°
Lifting eyewhen in
Hook
use

Pulley(For lifting up heavy weight objects)©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (ii) Verification tests for the work efficiency of the maintenancemanipulator
d. Carrying-in/out of the sensor and tool (2/2)[Test overview]
・The work of carrying-in the sensor container and cable drum was performed and their viability was confirmed. The following improvements
were identified.
・ Streamlining of the method of transporting the sensor container inside the enclosure (method of transportation by trolley)
・ Modification of part of the structure of the hoisting attachment used at the time of carrying-in the cable drum, improvement in the field ofvision for work while installing the cable drum
⇒ Effects of improvement will be verified at the JAEA Naraha mock-up facility.The structure of the hoisting attachment needs to
Hoisting
attachment (hook)be modified (reducing the height) as the hoisting
clearance of the cable drum is inadequate.

Manipulator arm for maintenance

Manipulator arm
for maintenanceHatch for accessSensor container
Rod

Trolley

Cable drum

Direction of
the view fromcameraThe rear side of the cable
drum is at a blind spot which
affects work. The field ofvision needs to be improved(securing an opening towards
the cable drum, etc.).

Dummy arm
Since transportation by means of a trolleyusing a rod requires time due to limited
space, the transportation jig needs to be
improved.

Trolley for
installing thecable drum

Cable drum
©International Research Institute for Nuclear Decommissioning4.1 Access and Investigation Equipment(1) Mock-up tests considering on-site conditions (ii) Verification tests for the work efficiency of the maintenancemanipulator

17

e. Changing of the position of the camera inside the enclosure[Test overview]
・The change of positioning the dummy camera and the carrying-out was performed and their viability prospects was confirmed.
The following improvements were identified.
・ Optimization of the installation position and direction of the manipulator gripper of the camera stand ⇒ Effects of improvement
will be verified at the JAEA Naraha mock-up facility.

Changing of the position of the camera
The camera stand was removed, and the position of thedummy camera was changed (installed on the mounting eye
at another location). The following improvements wereidentified.
Optimization of the gripper installation
Gripper ⇒position and installation direction for

Carrying-out the camera
The workability of carrying-out the dummy camera
removed from the camera stand was verified.

(While removing the camera)

Dummy camera

enhancing installation work efficiency(While removing the camera)

Bolt runner

Dummy camera
Manipulator arm for
maintenance

Mounting sheet

Camera standDummycamera(While carrying-out the camera)(While moving the camera)

Camera standHatch for access

Hoist for the manipulator
for maintenance©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(2) Work training
i. Work training policy (organization and plan) Arm-type access equipment was operated by 4 persons / team.
 Based on the operating time using actual equipment, two operator teams were formed in this projectand nine operators were selected. A training plan was created to facilitate stepwise and systematiclearning of knowledge and skills required for the operation, and work training was conducted inaccordance with the plan (completed up to Step 1 this year).
[Operator organization and roles]<Team A>

[Training flow]<Team B>RO
(1 person)

Induction trainingRO(1 person)

MO/Camera(1 person)

Full-fledged
training

Step 1BO(1 person)MO(1 person)

Camera(1 person)

Role

BO
(1 person)MO(1 person)

Camera(1 person)

Basic training

Learning basic knowledge andoperational techniques

Main required skills

RO

Leading a team･ Team management skills･ Knowledge of work procedures and management skills

CameraOperation of thecamera, lighting,
HMI・ Camera operation techniques and HMI operation
techniques from the standpoint of the operator

BO

Operation of theboom (arm)･ Arm operation techniques･ VR system operation techniquesMO

Operation of themanipulator for
maintenance・ Operation techniques for the manipulator for
maintenanceStep 2

Practical training (training inaccordance with role)

Learning knowledge and technical skillsin accordance with the role of theoperator

Step 3Practical training (teamtraining)
Reaching the stage of being able toexecute work procedures in cooperation
with the team©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(2) Work training
ii: Training results

Induction training Operation training was conducted using MHI manipulators as induction training at a stageprior to starting full-fledged work training.
 Through this training, the operators got a sense of operating the manipulator and got a hangof carrying out the operation over the camera monitor.

Camera monitor

Assembling the daruma-otoshi (traditional
Japanese game of stacking wooden blocks
and hitting them)Handling the cables

Manipulator on the operating
side

Manipulator operation training in progress
Assembling rings (stacking rings)©International Research Institute for Nuclear Decommissioning

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4.1 Access and Investigation Equipment(2) Work training
ii: Training results

Step 1 Basic training (Manipulator for maintenance)*HMI: Human Machine Interface

 Actual equipment operation training and training on basic knowledge (function, structure, etc.)
concerning the manipulator for maintenance and the HMI* for the manipulator were conducted.
 During the training, a work bench was installed inside the enclosure, and various operations of themanipulator for maintenance were performed on the work bench.
 Eventually all operators learned the basic operating techniques pertaining to the manipulator for
maintenance.
Manipulator for maintenance(Operating side)

Manipulator for
maintenance (on-site)

Manipulator
operation

Cameraoperation

Work
bench

Control room

Inside the enclosure©International Research Institute for Nuclear Decommissioning4.1 Access and Investigation Equipment(2) Work training
Step 1 Basic training (Manipulator for maintenance)
ii: Training results
Operation training using items of everyday use

Training using actual tools

STEP UP
Holding a table tennis ball,and putting it in a cup

Stacking cups

Tracing the maze

Assembling blocks

21

Handling the screw runner

Operating the hoist©International Research Institute for Nuclear Decommissioning4.1 Access and Investigation Equipment(2) Work training
Step 1 Basic training (Arm operation control system)
ii: Training results
 Education and operation trainings on VR simulator, method of starting up HMI, method of
connecting the VR simulator and HMI, method of operation using joy stick, method of creating andediting the teach & repeat file were conducted.
 Education and operation training on OMS* functions and operation method were conducted.
 Eventually all operators learned the basic operating techniques pertaining to the operation control
system.
*OMS: Operation Management System

Operation Control System PC
HMI

Education and training in progress©International Research Institute for Nuclear Decommissioning

22

23

4.2 Access Route Establishment Related Equipment(1) Work training
i. Work training policy (organization and plan) Work training was conducted in accordance with the actual site work plan.
Work procedures at the actual site
Classification

Detailed contents

Setting up of a plant room

Wiring from the plant room and control room
Carrying-in right to the front of the north-western
Carrying-in and installation of a lid for preventing spread of area
contamination
Installation at the operating location after installingin the north-western area
Carrying-in right to the front of the north-western
area
Carrying-in and connection of the main deposit removal
equipment
Installation at the operating location after installingin the north-western area
Installation of a board at the planned location after
Installation and connection of ancillary equipment
installing the equipment, and connection to the(emergency winch, abrasive tank)equipment
Operation verification
Verification of operation of equipment
Removal of the hollowed out portion of thepenetration hatch
Removal of low-pressure deposits
Cleaning inside the penetration
Cutting and removal of cables
Removal of high-pressure deposits
Cutting and removal of rail guide
Remote retreating while the isolation room isclosedCovering to receding to skid mounting of theequipment inside the isolation room
Carrying-out of the main deposit removal equipment
Retreating up to the truck bay entrance
Covering to receding inside the isolation room
Carrying-out the lid for preventing spread of contamination
Retreating up to the truck bay entrance
Carrying-out of the ancillary equipment
Retreating after completion of work

Training contents
Whether
implemented or not
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○

©International Research Institute for Nuclear Decommissioning4.2 Access Route Establishment Related Equipment(1) Work training
i. Work training policy (organization and plan)
During the transportation training, an environment was prepared simulating interference inside thebuilding at the actual site, with layout dimensions of the ancillary equipment such as cables, control
panel, etc. the same as that at the actual site.
The X-6 penetration and internal deposits to be removed were simulated for the operation training.

X-53 penetration mock-up

Simulated part of the X-6 penetration

Simulated actual site wall surface

Maintenance hatch

Racks x 10

Status of simulation of the inside of X-6 penetration©International Research Institute for Nuclear Decommissioning

24

25

4.2 Access Route Establishment Related Equipment(1) Work training
ii: Training results (carrying-in the equipment)
Training of carrying-in the equipment was conducted. The work time initially planned was reduced, andtraining simulating the actual site was completed.
No.

Work
procedures
Carrying-in(straight
movement)12

3

Carrying-in(rotating andpositioning)
Carrying-in the
robot
Covering inside
the room
Carrying-in the lid
for preventing
spread ofcontamination

Training contents/conditions

Items to become proficient inResults and issues

・ Carrying-in the equipment by pushing it by hands

・ Traveling steadily
・ Bringing the dolly back on track if it tilts awayfrom the intended direction of travel

The work of traveling was completed in the planned time with the assumed
arrangement of workers. If by chance there is a level difference and the
dolly gets caught in it, a crow bar is used to get out of it.

・ Rotating and positioning the equipment by pushing itby hands
・ Lifting up with a hydraulic jack・ Rotating to a predetermined position
・ Positioning so as to be able to install a ramp

The work of moving was completed in the planned time with the assumed
arrangement of workers.

・ Laying adhesive sheets (6 sheets) in the area on which
the equipment will travel

・ Carrying-in the lid into the robot carry-in chamber bypushing it by hands
・ Laying of hoses and cables

Figure showing thecarrying-in route-・ Bringing the dolly back on track if it tilts awayfrom the intended direction of travel

Status of carrying-inof the equipment

The covering sheets were prepared in advance at a low radiation dose area
to reduce the exposure of the workers. They were prepared as a single
sheet thereby reducing the actual work time, and the work was completed
without any issues.
The moving was completed in the planned time with the assumed
arrangement of workers.

Carrying-in of the lid for preventing
spread of contamination©International Research Institute for Nuclear Decommissioning

26

4.2 Access Route Establishment Related Equipment(1) Work training
ii: Training results (carrying-in the equipment)
Training of carrying-in the equipment was conducted. The work time initially planned
was reduced, and training simulating the actual site was completed.
No.

4Work procedures

Carrying-in the equipment forremoving deposits frominside X-6 penetration

Training contents/conditions

Items to become proficient inResults and issues

・ Carrying-in the equipment to the robot
carry-in chamber by means of remote
operation
・ Directly connecting the control panel andthe equipment

Work efficiency of
carrying-in

・ Making sure traveling is not hindered due to resistance ofcables, etc.
・ Carrying-in safely without damaging the equipment
・ Carrying-in up to the designated location

The work of connecting wires to the equipment wascompleted in the planned time with the assumed
arrangement of workers. An additional cable
support personnel will be made available to arrange
the cables during remote operation of theequipment.
The work of installing the unit was completed in theplanned time with the assumed arrangement ofworkers.
Identity management of cables was carried out toenable connection by group, the work was
performed while double checking so that cables
were not laid incorrectly, and the work wascompleted without any issues.

5

Unit installation

・ Installing the unit (abrasive tank, etc.) bypushing it by hands

Work efficiency of
carrying-in

・ Transporting and installing the equipment without
damaging it
・ Installing it horizontally using a level6

Laying of cables(Connector panel)

・ Laying cables as per the layout plan

Work efficiency oflaying・ Connecting the connector without causing any damage
・ Making sure there is no error in connecting the connector
・ Wearing protective gear while connecting the connector

7

Laying of cables(Control panel side)・ Laying cables as per the layout plan

Work efficiency oflaying・ Connecting the connector without causing any damage
・ Making sure there is no error in connecting the connector
・ Wearing protective gear while connecting the connector

The work was completed in the planned time withthe assumed arrangement of workers.

8

Laying of cables(Equipment)

・ Laying cables as per the layout plan

Work efficiency oflaying・ Connecting the connector without causing any damage
・ Making sure there is no error in connecting the connector
・ Wearing protective gear while laying the cables
・ Wearing protective gear while connecting the connector

Identity management of cables was carried out toenable connection by group, the work was
performed while double checking so that cables
were not laid incorrectly, and the work wascompleted without any issues.

Control panel

Electrical cable fortraveling

Deposit removal
equipment

Layout plan for installing thedeposit removal equipment

Status of wiring of the equipment

Status of wiring of the equipment©International Research Institute for Nuclear Decommissioning

27

4.2 Access Route Establishment Related Equipment(1) Work training
ii. Training results (Deposit removal operation)
Training of deposit removal operation was conducted. It was confirmed that the simulated deposits inside thepenetration were removed successfully by the procedures that were initially planned, and the training wascompleted.
No.

Work procedures

9

Remote operation of
the equipment forremoving deposits
from inside X-6
penetration

10

11
12

Access and axis
alignment

Connection andgrabbing
Verification of airtightness

Training contents/conditions
・ Moving the equipment up the ramp by means ofremote operation
・ Installation of cables
・ Monitoring of confined spaces
・ Understanding the position and location of theequipment
・ Ability to pass through confined spaces
・ Alignment of the installation position of X-6
penetration
・ Axis alignment and connection with the front wheel ona ramp・ Monitoring interferences between the hatch, flange
and the grabbing mechanism
・ X-6 penetration hatch: With hexa plug・ Pressure maintenance for longer than the specified
time
・ Execution as per the operating procedures

13

Deposit removal

・ Checking the status of deposit removal using theequipment camera
・ Treatment of accumulated water

Items to become proficient inTraveling efficiency
Operating efficiency

Results

・ Making the equipment travel without causing any
damageTraveling of the equipment and installation of cables werecompleted as per the plan without causing any damage

Monitoring andinterferences

・ Recognizing whether or not something is drawing nearor is coming in contact
・ Recognizing when there is deviation from the referenceline・ Performing axis alignment and connection with the X-6
penetration by adjusting the elevating length, along withforward, backward and swivel motion on the ramp
・ Performing the operation of accessing the penetrationand grabbing without coming in contact with the x-6
penetration

Interferences

・ Grabbing without interfering with the hexa plug

Grabbing was completed without interfering.

・ Ensuring air-tightness

It was confirmed that air-tightness was ensured.

・ Understanding the procedures and the details of
operation, and being able to remove deposits from inside
the penetration

Removal of deposits from inside the penetration was completed
while checking the procedures and details of operation.

・ Discharging accumulated water to the PCV side

Accumulated water was discharged to the PCV side as per theplan.

Interferences andmonitoring

Operating efficiency

Verification of airtightness
Procedures andoperating efficiency
Monitoring
Treatment ofaccumulated water

Status of system operation

Traveling was completed as per the plan without anything
coming in contact with the equipment.

The operation of accessing and grabbing was completed without
coming in contact, by adjusting the elevating length and steering,
while checking the equipment camera.

Status of remote operation and grabbing of equipment©International Research Institute for Nuclear Decommissioning

28

4.2 Access Route Establishment Related Equipment(1) Work training
ii: Training results (Carrying-out the equipment and covering)
Training of carrying-out the equipment was conducted after completion of work. The work time initiallyplanned was reduced, and training simulating the actual site was completed.
No.

Work procedures

Training contents/conditions

Verifying a series of procedures including grip release,
withdrawal, and receding (going up the ramp), and theiroperating efficiency

14

Withdrawal of theequipment for removing
deposits from inside X6 penetration

Withdrawing the equipment using only the isolation
room monitoring camera, assuming that the operation
monitoring camera gets disabled (as a result ofexcessive radiation dose) during the period of
installation
・ Cables being guided appropriately.

15

16

Grabbing of the lid forpreventing spread ofcontamination

・Opening the lid for preventing spread of contamination
・Grabbing the lid for preventing spread ofcontamination
・Monitoring interference with the lid for preventing
spread of contamination
・Monitoring interference with the equipment andisolation room

Disconnection of cables

・ Work inside the isolation room / curtain rail, power,
control and communication cables

Items to become proficient inResultProcedures and operating
efficiency

・ Completing a series of operations without
any interferences, etc.

The work was completed in the planned timewith the assumed arrangement of workers
while checking the procedures and details of
operation.

Monitoring・ Being able to withdraw the equipment
without any interference by monitoring theimages on the monitoring camera inside
the isolation room

Withdrawal was completed without any
interference by checking the images on themonitoring camera inside the isolation room.

Cable management

・ Making sure cables are guided
appropriately without any backlash, kink,etc.

Appropriate guiding of cables was completed.

・ Accessing and grabbing without comingin contact with the isolation room and themechanism for moving the lid forpreventing spread of contamination

The operation of accessing and grabbing
without coming in contact with the isolation
room and the mechanism for moving the lid forpreventing spread of contamination wascompleted.

・ Disconnecting the connectors without any
damage・ Wearing protective gear while
disconnecting the connector

Disconnection of connectors was completed
without any issue.

Procedures and operating
efficiency

Monitoring and interfering

Work efficiency

Status of installing the lid for preventing spread of contamination

Status of covering the equipment©International Research Institute for Nuclear Decommissioning

29

4.2 Access Route Establishment Related Equipment(1) Work training
ii: Training results (Carrying-out the equipment and covering)

Training of carrying-out the equipment was conducted on after completion of work. The work
time initially planned was reduced, and training simulating the actual site was completed.
No.

Work procedures

Training contents/conditions

Items to become proficient inResult17

Laying of cables

・Laying power, control andcommunication cables as per the layoutplanWork efficiency oflaying・ Laying and connecting cables without causing any
damage・ Wearing protective gear while connecting the connector

18

Covering of the equipment forremoving deposits from inside
X-6 penetration

・Covering the equipment assuming
there would be contamination (only the
top surface)

Work efficiency

・ Covering the equipment without damaging it
・ Wearing protective gear while performing the work ofcovering

19

Carrying-out of the equipment
for removing deposits frominside X-6 penetration

20

Disconnection of cables

21

Covering of the equipment forremoving deposits from inside
X-6 penetration (2 layers ofcovering)

・Carrying out from the robot carry-in
chamber by means of remote operation(cable support, remote operation ofequipment, spreading the vinyl sheets
for covering over the transportation
stand)・ Disconnecting the power, control andcommunication cables as per the layoutplan
・ Covering the equipment (2 layers ofcovering)
・ Verifying the covering proceduresWork was performed while double checking sothat there is no mistake in the connection, andthe work was completed without any issues.
The equipment was covered while wearing
protective gear, and the work was completed in
the planned time with the assumed arrangementof workers.

Traveling efficiency
and operating
efficiency

・ Making sure traveling is not hindered due to the covering
sheets

The work was completed in the planned timewith the assumed arrangement of workers.

Work efficiency

・ Disconnecting the connectors without any damage
・ Wearing protective gear while disconnecting the cables

Disconnection of connectors was completed
without any issue.

Work efficiency

・ Covering without any gaps, tears
・ Wearing protective gear while performing the work ofcovering

The equipment was covered while wearing
protective gear, and the work was completed in
the planned time with the assumed arrangementof workers.

Status of covering the equipment

Status of covering the equipment©International Research Institute for Nuclear Decommissioning

30

4.2 Access Route Establishment Related Equipment(1) Work training
ii: Training results (Carrying-out the equipment and covering)
Training of carrying-out the equipment after completion of work was conducted. The work
time initially planned was reduced, and training simulating the actual site was completed.
No.

22

23

24

25

Work
procedures

Test details / test conditions

Items to become proficient inResultCarrying-out(withdrawal,
rotation)・ Withdrawal and rotation of the equipment by pushing it byhands
・ Lowering to the ground with a hydraulic jackWork efficiency of
carrying-out

・ Rotating to a predetermined position

The work was completed in the planned time with the assumed
arrangement of workers.

Carrying-out(straight
movement)

・ Carrying in the equipment by pushing it by hands
・ Covering the caster wheels with tapeWork efficiency of
carrying-out

・ Ensuring stable traveling・ Bringing the dolly back on track, if it tilts away from theintended direction of travel

The work was completed in the planned time with the assumed
arrangement of workers.

Covering of thestand for the lid
for preventing
spread ofcontamination

・ Covering the stand・ Verifying the covering proceduresWork efficiency

・ Covering without any gaps, tears
・ Wearing protective gear while performing the work ofcovering

The equipment was covered while wearing protective gear, and thework was completed in the planned time with the assumed
arrangement of workers.

・ Carrying out from the robot carry-in chamber by pushing itby hands

Work efficiency of
carrying-in

・ Making sure there is no contact with the surroundings
while carrying-out
・ Bringing the skid back on track, if it tilts away from theintended direction of travel

The work was completed in the planned time with the assumed
arrangement of workers.

・ Covering the stand (2 layers of covering)・ Verifying the covering proceduresWork efficiency

・ Covering without any gaps, tears
・ Wearing protective gear while performing the work ofcovering

The equipment was covered while wearing protective gear, and thework was completed in the planned time with the assumed
arrangement of workers.

Carrying-out
the stand forthe lid forpreventing
spread ofcontamination
Covering of thestand for the lid
for preventing
spread ofcontamination

Status of the lid for preventing spread of contamination

Status of carrying-out the equipment©International Research Institute for Nuclear Decommissioning4.2 Access Route Establishment Related Equipment(2) Preparation for opening the X-6 penetration hatch

31[Changing the method of setting up the isolation room inside the stage]
Changing the method of setting up the isolation room was considered so as to make it possible to remove the isolation roomfrom inside the stage in the remote chance that it has to be removed after it is installed inside the stage.
[Modification of the isolation room, manufacturing the boot transportation equipment, and setting up the mock-up]
A method was developed in which a mechanism was provided for rotating the boot by means of wires and pulleys and installing it inside the isolation
room, and in addition, a boot transportation equipment that can install the boot by means of remote operation was manufactured so that the isolation
room can be removed from inside the stage in the remote chance that this needs to be done.
Pulley (2)Pulley (1)Pulley (5)Installation of lower boot (Image captured without the boot transportation dolly)

Isolation room inside the stage
Pulley (6)

Boot
Boot

Pulley (7)Steps for installing the lower bootPulley (3)Pulley (4)Pulley (8)Layout of the wires and pulleys in theisolation room

Frame fortransporting the dolly

Boot lifting
equipment

Boot transportation equipment<Frame for transporting the dolly>
Frame for handling the equipment, andinstalling the boot lifting equipment in the isolation
room inside the stage<Boot lifting equipment>
Equipment for lifting and lowering the upper andlower boots over the penetration piping by meansof remote operation

Boot transportation equipment

Mockup of the boot transportationequipment installation©International Research Institute for Nuclear Decommissioning4.2 Access Route Establishment Related Equipment

32(2) Preparation for opening the X-6 penetration hatch[Worker proficiency training]

Worker proficiency training was conducted at the plant following actual work procedures by simulating the actual site, for the purpose of
on-site demonstration.

Polishing the penetration(polishing equipment being installed)

Setting up the hatch isolation room (being positioned)

Installing the hatch opening equipment (being carried-in)

Installing floor steel plates(floor steel plates being installed)

Isolation room inside the stage(being transported)

Installing the boot (Boot transportationequipment (being installed))

Setting up the robot carry-in chamber(being transported)

Removing the nuts and bolts of thepenetration hatch

Collecting the deposit collection container©International Research Institute for Nuclear Decommissioning4.2 Access Route Establishment Related Equipment(2) Preparation for opening the X-6 penetration hatch

33[On-site demonstration]
Preparations for on-site demonstration began at Unit 2 of the Fukushima Daiichi Nuclear Power Station from
November 15, 2021. Currently, on-site demonstration work directed towards hatch opening is being carried out.

[State of progress]• When the floor steel plates and the X-6 penetration isolation mechanism were removed, the floor was found to be rough.
Hence the work of removing the roughness was carried out.
• The floor steel plates were installed after polishing X-6 penetration pipes.
• The isolation room inside the stage and the hatch isolation room were carried-in to the location of X-6 penetration andinstalled.
Surface of thepenetration pipes

Concrete stage floor

Floor steel
platesCleaning after removing the roughness of the floor

Work of installing the isolation room inside the stage

Status of penetration polishing

Status of installing the isolation room inside the stage

Status of installing floor steel plates

Status of installing the hatch isolation room
(air-tight door open)©International Research Institute for Nuclear Decommissioning4.3 Other Ancillary System(1) Design and manufacturing
i. System plan
Part of the system plan was revised
and refined for enhancing operation
efficiency.

34・ System image
Feed water
systemAccess andinvestigationequipment

PCV,
X-6 penetration

Air supply & exhaustsystem[Main component systems]
 Water supply line to the AWJ unit
 Nitrogen supply system for checking the seal of the X6 penetration connection structure flange part
 Nitrogen purge system to the manipulator for
maintenance inside the enclosure Nitrogen supply system to the air operated valve
 Nitrogen (air) exhaust system Enclosure dehumidification and circulation system

Other systems

・ Actual system plan
No. 5
No. 3
No. 2

No. 4

No

Changes since FY2020

1

Operation of the dehumidification system
and review of the system along with that

Reason for change
For suppressing release ofradioactive materials①

2

The operation of thedehumidification system wasrestricted to when the isolation
valve is closed.
②
Operation of the dehumidification
system was made into a closed
loop operation. The local exhaust
ventilation was eliminated alongwith that, and the HEPA filter waschanged to a 2 stage filter.
Change in source of water supply
The source of water supply waschanged from the make-up water tank to
TEPCO’s filtrate water tank

For simplifying and streamlining theoperation

3

Installation of oxygen
meter inside R/B

concentration

For enhancing the monitoring
efficiency (detecting nitrogen leakage)

4

Addition of flowmeter on the nitrogen line
for arm cleaning

For understanding the flow rate ofnitrogen gas flowing inside PCV

5Addition of an integrating flowmeter on
the water line for arm cleaning

For understanding the quantity ofwater flowing inside PCV

No. 1©International Research Institute for Nuclear Decommissioning

35

4.3 Other Ancillary System(1) Design and manufacturing
ⅱ． On-site layout plan・ The layout plan was reviewed and refined considering on-site layout conditions, constraints due toother engineering work, etc.
The plant room [6] which was located in the vicinity of the extra high voltage sub-station was moved to a location in
the vicinity of Unit 2 R/B in order to reduce the quantity of cables passing through the trench.

Container placement in the vicinity of Unit 2
R/B, yard
Container placement in the vicinity of the extra
high voltage substation

Plant rooms [4], [5]water jet containers in thevicinity of the yard

Main body of the access andinvestigation equipment

Plant room [1]Plant room [3]Plant room [1]Plant room [
]

3

Plant
room [6]OutsideR/B
Yard

Inside
R/B
PCV

R/B: Reactor Building©International Research Institute for Nuclear Decommissioning

36

4.3 Other Ancillary System(1) Design and manufacturing
ⅲ． Manufacturing status
・ Control room
On-site installation work (foundation work, construction work and electrical work) was carried out.
・ Plant room
The layout of the boards and equipment inside the container was reviewed, and the specifications of the accessories
such as lighting, etc. were finalized. Some of the plant rooms were manufactured.

[Plant room]©International Research Institute for Nuclear Decommissioning

37

4.4 Fuel Debris Collection Equipment(1) Study of the scenario of on-site application of the trial debris retrieval equipment

 PCV internal investigation conducted so far (A2d investigation)• Deposits were adhered to the beams on the platform. Deposits appearing like pebbles were found although fewer as compared to those at the bottom.
• The entire bottom was covered with deposits appearing like pebbles and clay. Deposits appearing like pebbles and accumulated water were found as well.
 Approach towards the on-site application scenario•
Work of collecting the deposits on the platform is planned to be carried out in one round using the brush method.
•Work of collecting the deposits at the bottom is planned to be carried out in 3 rounds in total, one round using the brush method, another using the vacuum vessel
type method and one more round (using either one of the methods).
•
As for the specific collection areas, the area where small granular deposits are visible will be selected for the brush method, and the area with accumulated water(if there is such an area) will be selected for the vacuum vessel type method. However, the final decision will be made at the site based on the detailed
investigation inside the pedestal, etc.
Debris collection method
A2d investigation results

Platform

BottomExpected debris, etc.

Proposed debris collection plan
Brush

Vacuum vessel

Deposits were adhered to thebeams. Deposits appearing
like pebbles were present as
well. (Fewer than those at thebottom)Are the deposits adhered to theplatform beams mainly solidified
fuel debris?

If the deposits are
granular, it is likely thatthey can be collected.

Collection is difficult.

Deposits appearing likepebbles and accumulated
water were found.

Are these debris pieces, fuelpieces, etc. that have fallen from
MCCI, RV that have reacted withmortar?
Information related to water quality
is required.

Could be collected.

Could be collected(Accumulated water isdesirable)

Bottom part-2
Deposits appearing
like pebbles

Area at the bottom of thepedestal, which can beinvestigated

1 round of collection using the brush method isplanned as information different than the bottom islikely to be obtained.

1 round each using the brush method and thevacuum vessel type method are planned based on
the difference in obtained information.
Another round is planned using either of the 2
methods.

On the platform – 3
Petrous deposits

Central direction ofpedestal

Numberofrounds1 round3
roundsOn the platform – 4
Deposits that arepresumed to be a part ofthe structures

Central direction ofpedestal
Bottom part-4
Deposits appearing
like pebbles
Bottom part-1
Deposits appearing
like pebbles

Investigation area
(Photographed in January 2018)

Surface of debris at the PCV bottom

Status inside the pedestal(A2’ investigation results)

On the platform – 2
Petrous deposits
Investigation area (photographed in
January FY2017)

On the platform – 1
Deposits appearing likepebbles

Deposits on the platform©International Research Institute for Nuclear Decommissioning38

4.4 Fuel Debris Collection Equipment(2) Preparation for the arm assembly test
Study on access area and access position

The access location and position inside the pedestal was studied using a 3D-CAD model, as reference for theassembly test conducted by connecting the trial debris retrieval equipment to the tip of the arm type accessequipment.
The trial debris retrieval equipment extends the tip to get closer to the target object and collects it basically in a
downward position.

3D-CAD model (brush method) of the trial
debris retrieval equipment

The tip extends to a
maximum of 100mm

Results of studying the access area at thepedestal bottom

Example of the study on access location and position on
the top surface of the platform

Example of the study on access location andposition at the pedestal bottom©International Research Institute for Nuclear Decommissioning39

4.4 Fuel Debris Collection Equipment(3) Operation test of the manipulator for maintenance[1] Study on the operation of the manipulator for maintenance The operation of the manipulator for maintenance was studied using 3D-CAD models of the trial debris
retrieval equipment, enclosure, etc.
Manipulator operation flow
[Before debris retrieval work]

Trial debris
retrievalequipment

Manipulator for
maintenance (arm)① Work of carrying-in from the
DPTE350 port
② Switching the trial debris
retrieval equipment

Trial debris retrieval equipment(Brush method 3D-CAD model)
Storage rack

③ Mounting on the arm, D-SUB
connection, removal ofhoisting attachment, etc.
Arm tip (wand)Transfer tray
Manipulator

DPTE350 container
Cable drum

Mounting on the arm[After debris retrieval work]

Manipulator for
maintenance (grabber)④ Preparation of cushioning
container

Brush adapter⑤ Removal of brush
adapter/vacuum vessel

X-6 penetration inlet
Wand
Access arm

Arm enclosure and manipulator for maintenance(3D-CAD model)⑥ Placing the brush
adapter/vacuum vessel into
the cushioning container⑦ Placing the cushioning
container into the DPTE270
container

Cushioning
container(Main body)

Cushioning
container(Lid)

Placing the brush adapter into
the cushioning container©International Research Institute for Nuclear Decommissioning40

4.4 Fuel Debris Collection Equipment(3) Operation test of the manipulator for maintenance[2] Verification of the operation of the manipulator for maintenanceOf the various operations that the manipulator for maintenance performs inside the enclosure, verification tests were conducted on the main
operations.
Improvements in jigs and tools, work procedures were identified. Verification tests are planned to be continued while making improvements.
Main operations

Improvements

Carrying-in from the DPTE3.50 port

Change in the structure of the hoisting attachment and table,
improvement in the gripper, etc.

Changing the position of the equipment

Revision of work procedures

Mounting on the arm tip

Improvement in the equipment gripper and connector, etc.
(improving work efficiency)

Removing the brush adapter/vacuum vessel

Review of work instructions such as the equipment position, wandlocation, etc.

Handling the cushioning container

Improvement in eye mark, lock lever, etc. (improving work
efficiency)

Handling the cushioning container

Cushioning
container

For maintenance(manipulator arm)
Table
The rolling hanger tosupport the equipment

Gripper added to the sides

Carrying-in from the DPTE350 port

Changing the position of theequipment

Withdrawal of cushioning
container©International Research Institute for Nuclear Decommissioning

4.5 On-site demonstration (Setting up the cable and control room)(1) On-site installation and operation plan

41

In FY2021, as advance preparations for detailed investigation inside PCV, a control room was installed for remote operation, andpower cables required for various work and control cables required for remote operations were laid.
(i) Setting up of the control roomConstruction work related to the installation is planned to be carried out in the area outside the Seismic Isolated Building (parkinglot) which was determined during the site investigation conducted last year.

Since the purpose of this work was to install a control room for the equipment required for testing, research and development,
and a break room for the workers, it did not fall under the category of the temporary structure built on site for executing work
stipulated in Article 85 Paragraph 2 of the Building Standards Law, and hence a construction confirmation application was filed.


According to the construction confirmation application, the control room was installed by performing foundation work on the floor.

b. Before performing foundation workc. Foundation work
(placement of reinforcing bars)

e. Installation of the control roomb. Completion of foundation work

©International Research Institute for Nuclear Decommissioning42

4.5 On-site demonstration (installation of the cable and control room)(1) On-site installation and operation plan(ii) Utility installation work
It was decided that the power supply required for detailed investigation inside PCV would be provided by means of the outdoor D/G(diesel generator), and hence the diesel generator was placed in an extra high voltage sub-station.
Therefore, it was decided that cables would be laid for supplying electric power, from the extra high voltage sub-station to the slopeand Unit 2 Reactor Building.
A cable run (trough and cable tray) was installed on the route for outdoor laying of cables and the power and control cables wereplaced in the cable run, following TEPCO’s guidelines related to laying of cables.
Point A
(Extra high voltage
sub-station)
PR (1)
Point B
(Extra high voltage
sub-station)
PR (3) and DG

TrenchPoint D
(Inside Unit 2 R/B)
Connection structure,
enclosure, etc.

SFP
container

Point C(In front of the Unit 2
R/B yard)
PR (2), (4), (5), (6), etc.
Base point A (P. BOX)c. Trough installation [3]a. Trough installation [1]b. Trough installation [2]d. Cable duct installation [1]e. Cable duct installation [2]©International Research Institute for Nuclear Decommissioning43

5. Summary and Future Plans(1) Summary of the FY2021 results
This project is assessed to be progressing in accordance with the planned schedule.
[1] Access and investigation equipment
Verification test in Kobe
・Tests on passage of the arm for investigation through the X-6 penetration, and tests on removal of obstacles fromthe X-6 penetration outlet by means of AWJ were conducted, thereby confirming viability prospects as well as
identifying areas for improvement.
・ Tests for verifying the work efficiency of the manipulator for maintenance were conducted, thereby confirming
viability prospects as well as identifying areas for improvement.
Mock-up tests at the Naraha center・ Mock-up tests of the arm for investigation and the manipulator for maintenance, in which the areas of
improvements identified during the verification tests in Kobe have been reflected, are underway.
[2] Opening the X-6 penetration hatch

・ The method of installing the isolation room inside the stage was changed in order to reduce risks, the installation of
the isolation room inside the stage was modified, and the equipment that enables boot installation and removal was
designed, fabricated, tested, etc.
・ Moreover, worker proficiency training directed towards on-site demonstration was conducted, and on-site
demonstration of opening the hatch was started.
(2) Plan for FY2022
・ Mock-up tests and trainings on the access and investigation equipment will continue to be conducted at the Naraha
Center for Remote Control Technology Development, and on-site demonstrations will be started.
・ After conducting trainings on access route establishment related equipment, on-site demonstrations will be started
sequentially.
©International Research Institute for Nuclear Decommissioning

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Supplementary materials©International Research Institute for Nuclear Decommissioning

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Targets of development

Arm-type access andinvestigation equipment

X-6 penetration
connection structure(Arm and enclosure)X-6 penetration

Extension pipe

Isolation room
(Hatch isolation
room)
Equipment

Deposit removal
equipment X-6 penetration

PCV

Pedestal
Main purpose

Arm-type access andinvestigation equipment

Acquiring data about the inside of PCV (by mounting sensors), removing
obstacles (by mounting tools)

X-6 penetration connection
structure

Constructing PCV boundary and ensuring passing of arm (by mounting
isolation valve)

Extension pipe

Ensuring shielding and passing of arm

Isolation room

Constructing the PCV boundary when the X-penetration lid is open
(before installing the X-penetration connection structure), and shielding

Deposit removal
equipment

Removing deposits from inside the X-6 penetration©International Research Institute for Nuclear Decommissioning

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Access and investigation equipment
Carriage[Specifications and structure of the arm-type
equipment (hereinafter referred to as “arm”)]
 Sensor that can be mounted: 10kg or less
 Tools to be mounted: Cutting and grabbing tool,
water jet cutting tool Arm length: approx. 18m (excluding wand) Pressing force: 400N
 Positioning accuracy: ±100mm
 Accumulated dose: 1MGy
 Accessories
Camera and lighting

Wand**An alternative tool can be equipped.

Sensor Outer plates







Tilt mechanism

Joint of 2 axes

[Arm enclosure specifications and structure]
Ceiling and lateral plate: thickness 10mm
Bottom plate: thickness 25mm
Mass: approx. 30t
Main material: Stainless steel
2ｍ
Design pressure: -5 to +10kPaG
Leakage rate: 0.05 vol%/h
Accessories
Manipulator for maintenance, sluice valve,camera, lighting and etc.

Boom link

Telescopic arm

8.8ｍ

Manipulator for maintenance
サービスパネルService panel

2.4ｍ

仕切弁
Gate
valve

Hatch for access for high radiation goods

Hatch for access for goods©International Research Institute for Nuclear Decommissioning