0Subsidy Project of Decommissioning and Contaminated Water Managementin the FY2017 Supplementary Budgets

Development of Technology for Detailed
Investigation Inside the PCV(On-site Demonstration of Detailed Investigation
Technology through the X-6 Penetration)

FY2019 Final Report
July 2020

International Research Institute for Nuclear Decommissioning (IRID)
Copying and distributing are prohibited without the permission of the International Research Institute for Nuclear Decommissioning©International Research Institute for Nuclear Decommissioning©International Research Institute for Nuclear Decommissioning

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Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning

2

Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation items and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning1. Research background and purpose

3

1.1 Reason why this research project is required【Background】
As revealed by a result of investigation inside
the PCV of Unit 2 conducted in January 2018,
pebble- and clay-like deposits were confirmedon the whole pedestal bottom.
Moreover, part of fuel assemblies dropped on
the bottom, in which deposits were confirmed to
be fuel debris.

【Purposes】
The access and investigation equipment isintended to enter through the X-6 penetrationthat was used for the previous investigation
inside the PCV after making a larger-diameter
opening. For on-site demonstration andestimation of fuel debris distribution, detailed
information regarding the conditions of
inside/outside pedestal will be acquired tocontribute to the clarification of the fuel debris
retrieval method.

Primary
containment
vessel (PCV)

Reactor building
structure

Reactor pressure
vessel (RPV)

Pedestal

CRD bottom

X-6 penetration

Investigation range(inside/outside pedestal)【Overview of the PCV cross section and investigation points】©International Research Institute for Nuclear Decommissioning1.2 Application and contribution of the results of research projects
FY2016–FY2017 Development of technology for investigation inside the PCV

FY2017–FY2018 Development of Technology for Detailed Investigation Inside the PCV・Development of access and investigation equipment ・Applicability verification of element technologies
・Mock-up test planThis project
FY2018–FY2019 Development of Technology for Detailed Investigation Inside the PCV(On-site validation of technology for detailed investigation inside the PCV through the X-6 penetration)

Development of investigationand development plans•Research on the detailed design of methods
and equipment for fuel debris retrieval(including fuel debris retrieval work,
earthquake resistance, repair, and criticality
control)•Information for the determination of fuel debris retrieval
method and the detailed design of fuel debris retrieval
equipment, etc.

Development of access and investigationequipment

Development of Technology for
Increasing the Scale of Retravel
Debris in stages
Information necessary for the planning,
etc.
©International Research Institute for Nuclear Decommissioning

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5

Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation items and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning2. Implementation items, their correlations, and relations with other research 6
2.1 Subject of development and relations with other projects: configuration and the main purpose of equipment
and structures

Arm-type access andinvestigationequipment

X-6 penetration connecting structure(arm and enclosure)

Extension pipe

X-6 penetration

Isolation room
(hatch isolation room)

Deposit removal device

X-6 penetration

PCV

Pedestal

Equipment andstructures

Main purpose

Arm-type access andinvestigationequipment

Acquisition of data on the inside of PCV (equipped with sensors), removalof obstacles (equipped with tools)

X-6 penetration
connecting structure

Construction of PCV boundary and provision of access for arm (equippedwith isolation valve)

Extension pipe

Shielding and provision of access for arm

Isolation room

Shielding and construction of PCV boundary while X-6 penetration lid isopen (before X-6 penetration connecting structure is attached)

Deposit removal device

Removal of deposit, etc. from inside the X-6 penetration©International Research Institute for Nuclear Decommissioning2. Implementation items, their correlations, and relations with other research 7
2.1 Subject of development and relations with other projects
Subject of development

Access andinvestigationequipment

Arm-type access andinvestigationequipment

Equipment andstructures forconstruction ofaccess routeX-6 penetration
connecting structure

Design,manufacturing,and unit test

MockupOperation training

On-site verification(on-site
investigation)

Installation of mockup
facility, the concretization oftest procedures

Extension pipe
MockupIsolation room

Improvement/functional verification

MockupHatch opening
deviceOperability verification

Operation of arm using
simulation, the basic
manipulator operation

Investigation plan/on-sitelayoutDeposit removal
deviceResearchtechnology

Laser scanner
γ-ray sensor
Sonar

Concretization of test
procedures, verificationof connection of theaccess and investigationequipment

VT sensor
Neutron sensor: Development of technology for detailed investigation inside PCV(FY2017 to FY2018) (complete): This project©International Research Institute for Nuclear Decommissioning2. Implementation items, their correlations, and relations with other research 8
2.2 Implementation items of this project
Implementation items
Investigation and Development Planning

Scope of implementation in FY2019
Examination of investigation procedures

Partial manufacturing, overall assembly,
Partial manufacturing, overall assembly, and in-factory verification of access andand in-factory verification of access andinvestigation equipment
investigation equipment- Assembly and installation of the facility for access and investigation equipment mockup
Mockup Test Considering Site Situation test
- Concretization of procedures for access and investigation equipment mockup test

On-site verificationof accessequipment andinvestigation
technology

Combination test on access andinvestigation equipment and researchtechnology

Verification of connection between access and investigation equipment and researchtechnology

Operation training

Access and investigation equipment operation training involving the use of a simulator, etc.

Test for establishing the PCV accessroute and onsite operation training- X-6 penetration connecting structure: structure upgrade, combination test, once-throughverification test
- Isolation room: structure upgrade, combination test
- Deposit removal device: manufacturing, mockup test, once-through verification test
- Extension pipe: manufacturing, mockup test, once-through verification test
- Enclosure transportation device: mockup test, once-through verification test

On-site verification (site survey)- Manufacturing and verification of VT sensor and neutron sensor- On-site layout

Mockup test in Japan

Manufacturing and installation of a facility for access and investigation equipment mockup
test conducted in Japan

Manufacturing of short-length wandDesign and manufacturing of short-length wand©International Research Institute for Nuclear Decommissioning2.3 Relations between implementation items and relations with other projects (1/2)
Development of technology for detailed
investigation inside PCV (FY2017 toFY2018)[This project (FY2018 to FY2019)]

Investigation and Development Planning

Mockup Test Considering Site Situation

Investigation and Development Planning

Arm-type access and investigation equipment mockup test

Access and investigation equipment

Combination test on access and investigationequipment and research technology
Combination test of arm-type access and investigation equipment andsensors

Mockup test plan

Operation training
Operation training for arm-type access and investigation equipment

Applicability validation of element
technology
Establishment of an access route into PCV
through X-6 penetration

Establishment of an access route into PCV
through X-2 penetration

Test for establishing the PCV access route andonsite operation training
Tests on and operation training for X-6 penetration connecting structure,isolation room, etc.

On-site verification (site survey)
Partial manufacturing, overall assembly, and infactory verification of access and investigationequipment©International Research Institute for Nuclear Decommissioning

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2.3 Relations between implementation items and relations with other projects (2/2)
Design and manufacturing: Development of Technology for Detailed
Investigation inside PCV (FY2017 to FY2018)
Partial manufacturing, overall assembly, in-factory verification, mockup
test, operation training: this projectArm-type access and investigationequipment

X-6 penetration connecting structure

Extension pipe

Basic plan: Development of Technology for Detailed Investigation
inside PCV (FY2017 to FY2018)
Design, manufacturing and mockup test: this project

Deposit removal device, transportation device

Design and manufacturing: Development of Technology for
Detailed Investigation inside PCV (FY2017 to FY2018)
Mockup test: this project

Isolation room*
Design, manufacturing, test : Development of Technology for Detailed
Investigation inside PCV (FY2017 to FY2018)
Equipment upgrade, verification of function and operability: this project*The isolation room consists of the following.
- Robot carrying-in compartment- Hatch isolation room (including airtight door)- In-stage isolation room
Robot carrying-in compartment

In-stageisolation room

Design, manufacturing and mockup test: this project
Airtight door

X-6 penetration

Hatch isolation room

©International Research Institute for Nuclear Decommissioning

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2.4 Objectives
Implementation items
Investigation and Development Planning

Target achievement index (FY2018 to FY2019)
The investigation and development plan are revised as necessary, reflecting the latest
site situation and the investigation needs.

Partial manufacturing, overall
assembly, and in-factory
verification of access andinvestigation equipment

The in-factory verification of the physical prototype of the access and investigationequipment is complete.

Mockup test considering site
situation

The mockup test facility is fully prepared.

Combination test on access andVerify the applicability of the combination of the access and investigation equipment
investigation equipment andand the research technology to the site.
research technology

On-site verification ofaccess equipment
Operation training
and investigation
technology
Test for establishing the PCV
access route and onsite
operation training

Operation training using simulators, etc. to familiarize the access and investigationequipment among operators is conducted, and the workers are versed in the operationof the device.
Conduct tests to examine the delivery and installation suitability of the structure that isconnected to the opening of the X-6 penetration (hereinafter penetration opening) tocreate a boundary and on-site applicability is verified.
Plans for on-site operation and on-site investigation concerning access andOn-site verification (site survey) investigation equipment, research technology, and structure that is connected to thepenetration opening to create a boundary are formulated.

Mockup test in JapanThe facility for mockup tests conducted in Japan is fully prepared.

Manufacturing of short-lengthwand

The design and manufacturing of the short-length wand are complete.
©International Research Institute for Nuclear Decommissioning12

Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning13

3. Implementation schedule and project organization (1/2)
FY2018Item
Category

Subcategory

FY2019Apr. May June July Aug. Sept. Oct. Nov. Dec. Jan.

Feb. Mar. Apr. May June July Aug. Sept. Oct. Nov. Dec. Jan. Feb. Mar.
▽Interim report▽Grant decision (expected date)

Master schedule

Remarks▽Final report① Overall plan② Mockup test

(1) Investigation and ③ Combination test
④ Operation training
development⑤ Test and operation training
planning
concerning access route
construction⑥ On-site verification(site survey)① Mockup test consideringsite situation(design/manufacturing)② Combination test on accessand investigation equipment
and research technology③ Operation training

Design and manufacturing of mockup test facility (UK)

Operation
training
equipment)(simulator,

accessTransportation and installation test on access and investigationequipment, penetration connecting structure, and deposit removal device④ On-site test forestablishment of the PCV
access route(2) On-siteverification of accessequipment andinvestigation⑤ On-site verification (design
technology
and manufacturing of neutron
detection system)⑥ Partial manufacturing,overall assembly, and infactory verification of accessand investigation equipment⑦ Mockup test in Japan(design and manufacturing)⑧ Manufacturing of
short-length wand

Test on penetration connecting
structure and isolation room
Upgrade of and test on penetration
connecting structure and isolation room

Design, manufacturing, and test of aneutron detection system

Manufacturing, assembly, and in-factory verification

Design and manufacturing of mockup test facility (Japan)

Manufacturing of short-length wand©International Research Institute for Nuclear Decommissioning3. Implementation schedule and project organization (2/2)

14International Research Institute for Nuclear
Decommissioning (IRID)• Development of overall plan and technical management• Total management over all technical matters related to theproject including development progress management

Mitsubishi Heavy Industries, Ltd.
1) Development of investigation anddevelopment plans2) On-site demonstration of access andinvestigation equipment and investigation
technology①Mock-up test considering the site condition②Combination test for access and investigation equipment
and investigation technology③Work training④Test for the establishment of an access route into the PCV
and work training⑤On-site demonstration (site investigation)⑥Partly manufacturing of access and investigationequipment, the whole assembly, and in-factory verification
test⑦Mock-up test in Japan⑧Manufacturing of a short-length wandToshiba Energy Systems and Solutions
Corporation
1) Development of investigation anddevelopment plans2) On-site demonstration of access andinvestigation equipment and investigation
technology④Test for the establishment of an access route into
the PCV and work training⑤On-site demonstration (site investigation)©International Research Institute for Nuclear Decommissioning15

Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation items and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning

4.1

16

Implementation items and results(1) Investigation and development planning① Study on investigation procedure: Overview of accessand investigation equipment【 Specifications and structure of arm-type equipment 】✓ Mountable sensor: 10 kg or less
✓ Mounted tools: Cutting and gripping tool and water jet
cutting tool
✓ Arm length: Approximately 18 m (except wand)✓ Pressing force: 400 N✓ Positioning accuracy: ±100 mm✓ Accumulated dose: 1 MGy✓ Accessories: Camera and light

Carriage

Tilt mechanism

Biaxial joint
Wand*

Censor【 Specifications and structure of the arm enclosure 】✓ Thickness of outer panel:
10 mm for top and side panels
25 mm for bottom panel✓ Weight: approximately 30 tons
2ｍ
✓ Main material: Stainless steel✓ Designed to withstand pressure: −5 to +10 kPaG
✓ Leakage rate: 0.05 vol%/h✓ Accessories:
Dual-arm manipulator for maintenance(hereinafter called DEXTER), gate valve, camera,
light, etc.

Boom link

Telescopic arm*An alternative tool can be equipped.

8.8ｍ

Manipulator
for maintenance
保守用マニピュレータ（以降デクスターと称す）(DEXTER)
サービスパネルServicepanels

2.4ｍ

仕切弁 valveGate

高線量物品搬出口
Exit
port for high高線量物品搬出口
Entrance/exit port
物品搬入出口背面パネル radiation materials 物品搬出入口
formaterials©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(1) Investigation and development planning① Study on investigation procedure

Detailed procedures to establish an access route from the X-6 penetration to the pedestal's bottom andinvestigating the inside and outside of the pedestal are studied, and a flowchart consisting of approximately
100 steps is made.
Identify risks and work on measures based onimages obtained from previous investigations andresults of a study on detailed procedure
Design investigation equipment
Study detailed procedure

Images from previous
investigations

Reflect latest
knowledge*Sensor mounted on tip

Arm

Wand*

X-6
penetration
side

Platform

Identify dimensions of interfering objects(conduit, piping box) not indicated on theplan are from the images obtained from theprevious investigations

Pedestal bottom- Identify areas that may interfere with the wand
- Reduce the risk of interference by adopting ashorter wand- Study impact on investigation range

Prepare additional short-length wandBird's-eye view

Interfering object(piping box)
Small clearance from the rearend of the wand causes
concern over interference

CRD opening

Side view©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(1) Investigation and development planning① Study on investigation procedure
A small gap between the rear end of thewand and the structure inside the pedestal

2B conduit

The ceiling of
CRD opening

1 1/4B conduit

Piping box

Detailed explanation about thepassage through CRD opening

Tilt the wand while
inserting it through theplatform (lift the rear end)

Narrow piping
Piping box
A

Image from an internal investigation(upshot: viewpoint A)

Tilt the wand closer toan upright position while
dodging the piping box(right diagram)

17 mm gap

Narrow piping

Risk

Clearance from the CRD
opening is small
Piping box
スキマ43
mm 43mm
gap

Wand

CRD
opening

Risk

The rear end of the wand needs topass through an extremely narrow gap
Rear end of wandConceptual drawing of image obtained from the VT sensor©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(1) Investigation and development planning① Study on investigation procedure
Structure of arm for investigation and wand

Wand (current design)

Carriage
Boom link

Arm for investigation
General structure ofarm

Retracted

Telescopic arm

Extended

Wrist

Wand*
*Sensor mounted on tip©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(1) Investigation and development planning
Piping box① Study on investigation procedure When passing through the CRD opening

VT sensor view (rear)

Procedure overview and camera
view

Procedure overview ofinvestigation inside the pedestal

Wand

Arm camera view

The tip of the wand (arm) reaches
the inside of the pedestal
Platform

CRD opening
Telescopic arm

Move the arm to the upper part ofthe platform opening

Confirm rear
Wand

Confirm ahead

Let the rear end of the wand passthrough the CRD opening. Confirm
the rear end of the wand with the
VT sensor and ahead with the arm
camera. Move the arm forward until
the sensor on the tip of the wandreaches below the platform's
opening.

Range of operation of VT sensor alone

CameraShaft rotation

Arm camera
Arm side

Camera lensVT sensor©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(1) Investigation and development planning① Study on investigation procedure
Comparison of wand length

Current design

2,451 mm3,502 mm
Retracted

4,178 mmElongated

Shortened design
1,170 mm1,866 mm

585 mm2,332 mm3,008 mmElongated©International Research Institute for Nuclear Decommissioning22

4.1 Implementation items and results(1) Investigation and development planning① Study on investigation procedure- A short-length wand is prepared to reduce the risk of interference and increase the possibility of reaching the pedestal bottom- Future mockup test will determine whether the current design or the shortened design will be adopted for on-site use

Gap: approx. 290 mm

Shortened design: 1,866 mm

Current design: 2,451 mm

When the wand is shortened, it can pass in front of (below) the conduit box--> The risk of interference with the piping box and narrow piping can be reduced.
©International Research Institute for Nuclear Decommissioning

23

4.1 Implementation items and results(1) Investigation and development planning② Manufacturing of short-length wand••A detailed study on the investigation procedures revealed that there is a risk of the internal investigation
arm interfering (coming into contact or colliding) with the structure inside the PCV in the access route (seep. 18).
To reduce such risk and improve the accessibility of the internal investigation arm into the PCV, a wandshorter than the current design (short-length wand) was manufactured.
Gap between the wandand piping box: approx.
290 mmCurrent wand: 2,451 mm

Short-length wand: 1,866 mm

Avoid interference between the tip of wand andstructure (piping box)

The manufactured short-length wand©International Research Institute for Nuclear Decommissioning24

Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation items and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning

25

4.1 Implementation items and results(2) Partial manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment① Assembly of access and investigation equipment
Arm joint

Manufacturing and assembly of access andinvestigation equipment have completed.
Wrist mechanism

Telescopic arm

Telescopic arm tilt mechanism
Carriage

Wand©International Research Institute for Nuclear Decommissioning

26

4.1 Implementation items and results(2) Partial manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment② In-factory verification test
Test details and items

Assembly and test phase
Manufacturing

Tests andinspections

Visual inspection, dimensional
inspection, non-destructive weld
inspection, airtightness inspection,
operation test, continuity, andinsulation test

Assemblyverification

Operation verification and tuning at
the assembly stage

Functional
test

In-factory function verification test
after completion of assembly

Assembly

In-factory test

The in-factory test (functional test) was completed after confirming theoperation and tuning the device in the assembly stage.
©International Research Institute for Nuclear Decommissioning

27

4.1 Implementation items and results

Maintenancemanipulator

Arm(2) Partial manufacturing, overall assembly, and in-factory verification of access and investigationequipment② In-factory verification test
Representative test results are shown below. Those in red will be explained in the following pages.
No.

Test items

Confirmation items

Criteria

Test results

1

External appearance anddimensional inspection

Visual check of external
appearance and measurement of
main dimensions

No scratches or grime, dimensions inaccordance with drawing

Pass

2

Deflection test

Deflection of arm

Good prospect of accessibility throughthe X-6 penetration

Pass(pp. 28 to 29)

3

Position accuracy
verification test
(repeatability)

Reproductivity of arm position

Within ±100 mm (target: within ±20 mm)

Pass±12 mm4

Stability verification test

Shaking of arm tip±10 mm (within 5 min.: target value)

Pass
The arm stayed still within
the range of the criteria
during operation and when
stopping

5Payload test

Operation while carrying load

Carried load (10 kg/moment 41 Nm)

Pass

1

External appearance anddimensional inspection

Visual check of external
appearance and measurement of
main dimensions

No scratches or grime, dimensions inaccordance with drawing

Pass

2

Operating range
verification test

Operating range of arm

Range in accordance with design
dimensions

Pass(p. 31)3Payload test

Operation while carrying load

Load on the arm: 10 kg (equivalent to theweight of sensor)
Load on hoist: 100 kg

Pass(p. 32)©International Research Institute for Nuclear Decommissioning4.1 Implementation items and results(2) Partial manufacturing, overall assembly, and in-factory verification of access and investigationequipment② In-factory verification test

28

After completing the arm assembly, measure the amount of deflection using a 3D laser scanner. The results
were reflected in the structure analysis model, and the amount of deflection was evaluated when the arm isequipped with a wand and tools.

Carriage (origin)

Amount of deflection (mm)

Carriage (origin)

Distance from carriage (mm)* The wand's weight differs between a long-length and short-length wand, resulting in a difference in the amount ofdeflection. The evaluation results shown above uses the weight of the heavier long-length wand. The same goes in p. 29.

Results of the amount of deflection measured by a laser scanner (fully extended arm) (example)©International Research Institute for Nuclear Decommissioning4.1 Implementation items and results(2) Partial manufacturing, overall assembly, and in-factory verification of access and investigationequipment② In-factory verification test
Whether the arm can pass through the X-6 penetration was evaluated based on the actual amount ofdeflection measured, and it was confirmed that the arm could likely pass through.

Arm

Extension pipe

Enclosure

Point DX-6 penetration connecting structure

Point CPCV

X-6 penetration

Point B

Verification of accessibility (clearance) (example)

Viewpoint A©International Research Institute for Nuclear Decommissioning29

4.1 Implementation items and results

30(2) Partial manufacturing, overall assembly, and in-factory verification of access and investigationequipment② In-factory verification test

Equipment that conducts various tasks by remote
operation inside the enclosure

DextreMaster Dextre (control room)

Slave Dextre (inside enclosure)
Hoist

Cameras and lights(three locations)Control monitor
Control arm

Cameras andlights(three locations)

Foot switch(gripper lock and brake)

Master-slave
control(opticalcommunications)

Air bag(forprevention ofdust spread)

Gripper

Photo of test conducted outside the enclosure➢➢➢

The master-slave manipulator was developed by RACE*.
An operator carries out tasks inside the enclosure by using the master Dextre set up in the control room to control the slave
Dextre.
*RACE (Remote Applications in Challenging Environments):
The operator uses the control arms while checking multiple monitors. remote handling and robotics test facility operated by UK
Atomic Energy Authority©International Research Institute for Nuclear Decommissioning

31

4.1 Implementation items and results(2) Partial manufacturing, overall assembly, and in-factory verification of access and investigationequipment② In-factory verification test
Dextre: operating range verification test

Range ofmovement

Range ofmovement

Range of movement of Dextre arm and movable angle of joints
Range ofmovement

Axis

Movement

1

Up-and-down movements of shoulder

±45°

2

Left-and-right movements of shoulder

±45°

3

Back-and-forth movements of arm

±45°

4

Rotation of arm

±190°

5

Bending of wrist-120°/+30°

6Rotation of wrist

±340°

7

Open-and-close movements of gripper

0 to 80 mm[Test condition]- Grabbing weight: none, measurement method: angle meter[Method for calculating the range of movement]- Calculate the range of movement from the results of dimension
measurement and the movable angle of joints measured in this test
[Results]- The test confirmed that the range of movement is in accordancewith the design.

©International Research Institute for Nuclear Decommissioning32

4.1 Implementation items and results(2) Partial manufacturing, overall assembly, and in-factory verification of access and investigationequipment② In-factory verification test

Left (left arm)

Front

Back

Arm position for Dextre arm test

100 kgload

ArmRight (left arm)
Left (right arm)

Hoist

Right (right arm)

Dextre: payload test

Loading 10kg to an arm[Test conditions (arm)]- Arm position: five positions/arm (point zero (shown on the left),front, back, left and right)- Loading weight: 10 kg (equivalent to weight of sensor)

Loading 10 kg to an arm[Test conditions (hoist)]- Loading weight: 100 kg

The loads applied the arms
and hoist[Results]- The test confirmed that the arms could maintain their position
while applying a load and can move while the hoist bears the load.
©International Research Institute for Nuclear Decommissioning

33

Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation items and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning4.1 Implementation items and results

CRD exchangeequipment(3) Mockup test considering site situation① Manufacturing of test facility

Grating

Platform

Manufacturing of test facility is complete
Pedestal (outer surface:
wood, inner surface: steel)

34

Intermediate
platform

CRD mockup (wood)
Pedestal mockup

X-6 penetration connecting
structure mockup
Extension pipe mockup
Pedestal opening

CRD railX-6 penetration

Arm enclosure

Extension pipe mockup
CRD railX-6 penetration connecting
structure mockup©International Research Institute for Nuclear Decommissioning

35

4.1 Implementation items and results(3) Mockup test considering site situation② Concretization of the mockup test planA mockup test was conducted based on the supposition of the actual method of use to verify
conformity to functional requirements.
Functional requirements

Main mockup items

The arm can extend inside the PCV, andaccessibility required for investigation
can be secured- Calibration of arm positions- Accessibility through X-6 penetration- Removal of obstacles from the outlet of the X-6 penetration- Investigation of the inner lower and upper part of the pedestal

Information necessary for remote control - Avoidance of interference using the arm operation system
is obtained, and the device can be
operated safely
Sensors necessary for investigation canbe mounted- Connection of sensors to arm- Connection/disconnection of external cables to arm

Tools necessary for investigation can bemounted- Connection of tools to arm- Connection/disconnection of external cables to arm

Cameras can be replaced and carried inand out of the enclosure- Remote-control maintenance of arm camera and lighting- Remote-control maintenance of enclosure camera- Carry-in and -out of sensors and tools

The arm can be pulled out from the PCV
in case it is damaged.

- Recovery of the arm with Dextre- Forced extraction of arm
Red text in table: explained in the next page onward©International Research Institute for Nuclear Decommissioning

36

4.1 Implementation items and results② Concretization of the mockup test plan: accessibility through the X-6 penetration
Focus of test
- Verify accessibility of arm through the narrow X-6 penetration- Verify the clearance as well as operability and controllability of the device, especially
under the limited view of the camera
I. Arm extension status

Arm (actual equipment)

III. Arm passage status①②
Extension pipe camera③③

Connecting structure mockup

Extension pipe mockup①②④

II. Cross-section of
the segment withthe smallest
clearance (④)

20 mm

X-6 penetration
mockupIV. Conceptual image of camera view

Telescopic arm camera

Extension pipe camera

Cross-section of the segmentwith the smallest clearance

Lc
Lv = 77 mm
Telescopic arm camera

Design distance (withconsideration to deflection): Lv

Move arm forward while
comparing with design

The distance that can be estimated withthe telescopic arm camera: Lc©International Research Institute for Nuclear Decommissioning

37

4.1 Implementation items and results② Concretization of the mockup test plan: accessibility through the X-6 penetration
Test procedures and clearance
Arm: used actual equipment
X-6 penetration: used mockup that simulates
the internal shape of the actual structure1)0) All links folded

Telescopic arm

2)1) Extend link No. 6

Link No. 6

3)2) Extend links
No. 5 and 6

Link No. 5

4)3) Extend links
No. 4, 5, and 6

Link No. 45)4) Extend links
No. 3, 4, 5, and 6

Link No. 3

5) Extend links No. 1,
2, 3, 4, 5, and 6

Link No. 1

Minimum clearance ofeach step = approx.
20 mm (design value)

Link No. 2①② ③ ④©International Research Institute for Nuclear Decommissioning

38

4.1 Implementation items and results② Concretization of the mockup test plan: removal of obstacles from the outlet of
the X-6 penetration
Focus of test

- Cut obstacles (CRD rail, fallen grating) from the outlet of the X-6 penetration and verify the accessibility of the arm forinvestigation- Especially verify the visibility of cut areas from the camera and impact of the shaking of the arm caused by the reaction
force of AWJ, etc.
Extension pipe
mockupEnclosureX-6 penetration connecting
structure mockup

X-6 penetration
mockup

AWJ tool

Fallen grating mockup- Material: steel- Main plate thickness: 6 mm
- Pitch of bearing bar: 35 mm- Pitch of twist bar: 90 mm

Isolation valve mockup
AWJ cutting tool

CRD rail

Area subjected
for cutting

CRD rail mockup- Material: rolled steels forgeneral structure- Plate thickness: 10 mm

Fallen grating

Approx. 400 mm

Camera with light(pan tilt
mechanism)*Specification, position, and dropped state of the fallen grating are
uncertain. These factors are estimated in the mockup test based on
the information obtained from images.
©International Research Institute for Nuclear Decommissioning

39

4.1 Implementation items and results② Concretization of the mockup test plan: removal of obstacles from the outlet of theX-6 penetration
Test procedure (for cutting)
Arm: used actual equipment
Subject of cutting: used mockup that simulates the shape and material of the actual object

Cutting completeA

AA

Viewpoint A

AA

Viewpoint A

Viewpoint A

Viewpoint A

Viewpoint AA

Viewpoint A©International Research Institute for Nuclear Decommissioning40

4.1 Implementation items and results② Concretization of the mockup test plan: access to the bottom of the pedestal
Focus of test

- Verify the accessibility of the arm (wand and sensor) through the platform to the lower part of the pedestal- Especially verify the visibility of the camera on the rear end of the wand, operability and controllability of
the wand in narrow parts of the platform, and clearance

I. Arm insertion status

II. Clearance in narrow section
X-6 penetration
side

Piping box

A

VT sensor
field of view
Cross-section of the area withnarrow clearance (viewpoint A)

Wand

Wand
71 mm

CRD
opening
Platform

X-6 penetrationside

Arm camera view
Arm: used actual equipment
Structure inside PCV: used mockup that simulates
the shape of the actual object

163 mmSensor

312 mm©International Research Institute for Nuclear Decommissioning41

4.1 Implementation items and results② Concretization of the mockup test plan: Dextre test
Maintenance of the arm will be conducted by remote control using
Dextre. A detailed explanation will be given for tests (red text) thatare difficult and conducted frequently.
Tasks conducted by Dextre inside the enclosure

Connection of sensors and tools to the arm<Main specifications of Dextre>✓

PayloadReplacement of cables for sensors and tools

Each arm: 10 kg

Replacement of the arm camera

Hoist: 100 kg

Cleaning and decontamination of the arm

✓

Hoist
cameraArm movable range
Refer to diagram below

Replacement, shifting, and installation of the camera
inside the enclosure

Arm

Carry-in and -out of sensors, etc. to and from theenclosure
Approx. 750

Forced operation of the arm carriage*

CameraApprox. 800
Approx. 1,600

Approx. 530

Approx. 1,100

Dextre tool forforced operation

Arm movablerange

Arm movable
range

Carriage©International Research Institute for Nuclear Decommissioning

Approx. 1,600*When the carriage motor fails, the arm will becollected by forcibly operating the carriage

Approx. 700

42

4.1 Implementation items and results② Concretization of the mockup test plan: connection of sensors and tools to thearm using Dextre
Confirm that sensors (including wand) and tools, as well as necessary cables and hose,
can be attached and detached using Dextre.
<Sensors, tools, and jigs used>- Sensors (four types: γ-ray sensor, laser scanner, VT sensor, neutron sensor)- Tools (three types: AWJ tool, AWJ gripper tool, gripper tool)- Wand (including tool changer)- Bolt runner (hex key, tools), torque wrench, cradle (sensor transportation jig)
Flying lead connector(connection with sensor connector)

Telescopic arm
Connector (connection with wand)

Torquewrench4 coaxial cables
30 twisted-pair cables
1 nitrogen supply hose
2 fiber cables

Wand installation
position

Flying lead connector(connection with sensor connector)

Connector(connection with the main body of sensor)

Sensor connector(tool changer)

Installation flange(tools and wand)Tool and wand connection flange(wrist on arm tip)

Bolt runner(hex key)©International Research Institute for Nuclear Decommissioning② Concretization of the mockup test plan: Connection of sensors and tools to the arm using Dextre
Example of sensor connection
DextreHoist
Hoisting jig

Pull outArm
Hoist hook

Pull out the drawer in which the wand is stored

Attach the hoist hook
<Confirmation items>- Confirm camera view when attaching hook
- Confirm operator posture<Confirmation items>- Confirm camera view when grabbing the drawer- Confirm operator posture

LiftedPush back the drawer

Temporary placement

PulleyHang the hoist wire on the pulley<Confirmation items>- Verification of wire stability- Confirm camera view when pulling the wire
through- Confirm operator posture

Lift the wand and push back the drawer<Confirmation items>- Confirm stability when lifting the wand
- Confirm view when grabbing the drawer- Confirm interference of wand and Dextre

Temporarily place the wand and remove
the wire from the pulley<Confirmation items>- Confirm stability when hanging the wand
- Confirm stability when temporarily placing the wand©International Research Institute for Nuclear Decommissioning43

② Concretization of the mockup test plan: Connection of sensors and tools to the arm using Dextre
Example of sensor connection (Continued)

44

Move the wandover the arm

Move the arm
Lift

Remove the wire from the pulley and lift the wand
<Confirmation items>- Confirm view when grabbing thewand- Confirm operator posture- Confirm interference of wandAttach the wandto the wrist

Move the wand over the arm to theinstallation position

Install the wand

<Confirmation items>- Confirm workability of wand in coordination
with the arm- Confirm interference of arm and wandTighten bolt
<Confirmation items>- Use the torque wrench and bolt runner at the same time

<Confirmation items>- Confirm view when attaching the wandRemove wand hoisting jig<Confirmation items>- Confirm view when working with the bolt runner©International Research Institute for Nuclear Decommissioning② Concretization of the mockup test plan: Connection of sensors and tools to the arm using Dextre
Example of sensor connection (Continued)

45

Move
SensorReaction force
Cradle for transportation of sensor

Attach the hoist hook and grab the cradle

Lift the cradle

Move while grabbing the cradle<Confirmation items>- Confirm camera view when attaching hook
- Confirm operator posture<Confirmation items>- Confirm the weight which the arm carries
when lifting the cradle- Work together with the hoist operator<Confirmation items>- Confirm interference duringtransportation

Go over arm
Move

Move arm

Move while grabbing the cradle

Go over the arm while grabbing the cradle<Confirmation items>- Confirm interference during transportation<Confirmation items>- Confirm interference with arm- Work together with the arm operator

Change the direction of the cradle<Confirmation items>- Confirm behavior and stability when
the sensor is rotating©International Research Institute for Nuclear Decommissioning② Concretization of the mockup test plan: Connection of sensors and tools to the arm using Dextre
Example of sensor connection (Continued)
Bolt runner

Install a sensor
Grab the cradle and attach it to the tool changer<Confirmation items>- Confirm operator posture- Confirm view when grabbing the cradle- Confirm view when attaching the sensor

Nitrogen + optical fiberconnector block<Confirmation items>- Confirm view when using the bolt runner- Confirm the workability of the bolt runner

Slide

Install a sensor<Confirmation items>- Confirm view when grabbing the lever- Confirm sliding operation of the lockmechanism and locked state

D-sub connector block

Fixing bolt

Fixing bolt

Connect the connector<Confirmation items>- Confirm view when attaching the connector- Verification of connector stability- Confirm the workability of the fixing bolt

©International Research Institute for Nuclear Decommissioning

46

47

Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation items and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning

48

4.1 Implementation items and results(4) Operation training① Overall plan (1/2)
The arm-type access equipment is operated by building a team of several operators
who manipulate the arm for investigation, Dextre, and various tools and sensors.
Operator

Role

Necessary skills① LeaderSupervise the team and formulate thetask procedures② Control operator

Operate display, lighting, and ancillaryequipment (substitute of leader)③ Arm operator

Arm operation- Attention to detail- Ability to use software and application④ Dextre operator

Operate Dextre- Spatial recognition ability- Attention to details- Understanding of procedures and ability to make good judgment- Attention to detail- Ability to use software and application
Same as above

Monitoring screen (display, VR, task status)

DextreOperator

Conceptual image of control work station

Control
Leader
DRO
O
operatorR(sub-leader)ArmB
operator
D

O

Conceptual image of operator layout©International Research Institute for Nuclear Decommissioning

49

4.1 Implementation items and results(4) Operation training① Overall plan (2/2)
Operators shall gain skills by increasing the difficulty level step by step as there is a wide
range of skills they must acquire (operators obtain qualifications after confirming they haveacquired all the necessary skills)
Broad classification
1. Prior training
2. VR training

3. Training using
the actual
equipment

Details of training
Get the feeling of operating a master-slave manipulator by practicing using amanipulator for training.

Part 1

Learn the basic operation of the arm using the VR system (prototype).

Part 2Master operation of the arm concerning all task procedures and method ofcorrecting task procedures by using the VR system that is used with the actual
equipment.

Phase 1

Understand the system configuration and details of remote-control tasks
concerning the arm-type access equipment.

Phase 2Phase 3Phase 4Master the basic operation of Dextre.

Practice using a manipulator for training

Master the basic operation of the operation and control system and the VR
system.
Conduct operation training in carrying out the basic tasks as a team.

Phase 5

Revise the task as a team and conduct operation training in each system toformulate and verify the task.

Phase 6Master the practical use of command and control system for the robot arm andDextre manipulator.

Phase 7

Conduct intensive training for arm operators.

Phase 8

Conduct an operator test (as a team) based on the training conducted so far.
Those who pass shall be qualified as an operator.

Phase 9Final training. Foster teamwork and build confidence in operating the arm-typeaccess equipment.

VR system training©International Research Institute for Nuclear Decommissioning

50

4.1 Implementation items and results(4) Operation training② Operation training
Conduct training using the actual equipment (Phases 1 and 2). The workers deepened
their understanding of the specifications of Dextre (equipment and movable range) andobtained basic operation skills.
Item
Preconditions
Photos from the training

Basic motion

Mastermanipulator

Slave manipulator

Conducted training to
get used to theoperation of Dextre,
such as inserting andextracting connectors,
transferring sandusing cups, andtracing the way out ofa mazeConducted training oftasks such as
grabbing a bolt runnerTool replacement
and torque multiplierand tightening a bolt
and nut

Cabling

Conducted training inwhich operators loop acable around bars toform a figure eight

Operation of Dextre (actual equipment)©International Research Institute for Nuclear Decommissioning

51

Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning

52

4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training① X-6 penetration connecting structure
Dimensions
L 1,850 mm × W 1,079 mm × H 1,466 mma) Function and specification of device(before modification)
Cable rack

Isolation valve

WeightApprox 1.6 tons

Main material

SUS304, aluminum alloy

Main functions

Grabbing and connecting function, driving function,
hoisting and lowering function (axis adjustment), PCV
boundary (isolation valve)

Grabbingmechanism

Laser distance meter (four locations
around the circumference)- Grabbing force:
2.5 tonf/unit- Measurement accuracy: 0.2 mm- Identifies the misalignment of theplanar angle between the flangesof the X-6 penetration and X-6
penetration connecting structure

Flange camera (two along
the circumference)
Determines the misalignment (amountof adjustment) with the axis of the X-6
penetration from the misalignment of
the holes of the two structures

Bellows
Mitigates the misalignmentof the axis between theconnecting structure andextension pipe

Lifting mechanism- Supports penetration inclination of 1 deg.
as well as 0.5 deg. and ±10 mm

Flange hole of the X-6
penetration
connecting structure

Lip seal

Bolt hole ofthe X-6
penetration

Guide pin
X-6 penetration
Connecting
structure

Driving mechanism- Speed: 20 mm/sec or slower- Tilted drive and rotation are possible

X-6 penetration

Before axis alignment After axis alignment©International Research Institute for Nuclear Decommissioning

53

4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training① X-6 penetration connecting structureb) Overview of the combination test with the isolation room (Dec. 2018)
The test confirmed the prospects of the feasibility of the series of tasks, including self-driving,
adjusting the axis, and grabbing operation by remote control, procedures for separation in an
emergency, and tasks related to cables. Also, improvements that shall be made to the device wereidentified to enhance the task's reliability.
Airtight door

① Remote self-drive

Cable disconnection task

X-6 penetration

Grabbing claw

② Adjustment of axis with the X-6③ Grabbing and connection topenetration
the X-6 penetration② Adjustment of axis with the X-6 penetration① Remote self-drive③ Grabbing andconnection to theX-6 penetration

Narrow section

Narrow section

Wire

Towing by winch in an emergency(failure of self-driving
mechanism)

Self-driving, adjustment of the axis, and grabbing operation by remote control

Slope©International Research Institute for Nuclear Decommissioning

54

4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training① X-6 penetration connecting structurec) Details on modification of device (1/2)
Modification items

ReasonDetailsi) Shortening of grabbing
claw and downsizing ofcourse for grabbing

Secure clearance between the grabbing claw and the structures inside
the narrow section of the isolation room (separate boot seal, drive motor)(avoid contact during adjustment of axis)- Shorten grabbing claw from 335 mm
to 305 mm- Downsize course for grabbingii) Additional operation
monitoring camera- Monitor device and narrow section of the isolation room
- Improving the accuracy of grasping the posture and position of the device- Install additional operation monitoring
camera to the front, back, and side

Separate boot seal(in-stage isolation room)

Grabbing claw
(X-6 penetration
connecting structure)

Drive motor for separate
boot seal(in-stage isolation room)

Risk of contact

Shortening of grabbing claw

: Camera view

Drive motor for separate boot seal

X-6 penetration
Grabbing claw

X-6 penetration
flangeSeparateboot seal

Risk of contact with separate
boot seal

Grabbing claw
(X-6 penetration connecting
structure)

Risk of contact with a drive motor for separate
boot seal

Additional operation monitoring camera©International Research Institute for Nuclear Decommissioning

55

4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training① X-6 penetration connecting structurec) Details on modification of device (2/2)
Modification items

ReasonDetailsiii) Additional installationof lifting stroke meter

Enhance operability of axis adjustment on slope

Additional installation of lifting stroke meter: measurement
accuracy 0.5 mmiv) Downsizing of cablerack and arrangement
into panel

Secure clearance in narrow section of the isolation room
Enhance workability of disconnection and reconnectionof cables

Downsize cable rack from 580 mm to 545 mm (dimension
from center axis)
Enhance workability by arranging connectors to make a panel

Cable rack

545 mmMinimum gap based on
evaluation: 15 mm

Slope

Lifting stroke meter

Panel

Rear wheel (free bearing)

Additional installation of lifting stroke meter

Downsizing of cable rack

Modification of cable rack to a panel©International Research Institute for Nuclear Decommissioning

56

4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training① X-6 penetration connecting structured) Results of unit test conducted after modifying the device
Verification items

Test details and conditions

Evaluation criteria

Resultsi) Shortening of
grabbing claw anddownsizing ofcourse for grabbing- Installation position of X-6 penetration: (nominal)
inclination ±1 deg., inclination ±0.5 deg. and height±10 mm- Distance between the X-6 penetration and separate
boot seal: 128 mm (worst (minimum) condition)- The claw does not come into contact with the X-6
penetration or the separate boot seal and can approachand grab the X-6 penetration

Good: secured aclearance of approx.
10 mm (minimum
condition) and completed
the operationii) Monitoring
performance by theoperation monitoring
camera- Monitor device and narrow section of the isolationroom- Grasping of the posture and position of the device- The camera enables operators to know whether theconnecting structure is approaching or in contact withother structures- The camera enables operators to recognize deviationfrom the reference line (standard: within 5 mm)

Good: confirmed thatdeviation of
approximately 5 mm is
recognizableiii) Additional
installation of lifting
stroke meter- Adjustment of axis and connection with the X-6
penetration while the rear wheel is on a slope- Installation position of X-6 penetration: (nominal)
inclination ±1 deg., inclination ±0.5 deg. and height±10 mm- The connecting structure can adjust the axis andconnect with the X-6 penetration while adjusting theascend/descend stroke, in step with the back-and-forth
movements and rotations on a slope

Good: completed
connection without
significant rubbing
against guide piniv) Downsizing ofcable rack andenhancement of
workability- Clearance between the inner wall of the isolation
room and the cable rack: 15 mm (minimum condition)- The connecting structure can approach and connect
with the X-6 penetration without the cable rack coming
into contact with the wall
- Time required for disconnection: within 15 min. (target)

Good: no contact
Time required for
disconnection: approx.
8 min.

Separate bootseal mockup

Reference line
X-6
penetration

Panel

Indicator

Grabbing
claw

Grabbing complete

Grasp reference line by operation
monitoring camera

Improve workability of disconnection of cables(arranged to make a panel)©International Research Institute for Nuclear Decommissioning

57

4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training① X-6 penetration connecting structuree) Results of the combination test with the isolation room after improving the device
Verification
items

Modification
items

Avoidance ofinterferenceat narrowsection andmonitoring

Test details and conditions

Evaluation criteria

Resultsi, ii, iv- Verification of monitoring performanceand avoidance of interference at narrowsections by once-through test
- Distance between penetration flange
and separate boot seal: 132 mm- Series of operation can be completed while monitoring the narrowsection without the connecting structure coming into contact with thewalls of and structures inside the isolation room
- Condition of completion: complete grabbing operation* 1(grabbing force: 2.5 tonf/unit or greater, motor current: 3.5 A or greater)

Good: completed
grabbing operation
without
unnecessary
contact

Remoteoperation
performanceof axisadjustmentiii- Verification of axis adjustment andoperation performance by once-throughtest- Inclination of X-6 penetration: nominal- The positioning pin does not wear, and connection (insertion) is
conducted smoothly

Good: completed
connectionsmoothly

Emergency
escape bywindupdevice forrescue–*2- Verification of ability to make anemergency escape without issue after
modification- Open grabbing claws after connecting
to X-6 penetration- Driving mechanism: power interruption

The connecting structure can return to the robot carrying-in compartment
without colliding into or getting caught on the inner walls of the isolation
room

Good: returns
without colliding or
getting caught*1: Previous tests verified that the specified grabbing force and airtightness with the X-6 penetration flange could be achieved at a motor current of 3.5 A.
*2: Tests confirmed that emergency escape using a verified winch does not negatively impact the modification of the device.
X-6 penetration
Adjustment of axis with the X-6 penetration
Remote self-drive
Grabbing andconnecting

Narrow section

Narrow section

Wire

Emergency escape by windup
device for rescue

Slope

Once-through test (self-driving, axis adjustment, grabbing operation)

Adjustment of axis with andapproach to X-6 penetration©International Research Institute for Nuclear Decommissioning4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training② Isolation room (1/2)

58[Overview] To establish a route for the investigation equipment to access inside the PCV from the X-6 penetration, thehatch of the X-6 penetration was opened by remote control while securing a PCV boundary with the isolation
room*1.
[Progress in FY2019]
The in-stage isolation room (prototype) developed in the prior project*2 was modified (e.g., optimization ofdimension) to improve the margin for on-site installation to the concrete stage, and a unit test, as well as a
combination test, were completed.

[Specifications and structure of
the isolation room][Hatch opening device]- Function: opens X-6 penetration hatch- Specification: approx. 2.3 tons, W 1 × L 2 × H 1.6 m[Robot carrying-in compartment][In-stage isolation room]- Function: provides the sealing ability to the concrete stage that connects the sleeve of
the X-6 penetration with the hatch isolation compartment to maintain thesoundness of the PCV boundary- Specification: approx. 1 ton, W 1.2 × L 1.7 × H 1.8 m- Function: forms part of the PCV boundary when the hatch is
opened and serving as a facility to support thecarrying in and out of equipment- Specification: approx. 8 tons, W 1.7 × L 5.3 × H 2.5 m

Concrete stage
H: approx. 2.5 m

X-6 penetration
W: approx. 1.7 m

L: approx. 8.2 m[Hatch isolation room]- Functions
a. Forms part of the PCV boundary when the hatch opens
b. Forms part of the PCV boundary and provides sealing ability by
the airtight door when the hatch opens- Specification: approx. 5.5 tons, W 1.7 × L 5.3 × H 2.5 m

Seismic reinforcement ribs

[Specifications common to all isolation rooms]- Withstand pressure: 6 kPag (control valve for the first floor of
Unit 2 reactor shall be 5.5 kPaG or less)- Main material: carbon steel©International Research Institute for Nuclear Decommissioning*1 Isolation room: an integrated structure consisting of the in-stage isolation room, hatch isolation room, and robot carrying-in compartment*2 Prior project: Subsidy Project of Decommissioning and Contaminated Water Management in the FY2016 Supplementary Budgets “Development of Technology for Detailed Investigation Inside PCV”

4.1 Implementation items and results

59(5) Test for Establishing Access Route to PCV and Onsite Operation Training② Isolation room (2/2)[Test situation] Using the improved in-stage isolation room, the following was conducted in the in-factory verification test.
Also, a combination test of the isolation room and X-6 penetration connecting structure was completed.
- Confirmed that installation to the concrete stage is possible- Confirm that the air leakage rate is lower than the target permissible rate in an airtightness test
- Confirm that the hatch opening device works properly in other isolation rooms- Test overview 1: Confirmed feasibility of the installation of the in-stage
isolation room to the concrete stage
Concrete stage

In-stage isolation room

- Test overview 2: Confirmed feasibility of the installation of the penetration
sealing device to the X-6 penetration by remote control
Sheet-type isolator

X-6 penetration

Sheet-type isolator

Penetration
sealing device

X-6 penetration
Penetration sealing device

X-6 penetration- Test overview 3: Confirmed feasibility of the operation of the hatch opening device
without interference

Hole saw

X-6 penetration hatch

X-6 penetration
Hatch opening device

Hatch opening device
Positioning bolts and nuts by the hole saw

HookOpening the hatch by hook

©International Research Institute for Nuclear Decommissioning

60

4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training③ Extension pipe: manufacturing
Completed the manufacturing of extension pipe and additional shielding plate based on the results ofthe design study conducted in 2018.
Dimensions

Dimensions

L 760 mm × W 3,589 mm × H 2,115 mm

WeightApprox 3.5 tons

WeightMain material

Lead, carbon steel

Main material

Function

Function

Driving function, shielding

Operation
monitoring
cameraL 1,163 mm × W 1,110 mm × H 1,656 mm
Approx 1.2 tons
SUS304
Grabbing and connecting function, driving function,
hoisting and lowering function (axis adjustment), PCV
boundary, shielding

Operation monitoring camera

Grabbingmechanism(enclosure side)

Grabbingmechanism (X-6
penetration
connecting
structure side)

Shieldingplate

Lifting mechanism
Drivingmechanism

Drivingmechanism

Additional shielding plate

Extension pipe
©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training③ Extension pipe: unit test
Confirmed the conformity to various requirements by conducting a design study and mockup test.
Assess the risks for each step of the task, and identify items to be verified in the mockup test.
Item

Required functions

Verification method

Requirements and evaluation criteria

Results

Maintaining of PCV
boundaries (during
the investigation)

Maintain boundaries during the investigation(amount of leakage shall be sufficiently small
compared with the amount of leakage from
PCV)

Leak test

Raise pressure to 11 kPa or greater andmaintain the pressure for 10 minutes; there
shall be no significant loss of pressure

Verified: No loss ofpressure

Passage of arm

A route for the arm shall be established

Dimension inspection

Inner diameter (flange)
591.6 mm (±2 mm)

Verified: 592.0 mm

Shielding function

A level of shielding that shields direct ray fromthe penetration opening and enables a manned
operation for the installation and removal of theinvestigation equipment shall be achieved (BGlevel)

Dimension inspection

Extension pipe shielding
70 mm or greater

Verified: 73 mm

Additional shielding plate
50 mm or greater

Verified: 55 mm

The extension pipe shall be able to approachand connect (create a boundary and arm
passage route) to the X-6 penetration
connecting structure by remote control after
opening the airtight door

Operation test

Extension pipe
Have grabbing force of 2,667 N/unit or
greater

Verified: 2,773 N/unit or
greater

Extension pipe
Can drive, rotate, ascend, and descend

Verified: Drivable,
rotational, andascendable/descendable

Additional shielding plate
Can drive and rotate

Verified: Drivable androtational

Remote control

Dimensions

Total length shall be 1 m or shorter due tolimitations on routing space when installing an
enclosure

Dimension inspection

Total length of extension pipe: 1000 mm(-4 to 0 mm)

Verified: 999 mm

Radiation resistance

Ensure radiation resistance during the
installation period

Manufacturer guaranteedvalue, radiation resistancetest

Based on the installation period and air dose
rate at the installation location

Verified: Radiation
resistant©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training③ Extension pipe: mockup test <main body of extension pipe>
As a representative example of a mockup test that verifies the basic operation and workability,
verification results of the remote control extension pipe installation test are shown below.
No.

Task procedure

1-6

Self-driving,- Ability to pass through narrow section
approaching, and (opening of airtight door), remoteadjustment of the operation performanceextension pipe axis - Avoidance of interference with thecables of the X-6 penetration connecting
structure (method for working with cable)

Extension pipe

Verification items

Test details and conditions
Clearance between the opening of airtight door andextension pipe
- Nominal: 60 mm- Minimum: 28 mm (minimum condition for thehorizontal deflection of the penetration (1 deg.) andaccuracy of the installation of the isolation room)

Evaluation criteria

Results

Does not interfere
Satisfied: confirmedwith the airtight door clearance of about 25 mm
and the cables of theX-6 penetration
connecting structure- Inspection of guidance performance and - Inspect guidance property of cable and optimal
method of cable management
method for cable management(unmanned)

Does not inhibit
remote operation of
the extension pipe

Satisfied: confirmed thatthe cables are guided
appropriately- Skidding, driving performance withregards to the groove width and stepheight of the isolation room

Can drive
appropriately

Satisfied: confirmed thatthe extension pipe could
drive the entire distancewithout any issues

Groove width: 5 mm
Step height: 2 mm

X-6 penetration
connecting structure

Grabbing mechanism
Cable roller guide

Bellows

Connection with the X-6 penetration connecting structure
Cable after installation (cable management)©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training③ Extension pipe: mockup test <additional shielding plate>
Below is the test's verification results on the installation of the additional shielding plate by remotecontrol. The position of the indicator and camera was improved based on the test results.
Test
No.

Task
procedure

Test details andconditions

Verification items

1-8-1 Installation of - Grasping of remote operation
additional
and position of the additionalshieldingshielding plate
plate
Cable
management(approaching)
1-8-2 Installation of
additionalshieldingplate- Height of the extension
pipe: nominal- Height of the extension
pipe: -35 to +35 mm

Evaluation criteria

Results- Can monitor how close the additional shielding plate Satisfied: an indicator was
is with the mobile camera and shielding plate camera added, improving the match- Laser and center marking matches
visibility with the laser

Does not inhibit remote operation of an additionalshielding plate- Installation position of- Interference with extension- Can be determined the position with the shielding
pipe, airtight door, and cables the additional shielding
plate camera
plate: 289 mm to 259 mm - Can install additional plate to the specified position- Method for verifying the
installation position(30 mm range)

Satisfied: does not inhibit remote
operation
Satisfied: the camera position
was changed and the indicator
was moved to the end surface ofthe shielding plate

Improve visibility of laser by
hanging down the indicator

The conceptual image at theplanning stage
Rear laser
Indicator

Mockup test
Moved indicator toend surface ofshielding plate

Range of installation
Tape for marking

Range of installation: 30 mm

The conceptual image at the planning stage

Changed thecamera position

The endsurface ofthe shielding
Range of installation:
30 mm
plate

Mockup test
©International Research Institute for Nuclear Decommissioning4.1 Implementation items and results

64(5) Test for Establishing Access Route to PCV and Onsite Operation Training④ Transfer carriage – implementation of mockup test (overview) –Transportation procedures that conforms to the actual equipment was established by conducting a basic performance verification of theremote control transportation system and verifying the coordinated operation of the entire system using the mockup transport route thatmimics the actual facility (including mockup of enclosure). In addition, procedures for installation and removal of the enclosure wasestablished.
[Purpose]- Establishment of remote control transportation procedure- Establishment of installation and removal procedures
Monitoring camera- Response to emergencies and risks
Measurement
Measurement
Wireless relay
Wireless relay(for bird’s eye view)

range sensor

range sensor

Monitoring camera(for bird’s eye view)

Measurement
range sensor
CameraIndicatorCore
monitoring
cameraFront of the enclosure (flange side)

Measurement
range sensor

Core monitoring camera

Back of the enclosureCore monitoring camera (placed in the front and back of the enclosure)©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training④ Transfer carriage – mockup test results (transportation) –Procedure

Verification items

Test details and conditions

Evaluation criteria and check items

Visibility and placementof core monitoring
cameraConfirm the visibility of the base line (coremarking on west passage and installationreference line marking in the northwestarea) and confirm that the device can run
under the following conditions.
- Marking width: 20 mm- Transportation speed: 35 mm/s

The indicator is visible while driving at 35 mm/s
(operation speed) and the transfer carriage can run
with the indicator staying within the 20 mm width
range.

Visibility and placementof fixed camera

Confirm the visibility of the clearance at the - The narrow section is visible in each of step of thenarrow section in each of thedriving procedure.
transportation procedures and determine- The placement of the fixed camera is determined.
the placement and number of fixedcameras.

Verified: Narrow sections confirmed to be visible.
- Determined the placement of the fixed camera

Verification of
measurement range
sensor responsivity- Establish a method for confirming theposition by a measurement range sensor- Verify the range of detection of themeasurement range sensor

Verified: The error (horizontal direction) from theactual measurement was within 50 mm.

Remotetransportation- Error between the distance (horizontal direction)measured by the measurement range sensor andthe actual measurement is within 50 mm.
- The measurement range sensor detects obstacles
that are within a specified range in each step of thetransportation procedures and the enclosure stops.
- The sensor detects obstacles in the section of theeast passage with a clearance of 37.5 mm. The
installation angle and range of detection of thesensor which triggers the stop signal are
determined.

Results
Verified: Drivable at operation speed.

Verified: Assuming a mistake in operation in eachstep of the transportation procedure, themeasurement range sensor detects obstacles which
the enclosure approaches and stops the cart.
Verified: The installation angle and range of
detection of the measurement range sensor were
determined based on the mockup drive test.

Baseline
Target

10 mm 10 mm

Baseline

Baseline

Marking of baseline

Center of sensor

Indicator

Transportation in the west passage

Verification of camera placement and visibility

Measurement of distance by measurement range sensor©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training④ Transfer carriage – mockup test results (installation and removal) –Procedure

Verification items
Feasibility of installation

Installation

Test details and conditions
Verify the feasibility of the enclosure
installation procedure.
- Operability of toe jack with slide table- Visibility of the flange surface with acameraGuide wheel

Evaluation criteria and check items
The basic procedure is feasible.
- Error of flange surface: within ±2 mm (up-anddown direction, left-and-right direction)- Distance between flange: within 5 mm
- Inclination of the main body of the enclosure(level of horizontal angle of enclosure): within
2 mm (left-and-right direction, back-and-forth
direction)- The flange surface (marking) is visible by theadditional shielding plate camera.

Results
Verified: Feasibility of the basic procedure
confirmed.

Square tube spacer(installed at five locations)

Transfer carrier
Flange surface(extension pipe side)
Install laser for level verification

Transport transfer carriage and guide wheel

Insert square tube spacers and shim
CameraToe jack with slide table (placed in four locations)Flange surface (enclosure side)

Set up toe jack with slide table

Slide enclosure using toe jack with slide table

Additionalshielding plate

Confirmation of flange surface by the additionalshielding plate camera©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training④ Transfer carriage – mockup test results (response to risks) –Procedure

Verification items

Test details and conditions

Evaluation criteria

Failure of transfer
carriage

Confirm the feasibility of a transfer carriage
replacement task assuming the risk of cart
failure.
(assume failure at the narrow part of thepassage on the west)

The transfer carriage can be replaced using ajack at the narrow section of the west
passage.

Feasible: Feasibility of replacement confirmed

Dead transfer carriage
battery

Confirm the feasibility of a transfer carriage The transfer carriage can be replaced using a
replacement task assuming the risk of dead jack at the narrow section of the west
battery.
passage.
(assume failure at the narrow part of thepassage on the west)

Feasible: Feasibility of replacement confirmed.

Poor/no remote control
wireless
communication

Confirm the feasibility of switching towireless/wired remote control operation
assuming a poor or no remote control
wireless communication. (*)(assume poor/no wireless connection at thenarrow part of the passage on the west)

Feasible: Wireless/wired remote control confirmed to beinstallable.
- It also confirmed that the transfer carriage can be
operated by wireless/wired remote control.

Response torisks

Results- Wireless/wired remote control can beinstalled.
- Transfer carriage can be operated bywireless/wired remote control.

*The transfer carriage is normally operated via wireless LAN repeater. As a backup plan, the cart switches to wireless or wired remote control by achangeover switch on the main body.

Confirmed the feasibility of operation
using a jack in the narrow section

Confirmed that both transfer
carriages can be replaced using arope

Confirmed the feasibility of transportation
by wired/wireless remote control

Operation using a jack in the west
passage

Emergency transportation of transfer carriage

Operation by wired remote control

Operation by wireless remote control©International Research Institute for Nuclear Decommissioning

68

4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑤ Deposit removal device: manufacturing
Completed the manufacturing of the deposit removal device based on
the results of the design study conducted in 2018.
Dimensions
WeightMain material
Function

W 1,090 × L 3,975 × H 1,280 mm
Approx. 2.9 tons
: SUS304, aluminum alloy, carbon steel
Grabbing and connecting function, driving function, hoisting andlowering function (axis adjustment), deposit removal function(high-pressure cleaning, AWJ, dozer)

Rotary mechanism
Rotational movement mechanism
for positioning tools

Large-diameter seal
Secures boundary ofrotational part

Fixed camera
AWJ nozzle
High-pressurecleaning nozzle
Dozer

Linear-motion mechanism
Back and forth movement
mechanism for positioning tools

Seal mechanism

Hoisting and lowering
mechanism

Driving mechanism- Driving- Steering

Grabbing mechanism
Grabs X-6 penetration flange

Secures boundary
when connecting to X-6
penetration©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑤ Deposit removal device: mockup test
As a representative example of a mockup test that verifies the basic operation and workability, theresults of the deposit removal performance verification test are shown below.
Verification
items

Details and conditions of test

Evaluation criteria

Results

Depositremovalfunction- Confirm whether deposit can beremoved by high-pressure cleaning- Confirm whether space through which
the arm-type access equipment canpass can be secured- Deposit can be removed

Verified: Removable- Deposit can be removed to adegree in which the arm can passthrough

Verified: Removable

Before high-pressure cleaning

Before high-pressure cleaning

After high-pressure cleaning

After high-pressure cleaning

AWJ operation (cutting of rail guide)

Cutting of rail guide

Secure space for passage(bottom cable outside the range of passage is removed)©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑤ Deposit removal device: mockup test
Response to range outside the device specifications were confirmed as measures against risks.
Verification
items

Details and conditions of test

Evaluation criteria

Results

Verification ofrange ofresponse whenconditions areoutside thespecification of
the device- Inclination of X-6 penetration
flange: ±1 deg.

- Airtightness is ensured and connection
operation can be conducted

Verified: Grabbed (connected) without
problem and airtightness was ensured- Misalignment of X-6 penetration
flange: ±10 mm- Airtightness is ensured and connection
operation can be conducted

Verified: Grabbed (connected) without
problem and airtightness was ensured- Whether adherent mockup(silicone sealant, epoxy putty, etc.)
can be removed- Place foreign object (wire) on thesurface of the flange of the X-6
penetration and verify how much
airtightness can be achieved- Adherents can be removed

Verified: was able to remove adherents with
WJ without abrasives- Airtightness can be secured afterconnecting device

Verified: Airtightness up until φ0.3 mm
achieved

Wire

Before removal of simulated adherent

After removal of simulated adherent

Verification of impact of foreign objects on airtightness©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑥ Once-through test: purpose and focus
In addition to the various task procedures verified by the mockup test, once-through verification test was conducted on
the on-site workability including attendant tasks during the operation (laying of cables, installation of monitoring camera,etc.), the time required to complete the operation was measured, and points of improvement were identified.
The following were considered and simulated in conducting the workability verification
test.
- Simulated interfering objects inside the R/B (reactor building) based on point cloud
and actual measurements- Team composition, worker positioning, and traffic lines- Visibility due to it being remote control, connection and monitor- Radiation management equipment, changing area
- Contamination spread prevention measures
Complete view of the once-through test
Northwest airlock

Team composition andworker positioning

Worker traffic line

Attendant task (organize cables)

Simulation based on actual
measurements

Uses communication equipment
Green house
Board screen

Confirm placement and visibility ofmonitoring camera

Simulation of visibility

Contamination spread
prevention measures

Covered during removal©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑥ Once-through test: construction workflow and scope of verification① Begin construction⑨ Conduct detailed internal investigation② Install isolation room

⑩ Remove arm enclosure③ Open hatch④ Remove deposit

Scope of verification

Remove accessory cables
Scope of verification⑤ Install X-6 penetration connecting
structure
Carry in and lay cables, etc.
Self-drive and connect(⑥ Remove robot carrying-in compartment)⑦ Install extension pipe andadditional shielding plate
Carry in and lay cables, etc.
Self-drive, connect, and install⑧ Install arm enclosure

Separate and remove
Transfer to southwest area by
remote control
Carry out from truck bay door
⑪ Remove extension pipe andadditional shielding plate
Separate
Cover and transfer(⑫ Install robot carrying-in compartment)⑬ Remove X-6 penetration
connecting structure

Transfer passage of truck bay door
Separate
Transfer to the front of the X-6
penetration by remote control

Cover and transfer

Installation
Lay accessory cables©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑥ Once-through test: simulation of scope of task
From the viewpoint of refining the plan dose, the range of R/B operation
was simulated as it is conducted in an area with high radiation and where
manned operation will be conducted. In addition, from the viewpoint ofverifying the workability of attendant tasks such as transportation ofequipment to and from the building, installation, removal, and laying ofcables, necessary structures and dimensions were mimicked.

Northwest area

Northwest area to the west passage

Simulated robot carrying-in compartment

Simulated X-6 penetration
X-6 penetration

Northwest
airlock

West passage

X-6 penetration
connecting structure
Simulated X-6
penetration

Northwest area
Heavy-duty electric steel shutter

Enclosure mockup

Northwest area

West passage©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑥ Once-through test: results overview (X-6 penetration connecting structure)*Measured time required for manned operation inside R/B
Install X-6 penetration connecting structure
Carry in to northwest area

Task procedure
Carry in tonorthwest area

Team composition
Four people(Three for transportation, one for guidance)

Duration*

Conditions for completion of task, check items, IF① to ④: 3 min. - The structure is carried to the front of the robot
15 sec.
carrying-in compartment (rough estimate: 200 mm)

Carry in to robot carrying-in compartment

Compared to the forklift, a pallet jack requires lessmaneuvering at narrow spaces and can transport thestructure more quickly

Lay and connect cables, etc.
Close isolation room, replace nitrogen,
open airtight door
Self-drive, approach, and adjust axis
Connect, grab, and confirm airtightness

Worker traffic line

① Enter area from northwest airlock
Carry-in using a pallet jackreduced time required for taskby 3 minutes 28 seconds② Carry in attachment
Change fixed wheels to free-moving
wheels to improve workability

Devicetraffic line

④ Carry in to the front of the robot carrying-in compartment③ Carry with a pallet jack©International Research Institute for Nuclear Decommissioning

75

4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑥ Once-through test: results overview (extension pipe)*Measured time required for manned operation inside R/B
Install extension pipe and additionalshielding plate

Install green house

Task procedure
Move additionalshielding plate, laycables, check operation

Teamcomposition

Duration*

Conditions for completion of task, check items, IF- Cables are laid as planned- Images are obtained correctly and the device works normally (driving
Four people ② to ④: 8 min. 09 sec.
mechanism, hoisting and lowering mechanism, grabbing mechanism,
opening and closing of isolation valve)

Carry in additional shielding plate
Carry in and set up extension pipe

Extension pipe

Move additional shielding plate toinitial position

Lay cables, etc. and check operation

Additional shielding plate

Devicetraffic line

① Move additional shielding plate from position of

Device traffic line
① Carryplacementin cables
temporary
to initial installation position② Lay cables for extension pipe

Worker traffic line

④ Organize cables of additional shielding plate⑤ Confirm operation of extension pipe

③ Lay cables for X-6 penetration connecting structure©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑥ Once-through test: results overview (transportation of enclosure)
Install enclosure
Transfer to the front of the X-6
penetration by remote control

Task procedure
Carry in to northwestareaTeam composition*1

Duration*2

Conditions for completion of task, check items, IF

Three people(remote control)

75 min.

Transfer the enclosure from the southwest area to the north west
area through the west passage and to the location where the jackis set up (100 mm in front of the additional shielding plate).

Transfer to southwest area by
remote control*1: Verified that a three-person team at theoperation headquarters (operator ofcontroller, supervisor of monitoring camera,
instructor) is optimal.

Transfer to west passage by
remote control

Transfer to northwest area by
remote control

Devicetraffic line

*2: time required for transportation by remotecontrol
Verify visibility of monitoring camera ontransportation route and determine position
EnclosureTransportation to southwest area

Transportation towest passage

Northwest area
(before additional shielding plate)©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(5) Test for Establishing Access Route to PCV and Onsite Operation Training⑥ Once-through test: results overview (installation of enclosure)
Install enclosure
Installation

Task procedure Team composition

Duration

Conditions for completion of task, check items, IF

32 min. 30 sec.

- Make minor adjustments with a toe jack with slide table so that the surfaceof the enclosure touches the surface of the extension pipe flange
Vertical direction, direction of axis: ±2 mm or greater (verify by camera)
Direction of axis: 5 mm or lessInstall enclosure
Eight people

Transport transfer carriage and guide wheel

Set up toe jack with slide table
Insert square tube spacers and shim
Make minor adjustments using toe jackwith slide table
Lower jack and adjust shim

Workertraffic line

Transfer and arrangement of toe jack withslide table in advance

Make minor adjustments using toe jack with slide table

Transport transfer carriage

Set up toe jack with slide table©International Research Institute for Nuclear Decommissioning

78

Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation items and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(6) On-site verification (site survey)① Development of sensor applicable for on-site verification: (i) VT sensor (1/4)➢ Completed the manufacturing of VT sensor (for short and medium distances)
Item

Specifications

External
dimensions

φ140 × 678 mm (retracted)
φ140 × 748 mm (extended)

WeightFor short distance: 7.3 kg (excluding cables)
For medium distance: 7.3 kg (excluding cables)Specifications Radiation resistant color camera (up to 30 kGy)of main body Number of effective pixels: 710 H × 484 Vof camera
Anti-shake function: none
Specifications <For short distance>of lens
Focus length: f = 12 mm
Horizontal angle ofview: approx. 57 deg.
Focal distance: 1 m(fixed)<For medium distance>
Focus length: f = 25 mm
Horizontal angle of view:
approx. 29 deg.
Focal distance: 3 m(fixed)Lighting① Main lighting: four LED lights (adjustable from 0
to 30 W per light)② Auxiliary lighting: four LED lights (adjustable from0 to 50 W per light)

Waterproof,
dust proof
and waterfall
measures

IP65 equivalent
Gas blow, wiper, and water-repellent coating

Shape and external appearance
0 to 350°

445 mmLighting ②(three 50 W LED lights)

748 mmLighting ②(one 50 W LED light)

Lighting ① (four 30 W LED lights)
Air blow nozzle
Wiper

Radiation resistant color camera
Cover glass
Lighting ②©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(6) On-site verification (site survey)① Development of sensor applicable for on-site verification: (i) VT sensor (2/4)➢ Completed the manufacturing of VT sensor (for remote control)
Item
External
dimensions

Specifications

Shape and external appearance

φ140 × 677 mm

Radiation resistant color camera(inside casing)Air blow nozzle

Weight7.0 kg (excluding cables)Specifications Radiation resistant color camera (up to 30 kGy)of main body Number of effective pixels: 710 H × 484 Vof camera
Anti-shake function: none

Specifications Focus length: f = 78 mm
of lens
Horizontal angle of view: approx. 8 deg.
Focal distance: 4 to 10 m (adjustable by remotecontrol)
Lighting

One LED light (adjustable from 0 to 50 W per light)

Waterproof,
dust proof
and waterfall
measures

IP65 equivalent
Gas blow and water-repellent coating

677 mmHeat sink
Air blow nozzle
Radiation resistant color
cameraReflector

Cover glass

Lighting (one 50 W LED light)©International Research Institute for Nuclear Decommissioning

81

4.1 Implementation items and results(6) On-site verification (site survey)① Development of sensor applicable for on-site verification: (i) VT sensor (3/4)➢ In-factory test of VT sensor
Item① Visibility
verification② Light-intensity
verification③ Operation
verification

Test results

Details

Verified that the VT sensors focuses at the specified focal
distance and sufficient visibility is ensured within the range ofmeasurement--> focal distance: 1 m (for short distance), 4 m (for medium
distance), adjustable between 4 and 10 m (for remote control)
Verified that light intensity greater than the level necessary forvisual recognition within the range of measurement (148.9 Lux) isachieved--> maximum of 1,440 Lux at 1 m (for short distance), 272 Lux at
4 m (for medium distance), and 189 Lux at 10 m (for remotecontrol)
Verified that light intensity of the lights (main lighting, auxiliary
lighting) can be adjusted by remote control
Verified that camera pivot, wiper (for short and medium
distances), and focus adjustment axis (for remote control) can be
operated by remote control

Chart

PC and panel for operation
VT sensor
Light-intensity meterChart

VT sensor

Wiper

VT sensor (rotating)④ Dimension andmass verification

Verified that the external dimensions, mass, and moment satisfy
the conditions for mounting on the arm-type access equipment

Measuring of weight©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(6) On-site verification (site survey)① Development of sensor applicable for on-site verification:(i) VT sensor (4/4)➢ Verification of sensor using the mockup facility in Japan
Shortdistancesensor① Capable of checking for dropout of CRD
housing or support② Capable of recording close-up video thatshows the accumulation of debris in the CRD
housing③ Capable of recording video when the arm
passes through the CRD opening of thepedestal④ Capable of collect image data of the top
surface of the platform

Mediumdistancesensor⑤ Capable of recording video of the joint
between the CRD housing support andpedestal

Conceptual image of test

Verification results①② CRD
housing,
support (approx.
1 m ahead)

Lower edgeof support

Approx. 1 m

Verification details and evaluation criteria

Ceiling of mockup

Pedestal wall (taper part)Approx. 2.5 m

SensorMockup test facility

A blackout curtain wasplaced at the opening
and the test was
conducted in the dark.

⑤ Near top end of
CRD housing
support (approx.
2.5 m ahead)

Ceiling of mockup

Sensor for
remotecontrol⑥ Capable of recording video of theproximity of the personnel access port of thepedestal⑥ Blackout curtain attached tothe opening of the pedestal(approx. 5 m ahead)

Approx. 5 m

Chart and pedestal wall
(approx. 4 m ahead)

Approx. 4 m

Pedestal opening➢

Blackout
curtain

Based on the above, it was confirmed that the sensor function (lighting, focus, etc.) satisfies the requirements.
©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(6) On-site verification (site survey)① Development of sensor applicable for on-site verification: (ii) neutron detection system (1/2)➢ Manufacturing of neutron detection system
External
dimensions

WeightTarget specifications
φ140 × 500 mm

Less than 10 kg

Objectives
achievement status
Target achieved
φ140 × 473 mm(excluding toolchanger)
Target achieved
8.33 kg (excluding toolchanger)

Thermalneutronsensitivity

4.5 cps/nv

Achieved 5.7 cps/nv

γ-ray
elimination rate

Level of γ-ray and neutron
discrimination can be
specified

Verified discriminationlevel can be specified

Neutron source
directivity

Direction-dependent
characteristic

System has directiondependent
characteristic

Shape and external appearance
Neutron absorption material
Sensor cavity

Center ofgravity

140

Item

473
Highdensity PE
Lead shielding
Aluminum casing©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(6) On-site verification (site survey)① Development of sensor applicable for on-site verification: (ii) neutron detection system (2/2)➢ Neutron detector verification test
Item
Final acceptancetest
Full system

Test details

Verification details andevaluation criteria

Results

Confirmation of γ-ray
elimination rate

Specification of directorythat can distinguishbetween γ-ray andneutron shall be possible

Verified that specification of
directory that candistinguish between γ-ray
and neutron is possible atthe irradiation field whichuses γ-ray source andneutron source

Neutron sensitivity
calibration test

Target 4.5 cps/nv

Confirmed 5.7 cps/nv

Direction-dependent
characteristic verification test

The materials and shapeselected shall have acollimator function (hasdirection-dependent
characteristic)

If the counting rate is 1
when the cylindrical center
axis of the detector is at 0
degrees, the counting rate
at 90 degrees isapproximately 6% and issufficiently small, therefore
confirming directional
dependence➢ As shown above, a detector that mostly meets the target was manufactured.
©International Research Institute for Nuclear Decommissioning4.1 Implementation items and results- Conceptual image of system(6) On-site verification(site survey)② On-site layout
i. System plan

Water supply
system

PCV, X-6
penetration

85

Ventilation system
Other systems- System plan of actual unit②

Main body of access and investigationequipment, main body of X-6
penetration connecting structure, etc.

[Main line]① Water supply line for AWJ unit

② Nitrogen supply line for verifying
seal of X-6 penetration
connecting structure flange③①③ Nitrogen purge line for Dextre
inside enclosure⑤④④ Nitrogen supply line connectedto the air operated valve⑤ Nitrogen (air) exhaust line
©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(6) On-site verification (site survey)② On-site layout- An on-site investigation was conducted and a layout plan was devised with
ii. Layout planconsideration given to the local environmental condition (dose, distance
restriction*, congestion with other construction projects of TEPCO)

Control panel(approx. 25 panels)

Approx. 7 m

Length of piping and cable to theaccess and investigationequipment: approx. 300 m
Approx. 14 m
Plant room①*There is a restriction in the distance from the main body of the access and investigation equipment to thecontrol panel and abrasive waterjet unit from the viewpoint of voltage drop, noise, piping pressure drop, etc.

Control panel (approx.
20 panels), WJ unit
(stored in container)
Approx. 6 m
Approx.8m

Approx. 8 m

Approx. 16 m

Length of piping and cableto the main body of theaccess and investigationequipment: approx. 60 m

Main body of the access andinvestigation equipmentYardoutsideR/B

Inside R/B

PCVPlant room③

Plant room⑥

Control panel(approx. 10 panels)(stored in container)

Valve rack, etc.
R/B: reactor building©International Research Institute for Nuclear Decommissioning

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Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation items and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(7) Mockup test in Japan① Design and manufacturing of mockup facility
Design specification of mockup facility and concept of simulation
Items
Facility
configuration(scope ofsimulation*)

Platform for investigationequipment
X-6 penetration, X-6 penetration
connecting structure, extension
pipe
CRD replacement rail

Pedestal
CRD
CRD exchange equipment
Obstacles (fallen grating, piping
at inlet of pedestal)
Scale
Main dimensions (overall)Material (main component)
Location of installation
Ancillary equipment

Concepts of design specification and simulation
Simulate the height of facility (e.g. arm-type access equipment, X-6
penetration)
Simulate internal shape and dimensions

Simulate shape and dimensions, taking into consideration the
cutting test and assuming area around CRD replacement rail of theX-6 penetration and replacement of CRD rail hoisting jig
Simulate internal shape and dimensions
Simulate shape and dimensions
Simulate shape and dimensions
Simulate shape and dimensions
1/1 scale
Length: approx. 31,000 mm, width: approx. 8,000 mm, height:
approx. 8,200 mm
SS400
JAEA Naraha Center for Remote Control Technology Development
Control room, various panels, abrasive waterjet unit, hydraulic unit,
drain pump, drain tank, valve rack, waterjet countermeasure
structure*Some of the shapes and dimensions have no information from the actual unit or are outline specifications that takes into consideration the manufacturability.
©International Research Institute for Nuclear Decommissioning

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4.1 Implementation items and results(7) Mockup test in Japan② Installation of mockup facility
Mockup test facility was installed for the purpose of providing mastery training andconducting mockup test of access and investigation equipment at JAEA Naraha Center for
Remote Control Technology Development. Installation was completed within tolerance.
CRD
X-6 penetration+
X-6 penetration connecting structure+
Extension pipe

Approx.
7.7 m

CRD inclined rail
Approx.
5.5 m

Approx.
15.8 mInside the pedestal
Approx.
5.1 m
Approx.
7.5 m

X-6penetration
X-6 penetration
Connecting
structure
Extension pipe

Pedestal

X-6 penetration (after connecting extension pipe
to connecting structure)©International Research Institute for Nuclear Decommissioning

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Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning

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4.2 Achievement of objectives
Implementation items

Achievement index (FY2019)

Achievement level

The investigation and development plan are revised as necessary,reflecting the latest site situation and the investigation needs.

Achieved

Partial manufacturing, overall
assembly, and in-factory
verification of access andinvestigation equipment

The in-factory verification of the physical prototype of the access andinvestigation equipment is complete.

Achieved

Mockup Test Considering Site
Situation

The mockup test facility is fully prepared.

Achieved

Investigation and Development PlanningOn-site verificationof accessequipment andinvestigation
technology

Combination test on access and Verify the applicability of the combination of the access andinvestigation equipment andinvestigation equipment and the research technology to the site. (Target
research technology
TRL upon completion: Level 4)

Operation training

Test for establishing the PCV
access route and onsite
operation training

Operation training using simulators, etc. for the purpose of familiarizing
the access and investigation equipment among operators is conducted
and the workers are versed in the operation of the device. (Target TRL
upon completion: Level 4)
Tests are conducted to examine the delivery and installation suitabilityof the structure that is connected to the opening of the penetration tocreate a boundary and on-site applicability is verified. (Target TRL uponcompletion: Level 5)

Plans for on-site operation and on-site investigation concerning accessand investigation equipment, research technology, and structure that is
On-site verification (site survey)
connected to the penetration opening to create a boundary areformulated. (Target TRL upon completion: Level 4)

Achieved

Achieved

Achieved

Achieved©International Research Institute for Nuclear Decommissioning

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Contents
1. Research background and purpose
1.1 Reason why this research project is required
1.2 Application and contribution of the results of research projects
2. Implementation items, their correlations, and relations with other research
3. Implementation schedule and project organization
4. Implementation items
4.1 Implementation and results(1) Investigation and development planning(2) Partly manufacturing, overall assembly, and in-factory verification of access andinvestigation equipment(3) Mock-up test considering on-site conditions(4) Training for work(5) On-site test for the establishment of an access route into the PCV and training for work(6) On-site demonstration (on-site investigation)(7) Mock-up test in Japan
4.2 Degrees of achievements for the purpose of the project
5. Summary©International Research Institute for Nuclear Decommissioning

93

5. Summary(1) Investigation and development planning- Completed study and manufacturing of short-length wand as a measure against the risk of interference based onimages obtained from previous investigations and study results of detailed procedure of access and investigationequipment(2) Partial manufacturing, overall assembly, and in-factory verification of access and investigation equipment- Completed partial manufacturing, overall assembly, and in-factory verification of access and investigation equipment- Verified the prospect of accessibility through the X-6 penetration based on the arm deflection measurement results(3) Mockup test considering the site situation- Completed the installation of mockup test facility- Concretized the test procedure(4) Operation training- Dextre: completed basic operation training using an actual equipment- Arm for investigation: conducted operation training using simulation(5) Test for establishing the access route to PCV and onsite operation training① X-6 penetration connecting structure: completed device upgrade, mockup test, and combination test
② Isolation room: completed device upgrade and combination test
③ Extension pipe: completed device manufacturing and mockup test
④ Enclosure transportation device: completed mockup test
⑤ Deposit removal device: completed manufacturing and mockup test
⑥ Once-through test: completed test and verified materialization of on-site operation(6) On-site verification (site survey)- Devised layout with consideration given to the local environmental condition- VT sensor: completed manufacturing and unit test; neutron detector: completed manufacturing and unit test(7) Mockup test in Japan- Completed installation of mockup test facility in Japan©International Research Institute for Nuclear Decommissioning

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Appendix©International Research Institute for Nuclear Decommissioning

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Appendix-1: overview of the establishment of access route (1/2)
X-6 penetration
Initialcondition

X-6 penetration

Pedestal
PCV

Installation ofisolation roomX-6 penetration

Robot carrying-in
compartment

Hatch isolation room

In-stage isolation
room

Opening of X-6
penetration hatch

X-6 penetration hatch

Hatch opening device

X-6 penetration

Installation of deposit
removal device
Removal of deposit
inside the X-6
penetration
Deposit removal device

Removal of hatch
opening device

Deposit, etc.

Installation of X-6
penetration
connecting
structure
Isolationvalve

X-6 penetration

X-6 penetration
connecting
structure

Removal of deposit
removal device*(next page)©International Research Institute for Nuclear Decommissioning

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Appendix-1: overview of the establishment of access route (2/2)*

Removal of robot carrying-in
compartment

Installation of extension pipe

Extension
pipe

Installation of arm-type accessand investigation equipment

Arm-type access andinvestigation equipment

Extension
pipe

X-6
penetration

Hatch Isolationroom

X-6 penetration
connecting
structure

X-6
penetration

Arm-type access andinvestigationequipment

Extension pipe

Hatch isolation roomX-6 penetration
connecting
structure

X-6 penetration
Pedestal©International Research Institute for Nuclear Decommissioning

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Appendix-2: arm operation policy (1/2)[Reflect information of PCV internal in the arm operation system]- Obtain data on post-accident PCV internal using a laser scanner equipped on the arm tip and reflect it in the operation
system (in the stage before the start of the investigation, a model of the PCV internal is made based on the pre-accident
data)- Simulate the arm movement using the operation system based on the PCV internal model that reflects the actual
conditions (avoid interference)
Laser scanner

Laser scanner

VT camera

Provide information on
position of laser scannerArm

Sensor equipped on arm(e.g. laser scanner)

Obtain data (point cloud) on shape of PCV internalusing a laser scanner

Arm for investigation

Integrate point cloud

Point cloud obtained by laser scanner

Sensor equipped on arm

Reflect point cloud to PCV
shape in the operating
system (update)
After update

Before update

Conceptual image of the arm operating system screen

Point cloud©International Research Institute for Nuclear Decommissioning

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Appendix-2: arm operation policy (2/2)[Operation policy]<Basic flow>
Scan the shape of the PCV internalin the direction of travel with a laser
scanner

Reflect scan data in operation
systemVerify avoidance of collision
between arm and obstacles bysimulation

Visually verify the validity of thescan data (point cloud) by theimages obtained from the arm
camera*<Supplementary items><Area that can’t be scanned by the laser scanner (inside the X-6
penetration, around the outlet of the X-6 penetration)>
Advance while observing with the camera on the arm.

<Areas with small clearance (opening of pedestal and platform)>- Enter the area while observing with the arm camera or VT sensor.
- From the second time onward, enter the area without observation
by taking the same route and making the same arm movement
as the first time (reproductivity will be verified by mockup test).

<Obstacles (unavoidable)>Cut by AWJ. Drop the cut parts to the bottom.

Advance the arm*Verify just in case as there is a risk of scan failures©International Research Institute for Nuclear Decommissioning