Subsidy Project of Decommissioning and Contaminated Water
Management

Development of Technology for Gradually Increasing
the Scale of Fuel Debris Retrieval
Accomplishment Report for FY2021

August 2022
International Research Institute for Nuclear Decommissioning(IRID)All rights reserved.
©International Research Institute for Nuclear Decommissioning (IRID)

No.1

Table of Contents
Page
1. Research Background and Purpose2

1.1 Reasons why this research is necessary

2

1.2 Reflection of results and contribution thereof3

2. Project Goals

4-5

3. Implementation Items, their Correlation and Relations with Other Research

6

3.1. Implementation items of this research

7-8

3.2 Correlation between implementation items and with other research

9-10

4. Implementation Schedule

11

5. Project organization

12

6. Implementation Details

13

6.1 Development of element technology and design of the access equipment for fuel debris retrieval(arm and enclosure, etc.)

13

6.1.1 Element technology to be installed on the retrieval arm

13-15

6.1.2 Element technology to be installed on the enclosure for retrieval

16-18

6.2 Development of remotely controlled transport cart for fuel debris canisters

19-22

6.3 Update of the retrieval technology development plan23- 26

6.4 Development of the retrieval equipment and combination tests

27

6.4.1 Development of access equipment for retrieval (arm and enclosure, etc.)

27- 296.4.2 Combination tests of the access equipment for retrieval with the other equipment and systems

30-32

7. Summary and Future Action

33©International Research Institute for Nuclear DecommissioningProject commenced in FY2021
Project commenced in FY2020
1. Research Background and Purpose
1.1 Reasons why this research is necessary

No.2◼ Information on fuel debris properties is needed for equipment development and criticality evaluation to
retrieve fuel debris from Units 1 through 3 of the Fukushima Daiichi Nuclear Power Station (NPS).
Until now, values estimated from the accident data or analysis results of the Three Mile Island (TMI)
or Chernobyl accidents has been used. However, for appropriate development of the equipment, theon-site fuel debris needs to be retrieved and analyzed so as to verify whether or not the estimatedvalues are valid (including whether or not the values are on the safer side).
◼ Hence, in continuation from FY2021, in FY2022 as well, mainly the following work has been
implemented.
• Creation and update of the development plan of retrieval technology for gradually increasing thescale of fuel debris retrieval, and the retrieval plan.
• Detailed designing, prototype manufacturing, and various verification tests of the equipment andsystems for fuel debris retrieval◼ Based on the outcomes of the above-mentioned work, newly found challenges and the recent
circumstances at the Fukushima Daiichi NPS, retrieval technology for gradually increasing the scaleof fuel debris retrieval needs to be developed while reviewing the positioning or objectives of fueldebris retrieval, which is being implemented through this research.

©International Research Institute for Nuclear Decommissioning1.2 Reflection of results and contribution thereof
Project of Development of Technology for Investigation inside PCV*1(Development of technology for investigation inside PCV)

Project commenced in FY2021
Project commenced in FY2020

No.3

Project of Development of Technology for Detailed Investigation inside PCV*1(On-site demonstration of the technology for detailed internal investigation using X-6
penetration)

Results of the investigation inside PCV*1 will be reflected.

The development progress of investigation equipment will be reflected.
*1： PCV = Primary Containment Vessel

Project of “Development of Technology for Gradually Increasing the Retrieval Scale of Fuel
Debris” (this project)
Creation of the retrieval technology
development plan for gradually
increasing the scale of fuel debris
retrieval, and the retrieval plan

Development of equipment andsystems for gradually increasing thescale of fuel debris retrieval

Project of gradually increasing the retrieval scale of fuel debris and analysis
Physical property data such as hardness, etc.
Cutting speed, status of dust scattering

Component datasuch as U, Pu, Gd,
etc.

Project for Development of Technology for Further Increasing the Scaleof Retrieval of Debris and Internal Structures (including criticality
control)Upgrading of approach and systems for retrieval of fuel debris and internal
structures,
Upgrading of fundamental technology for retrieval of fuel debris and internal
structures,
Upgrading of criticality control technology for fuel debris
・Reflection into the system design of the retrieval cell・Designing and improvement of fuel debris retrieval tools
・Validity check of criticality evaluation

Fuel debris
distribution data

Component data such as
amount of hydrogen generated, etc.

Project for Developmentof Analysis andEstimation Technologies
for Fuel Debris
Characterization

Project for Developmentof Technology forCollection, Transfer andStorage of Fuel Debris

Advancement ofunderstanding of the in-core
conditions through accident
progression analysis andactual equipment data, etc.

Development oftechnology for collection,transfer and storage of fueldebrisWaste inventory data

Project for R&D for Treatment andDisposal of Solid Wastes

Gradually increasing the scale of fuel debris retrieval(Planned to be implemented at TEPCO HD)

Research and development fortreatment and disposal of solid waste

Reflection in the overall plan for
waste

Detailed designing of equipment for gradually
increasing the scale of fuel debris retrieval

Verification of canistersafetyVerification of thereliability of the in-core
analysis results

Research projects concerning detailed designing of the fuel debris retrieval methods and equipment, etc.
©International Research Institute for Nuclear Decommissioning

No.4

2. Project Goals (1/2)

Project commenced in FY2020

Implementation items started in FY2020
No. Project details

6.1

Development ofelementtechnology anddesign of theaccess equipment
for fuel debris
retrieval (arm andenclosure, etc.)

6.2

Development of
remotely
controlled
transport cart forfuel debris
canisters

Target Technology Readiness Level (TRL) as of FY2021
6.1.1 Element technology to be installed on the retrieval arm
Prototypes of the horizontal offset mechanism, telescopic mechanism, and the wand were
manufactured, combination tests were conducted using dummy tip tools, and the force
applied on the fuel debris while pressing the tip tool, and the passing ability through the
opening on the platform were verified.
(Target TRL at completion: Level 5)
6.1.2 Element technology to be installed on the enclosure for retrieval
A prototype of the double door system was manufactured, and the following items wereverified by means of the unit performance tests.
・Airtightness when opening and closing of the double door
・Airtightness when opening and closing of the isolation door・Effectiveness of the emergency drive system in the event of motor failure(Target TRL at completion: Level 5)
Development of remotely controlled transport cart for fuel debris canisters
A prototype was manufactured, and the following items were verified by means of in-factory
verification tests.
・ Traveling performance and stopping accuracy of the cart,
・Connection and separation of the simulated enclosure and fuel debris canisters
・Workability of emergency retrieval in the event of a failure and workability of maintenance(Target TRL at completion: Level 5)©International Research Institute for Nuclear DecommissioningProject commenced in FY2021

2. Project Goals (2/2)

No.5

Implementation items started in FY2021
No.

6.3

6.4

Project details

Target Technology Readiness Level (TRL) as of FY2022

Update of theretrievaltechnology
development plan

The retrieval technology (retrieval equipment and systems, etc) development plan for
gradually increasing the scale of fuel debris retrieval, created as part of previous project(project commenced in FY2019), based on the information obtained from investigation andOthers inside PCV of Unit 2, was updated as necessary.
Besides, latest findings were reflected and updated as needed into the scenarios related togradually increasing the scale of fuel debris retrieval.
(This is not included in setting the Technology Readiness Level (TRL) to organize information.
)

Development of
the retrieval
equipment andcombination tests

6.4.1 Development of access equipment for retrieval (arm and enclosure, etc.)
The access equipment for retrieval (arm and enclosure, etc.) were manufactured and its
applicability was verified through in-factory verification tests based on the detailed design of
the access equipment for retrieval (arm and the enclosure, etc.) conducted in the previous
project (project commenced in FY2020).
(Target TRL at completion: Level 5)
6.4.2 Combination tests of the access equipment for retrieval with the other equipment andsystems
The manufactured access equipment for retrieval (arm and enclosure, etc.) and theequipment developed until FY2021 during the previous project (project commenced in
FY2019) were combined and their applicability of the system was verified.
(Target TRL at completion: Level 5)©International Research Institute for Nuclear Decommissioning3. Implementation Items, their Correlation and Relations with Other Research

Project commenced in FY2021

No.6

Project commenced in FY2020

U, Pu measuring equipment(weighing)

Fuel Debris
Characterization
PJ

TEPCO HD

Manipulator

Sample transportation box

Fuel debris canisters

Sample capsule
Sample bin

Sample bin

Off-site transportation
container

Transportation bymeans of public
roads

Double door mechanism(Developed as part of the project commenced in FY2020)

Equipment for constructing access route(X-6 penetration connection structure)

Existing
analysis facility

carry-in/out cell

* The carry-in/out cell and its scope of work needs to be coordinated with TEPCO

Dual arm type manipulator

Fuel debris collection
scenario

Enclosure(Developed as part of the projectcommenced in FY2021）(Manufactured as part of the
project commenced in FY2019)
X-6 penetration
Fuel debris cutting and collection equipment(Manufactured as part of the
project commenced in FY2019)

Arm-type access equipment(Developed as part of the projectcommenced in FY2021）

X-6 penetration

Remotely controlled transport cart
for fuel debris canisters(Developed as part of the project commenced in FY2020）

PCV(Manufactured as part of the
project commenced in FY2019)

Anterior half of the arm (Being developed aspart of the project commenced in FY2020）
Telescopic arm

Wand

Neutron monitor (for monitoring
approach to criticality, etc.)
For predictive monitoring
For constant monitoring

Horizontal offset link

(Manufactured as part of the
project commenced in FY2019)©International Research Institute for Nuclear Decommissioning3. Implementation Items, their Correlation and Relations with Other Research
3.1. Implementation items of this research (1/2)

No.7
Project commenced in FY2020

Implementation items started from FY2020
No.

6.1

6.2

Implementation items

Development ofelementtechnology forthe accessequipment forfuel debris
retrieval (armenclosure, etc.),
and designing
Development of
remotely
controlled
transport cart forfuel debris
canisters

Scope of implementation in FY2021

Page

6.1.1 Element technology to beinstalled on the retrieval arm• Manufacturing the prototypes of the front-end arm suchas the horizontal offset mechanism, telescopic
mechanism, wand, etc.
• In-factory verification test of the prototypes

13-15

6.1.2 Element technology to beinstalled on the enclosure for
retrieval• Manufacturing the prototype of the double door system• In-factory verification test of the prototype

16-18

Remotely controlled transport cart forfuel debris canisters• Manufacturing the prototype of the remotely controlled
transport cart
• In-factory verification test of the prototype

19-22

Blue: Testing

Red: Manufacturing©International Research Institute for Nuclear Decommissioning3. Implementation Items, their Correlation and Relations with Other Research
3.1. Implementation items of this research (2/2)

No.8
Project commenced in FY2021

Implementation items started from FY2021
No.

6.3

6.4

Implementation items

Scope of implementation in FY2021

Page• Updating the development plan at the time ofcommencement in FY2021 (examination of the timingof reflecting the results of the verification tests of thearm for detailed investigation inside PCV and thepoints to be focused on during the reflection, andexamination of the contents of the verification tests
conducted by combining various developed
equipment)

23-26

6.4.1 Development of accessequipment for retrieval (arm andenclosure, etc.)• Designing and manufacturing of the base of the arm,
and integrating it with the front-end arm• Designing and manufacturing of the enclosure

27-29

6.4.2 Combination tests of the accessequipment for retrieval with theother equipment and systems• Study of the combination test plan
• Preparations for the combination tests

30-32

Update of the retrieval technology development plan

Development of
the retrieval
equipment andcombination
tests

Black: Desk study

Red: Manufacturing©International Research Institute for Nuclear Decommissioning

No.9

3.2 Correlation between implementation items and with other research (1/2)

Project commenced in FY2020
No.

Related implementation
items

Details of
collaboration

Relationship

Project commenced in FY2021

6.1.1
6.4.1
Retrieval arm

Integration of the
Performance of passing through the X-6 penetration is consideredanterior half andwhile integrating the newly designed anterior half and posterior half ofposterior half of thethe arm.
arm

6.4.1 Enclosure

Overall assembly of The method of accurately installing the double door mechanism on thethe enclosure
enslosure is considered.

6.3 Update of the retrieval technology
development plan

6.1.2

6.2
6.4.1 Enclosure

6.3
6.1.1 to 6.4.2

6.4.1

Docking interface for
An interlock for identifying the installation location of the PADIRAC port
the fuel debrisof the enclosure, detecting docking, and preventing accidental docking
canisters (PADIRAC)
cancellation is considered.
Reflection oftechnologicalchallenges in thedevelopment plan

The plan is updated with the new technological challenges that became
evident through the in-factory verification test of the prototype, as partof this project.

6.1
Development ofelement technology
and design of theaccess equipment forfuel debris retrieval(arm and enclosure,
etc.)

6.4.1
Development ofaccess equipment for
retrieval (arm andenclosure, etc.)

6.2
Development of
remotely controlled
transport cart for fueldebris canisters

6.1.1 Anterior half of the arm

Posterior half of the arm

Remotely controlled
transport cart

6.1.2 Double door mechanism

6.1.1 Anterior half of thearm
6.1.2 Double door
mechanism

6.4.2

6.1.1 Anterior half of thearm
6.1.2 Double door
mechanism
6.2 Remotely controlled
transport cart
6.4.1 Arm
6.4.1 Enclosure

Same as 6.1.1, 6.1.2

EnclosureSame as 6.1.1, 6.1.2

6.1.1: It is checked whether or not there is room for improving theequipment in terms of the interface or linkage with the fuel debris
cutting and collection equipment or the neutron monitor.
6.1.2: It is checked whether or not there is room for improving theAnterior half
Verification ofequipment or process in terms of the interface or linkage with theof the arminterface by means of
X-6 penetration connection structure or the dual arm typecombination
manipulator.
verification
6.2: It is checked whether the same verification results as thoseobtained in France are obtained when the operation is performed
Identification of
by Japanese operators.
challenges in the
6.4.1 (arm): Performance of passing through the X-6 penetration isextent of coordination
verified.
between systems
6.4:1 (enclosure): It is checked whether or not there is room for
improving the equipment or process in terms of the interface orlinkage with the dual arm type manipulator.

6.4.2
Combination tests of the access equipment
for retrieval and the other equipment andsystems
Fuel debris cutting andcollection equipment

X-6 penetration
connection structure

Neutron monitor

Dual arm type manipulator

Enclosure©International Research Institute for Nuclear DecommissioningNo.103.2 Correlation between implementation items and with other research (2/2)

Project commenced in FY2020
Project commenced in FY2021

Work flow for fuel debris retrieval frominside PCV■ Work flow for fuel debris retrieval from inside PCV and the main connections with related PJs
Equipment related to the carry-in/out
cell

Equipment related to fuel debris retrieval from inside PCV
Enclosure

Double door
mechanism

Equipment for constructing the access route

Dual arm type manipulator
Manipulator

Fuel debris cutting andcollection equipment

U, Pu measuring
equipment

Manipulator

Transportation
container

Arm-type access equipment

Off-sitetransportation
Neutron monitor

Remotely controlled
transport cart

Fuel debris
storagecontainer

Sampling
container

Project for Development of Technology for Gradually Increasing the Scale of Fuel Debris Retrieval

Main connections with related PJs

Existing analysis facility[PCV Detailed Internal Investigation PJ]
・Reflection of the image of the condition inside PCV into thedesign・Sharing of information on development of the arm forinvestigating inside PCV・Sharing of development challenges pertaining to thedetailed investigation inside PCV[PCV Detailed Internal Investigation PJ]・Sharing of information on development of enclosure forinvestigating inside PCV・Sharing of remote operation procedures to be followed
during the investigation inside PCV[TEPCO HD]
・ Reflection of related technologies into fuel debris
retrieval, the scale of which is gradually increased[Fuel Debris Characterization PJ]・Fuel debris acceptance interface coordination[Fuel Debris Retrieval PJ]
・Fuel debris sampling requirements
・Fuel debris cutting technology related information
sharing・Criticality prevention measures at the time of fueldebris cutting

Bin

Bin

Off-site transportation
container

TEPCO HD

Fuel Debris Characterization PJ[TEPCO HD]
・Sharing of information on fuel debris canister (PADIRAC)
・Coordination with the transfer area in the Reactor Building
・Reflection of needs pertaining to technologies to be utilized, into fuel debris retrieval,the scale of which is gradually increased

Fuel debris retrieval plan
[TEPCO HD]・Coordination of the maintenance area in the Reactor
Building[Fuel Debris Characterization PJ]
・Questioning about analytical capabilities of the existing analysis facilities and its reflection in thefuel debris retrieval plan
[TEPCO ＨＤ]・Discussion on fuel debris transfer route and its reflection in the fuel debris retrieval plan

©International Research Institute for Nuclear Decommissioning4. Implementation Schedule

No.11

Project commenced in FY2020
Project commenced in FY2021: Project commenced in FY2020

Largeclassification
大分類

FY20202020年度

Small 小分類
classification: Project commenced in FY2021

FY20212021年度FY2022
2022年度Apr
Apr May
Oct Nov Dec Jan Feb
Oct Nov Dec Jan Feb
Jul Aug
Jul Aug
Jul Aug
4月 May5月 Jun
6月 7月
8月 Sept
9月 10月11月12月1月
2月 Mar
3月 Apr
4月 May5月 Jun
6月 7月
8月 Sept
9月 10月11月12月1月
2月 Mar
3月 4月
5月 Jun
6月 7月
8月 Sept
9月 10月11月12月1月
2月 Mar3月
Oct Nov Dec Jan Feb

6.1
Development of element
6.1 燃料デブリ取り出し用アクセス
technology and design of the装置（アーム・エンクロージャ
access equipment for fuel6.1.1
technology to be installed on the等）の要素技術開発・設計
6.1.1 Element
取り出し用アームに搭載する要素技術
debrisretrieval (arm andretrieval arm
enclosure, etc.)

備考
Remarks(Lateststatus)(最新状況)

Manufacturing and in-factory verification of the front-end arm ⇒Extension due to the impact of the COVID-19 pandemic

詳細設計
Detailed
designing
Manufacturing
and in-factory verification
製作・工場内検証

Assemblyand coordination
組立・調整
Testing
試験6.1.2 Element
取り出し用エンクロージャに搭載する要素技
6.1.2
technology to be installed on theenclosure
術 for retrieval

Elemental
tests on the double door system
ダブルドアシステムの要素試験
Manufacturing and in-factory verification of the double door mechanism⇒ Completed

Detailed
designing
詳細設計

Manufacturing
and in-factory verification
製作・工場内検証

取り出し用アクセス装置（アーム・エンク
Overall designing of the access equipment for
retrievalロージャ等）の全体設計(arm and enclosure, etc.)

Detailed
designing
詳細設計

Detailed
designing
詳細設計

6.2 Development of remotely
controlled transport cart forfuel台車の開発
debris canisters

6.2 燃料デブリ収納容器の遠隔輸送

Manufacturing and in-factory verification of the remotely controlled transport cart ⇒ Completed
Manufacturing
and in-factory verification
製作・工場内検証

Crystallization of the development plan ⇒ Implemented as per the plan

6.3 Update of the retrieval

6.3
取り出し技術の開発計画の更新
technology
development plan

6.4 Development of the
6.4.1 Development of access equipment for retrieval
6.4
取り出しのための装置の開発と6.4.1and
取り出し用アクセス装置(アーム・エンクロー
retrievalequipment and(arm
enclosure, etc.)
combination
組合せ試験tests

Development of the retrieval arm ⇒Manufacturing in progress
Manufacturing
and integration of theretrieval arm
取り出し用アーム
製作・統合ジャ等)の開発
Development of the enclosure for retrieval ⇒ Manufacturing in progress
Manufacturing andin-factory verification of the enclosure for retrieval
取り出し用エンクロージャ製作・工場内検証

Improvement of the dual arm type manipulator⇒ Manufacturing in progress
双腕マニピュレータの改造

6.4.2Combination
取り出し用装置、システム全体の組合せ試験
6.4.2
tests of the access equipment for
retrieval with the entire system

Combination tests of the front-end arm and the fuel debris cutting and collection equipment ⇒アーム前半部と燃料デブリ切削
Preparations
for testing are underway 回収装置／中性子モニタシステムの組合せ試験

Combination
tests of the
アーム全体の組合せ試験
entire arm (in-factory(工場内検証）verification)

Combination tests of the enclosure and the X-6
penetration connection structure / remotely controlled transport cart for the fuel debris canisters
エンクロージャとX-6ペネ接続構造／燃料デブリ収納容器の遠隔輸送台車の組合せ試験
Verification test of the remotely controlled attachment and detachment
mechanism for the dual arm type manipulator cable, emergency handling of the double door mechanism
双腕マニピュレータのケーブル遠隔脱着機構、ダブルドア機構非常時対応の確認試験

主要なマイルストン
Major milestones

Interimreport
中間報告会

Annualreport
年度報告会

Interimreport中間報告会

Final report
最終報告会©International Research Institute for Nuclear DecommissioningProject commenced in FY2021

International Research Institute for Nuclear Decommissioning (IRID)(Headquarters)

Tokyo Electric Power Company Holdings, Inc.

○○○

Various coordination for site application

Coordination of overall planning and technology management
Coordination of technology administration including technology development
progress management

Project teams to cooperate for technological development
Development of Technology for Detailed
Investigation inside PCV(Field validation of the technology for detailed
internal investigation using X-6 penetration)
Development of technology for further increasing
the scale of retrieval of fuel debris and reactor
internals

Mitsubishi Heavy Industries, Ltd.
Implementation items started in FY2020
6.1 Development of element technology for the accessequipment for fuel debris retrieval (arm enclosure, etc.), anddesigning
6.1.1 Element technology to be installed on the arm for
retrieval
6.1.2 Element technology to be installed on the enclosure for
retrieval

No.12

Project commenced in FY2020

5. Project Organization

Implementation items started in FY2021
6.3 Update of the retrieval technology development plan

Development of technology for collection, transfer
and storage of fuel debris

6.4 Development of the retrieval equipment and combination tests
6.4.1 Development of access equipment for retrieval (arm andenclosure, etc.)
6.4.2 Combination tests of the access equipment for retrieval
with the entire system

Research and development for treatment anddisposal of solid waste
Development of analysis and estimation technology
for characterization of fuel debris

6.2 Development of remotely controlled transport cart for fueldebris canisters

VEOLIA NUCLEAR SOLUTIONS:・ Designing and test manufacturing of the element technology to be
mounted on the retrieval arm

VEOLIA NUCLEAR SOLUTIONS (VNS):・ Test manufacturing of access equipment for retrieval・ Combination tests on the access equipment for retrieval

Sojitz Machinery Corporation + CLEO:
・ Elemental tests on the double door system
・ Designing and test manufacturing of element technology to be
mounted on the retrieval enclosure
・ Manufacturing and in-factory verification of the remotely controlled
transport cart for fuel debris canisters

Sojitz Machinery Corporation CLEO:
・ Test manufacturing of the attachment and detachment mechanism for the dual arm type manipulator cable・ Preparation and assistance for the combination tests on the double door mechanism
・ Preparation and assistance for the combination tests on on remotely controlled transport cart for fuel debris
canisters
Jacobs:・ Preparation and assistance for the combination tests on pebble-shaped and sandy debris collection
equipment (bucket type)
ORANO:・ Preparation and assistance for the combination tests on pebble-shaped and sandy debris collection
equipment (flexible gripper type)©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2020

No.13

6.1 Development of element technology and design of the access equipment for fuel debris retrieval (arm and enclosure, etc.)
6.1.1 Element technology to be installed on the retrieval arm[Achievements for FY2021 1/2]
✓ The front-end arm including the telescopic arm and wand is being manufactured considering the counterforce from the horizontal offset
mechanism or the fuel debris cutting and collection equipment. (The development period was extended due to the impact of the COVID19 pandemic)
Dummy tip tools simulating the fuel debris cutting and collection equipment (Completed)
Horizontal offset link (Completed)

Telescopic arm (Manufacturing in progress)

Tool pan and tilt, wrist(Manufacturing in progress)
Cable drum (Completed)

Cable drum (Received)

Wand (Completed)

Anterior half of the arm(Manufacturing in progress)
Boom mount(Manufacturing in progress)©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2020

No.14

6.1 Development of element technology and design of the access equipment for fuel debris retrieval (arm and enclosure, etc.)
6.1.1 Element technology to be installed on the retrieval arm[Achievements for FY2021 2/2]
✓ Plan for the in-factory verification test to verify the performance of the front-end arm was developed.
✓ A test rack simulating the structure inside the PCV was fabricated for verifying the performance of the front-end arm.
In-factory verification test details
Simulated pedestal

No.

Test rack1

Basic
performance
test 1

2

Basic
performance
test 2

3

Basicperformance
test 34

Dummy tip
tool test 1

Note: VR simulation
A 3-dimensional model of the arm is displayed on the computer screen, and how itwill move is calculated by operating it, to get the location that it is expected to reach.
(Refer to the next slide）

Details
Investigating the rangeof motion, and the
maximum/minimum
target speed
Investigating the abilityof the load meter
embedded in the footof the horizontal offset
link
Investigating the ability
to pass through the
opening on theplatform
Verifying the ability ofthe dummy tip tool topass through theplatform opening

Dummy tip
tool test 2

Verifying the ability ofthe dummy tip tool tobe positioned on thedebris6

Dummy tip
tool test 3

Verifying the ability ofthe dummy tip tool topress against thedebris, acquiring dataon application of load,
measuring the requiredtime

7

Controlaccuracy
verification
test

Comparing with the VR
simulation

5

Simulated pedestal and test rack usedin the in-factory verification test

Name

Material used

Test rack, dummy tip
tool

Test rack, simulated
pedestal

Test rack, simulated
pedestal

Criteria
Should be the prescribed rangeof movement and speed.

Should be able to apply apressing force of 1kN on the
foot.

Should not come in contact withthe opening

Should not come in contact withthe opening

Test rack, dummy
tip tool,
simulated pedestal

Should stop momentarily 100mn
from the floor, and not collidewith the target surface.
Should be able to position the
tip tool vertically (less than±5°) at 100N or less.

Should be able to apply apressing force of 1kN. Armshould not have any problems
while pressing.

The location of therepresentative site should bewithin ±100mm.
©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2020

No.15

6.1 Development of element technology and design of the access equipment for fuel debris retrieval (arm and enclosure, etc.)
6.1.1 Element technology to be installed on the retrieval arm[Issues]✓ The risk of the posterior end of the wand interfering with the structures inside the pedestal when the fuel debris cutting andcollection equipment descends from the opening on the platform, was identified. Note that, as a countermeasure, thedescending route needs to be checked in advance by means of the VR simulation so that the equipment does not getdamaged. Also, it needs to be ensured that there isn’t a large gap between the result of the VR simulation and the positional
relationship of the actual arm and structures.
(A method of adjusting the positions should be prepared. )Structures inside the pedestal

Posterior end of the wandOpening on the platform

Inside the Unit 5 pedestal (from the TEPCO HD website)[Future plans]✓ Manufacturing and assembly of the front-end arm will be completed, and the ability to pass through the opening inside thePCV will be verified in the factory by means of the horizontal offset mechanism, and the pressing force of the fuel debris
cutting and collection equipment will be verified in the factory by means of the wand.
✓ Subsequently, combination verification tests with the prototypes of the fuel debris cutting and collection equipment and theneutron monitor will be conducted as part of the project commenced in FY2021.
✓ After conducting the above-mentioned combination verification tests, the front-end arm will be integrated with the posterior
half of the arm, and in-factory verification of its function as the retrieval arm will be conducted.
©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2020

No.16

6.1 Development of element technology and design of the access equipment for fuel debris retrieval (arm and enclosure, etc.)
6.1.2 Element technology to be installed on the enclosure for retrieval[Achievements for FY2021:1/3]✓ A prototype of the double door system that opens and closes the double door
was manufactured as scheduled.

Double door

Clamp mechanism
Motor for horizontal and vertical operation(X-6 penetration connection
structure side)

Door management mechanism

Door retaining mechanism
Door management
mechanism

Front camera

Emergency
drive shaft

Protective sleeve
Emergency drive shaft
Isolation door

Arm and enclosure side

Protective sleeve(With the isolation door removed)

Emergency drive
shaft

Clamp mechanism(X-6 penetration connection structure side)©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.17

Project commenced in FY2020

6.1 Development of element technology and design of the access equipment for fuel debris retrieval (arm and enclosure, etc.)
6.1.2 Element technology to be installed on the enclosure for retrieval[Achievements for FY2021: 2/3]
✓ In-factory verification test of the prototype was conducted, and it was confirmed through the following tests [1] to [3] thatthe problems about which there were concerns no longer persist.
[1] Linkage function with the X-6 penetration connection structure (avoiding collision by self-aligning, absorbing bellows
inclination error and satisfactory view from cameras)

Linkage test with the X-6 penetration connection structure
X-6 penetration
connection structure side

Double door side

X-6 penetration
connection structure side

Front camera

Double door side

Self-alignment of the emergency drive
shaft was accomplished without collision.

Clamp mechanism

It was confirmed that the images and view fromthe front camera was satisfactory.

Docking completed successfully while absorbing theassumed inclination of the bellows.

Bellows simulating the X-6 penetration©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.18

Project commenced in FY2020

6.1 Development of element technology and design of the access equipment for fuel debris retrieval (arm and enclosure, etc.)
6.1.2 Element technology to be installed on the enclosure for retrieval[Achievements for FY2021: 3/3]
✓ In-factory verification test of the prototype was conducted, and it was confirmed through the following tests [1] to [3] that the problems about
which there were concerns no longer persist.
[2] Double door opening/closing and air-tight function (Leakage rate 0.1vol%/h) [3] Emergency drive function in the event of motor failure (Rotational
torque 12.8Nm or lower)

Double door opening / closing test

Operational test by means of the emergency
drive system in the event of motor failure

Temporary stage

Drive shaft

Emergency drive shaft

Double door

Isolation door
Opening the double door
(unlocking)Pulling back the
double door

Raising the double door/
Stowing in temporary stage

The operation of removing and temporarily storing the double door was performed without
any problem, and the test for leakage rate was passed as well.

Double door

Door retaining
mechanism

Torque meter

It was projected that operation with the dual arm typemanipulator was possible.

[Issues and future plans]✓ Since system verification still remains as an issue, the double door system will be incorporated into the enclosure and combination tests,
etc. with the X-6 penetration connection structure will be conducted during the project commenced in FY2021.
©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.19
Project commenced in FY2020

6.2 Development of remotely controlled transport cart for fuel debris canisters[Achievements for FY2021: 1/4]
✓ A prototype of the remotely controlled transport cart (cart, control panel and operating facility, etc.) for fuel debris canisters(PADIRAC) was manufactured.
TPS(PADIRAC holding system)

TPS (PADIRAC holding system)

Entire length 2670

Shielding door
opening/closing
mechanism

Airtight container

Shielding door

Docking table

2240

Interface drawer

Entire heightHexapod

Lead shield
Fuel debris canisters
Cable drum
Filter for ventilation
Camera for traveling(overhead view of the rear)

Camera for traveling (left side view)
Camera for traveling(front road)
Floating flangeElectrical box

Control system for the assistant operatorsand monitoring personnel

Hexapod

Mecanum wheel

Fuel debris canisters: PADIRAC RD-20 (weight 4 ton) (*1)(*1) PADIRAC … Product name of the shieldtransportation
system and container manufactured by GETINGE
La Calhene, France

Camera for traveling(Rear road)

External appearance of the remotely controlled transport cart
(Weight of the body of the cart: 12 ton)

Relay board

Control unit for theoperators

Camera for traveling (right side view)©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.20

6.2 Development of remotely controlled transport cart for fuel debris canisters

Project commenced in FY2020[Achievements for FY2021: 2/4]
✓ The setting work of the remotely controlled transport cart for fuel debris canisters (PADIRAC) was performed wearing
protective clothing, and it was verified that the work can be performed in accordance with the work procedures.

Main body of the cart
TPS (PADIRAC holding system) (*1)(*1) TPS：Tool PADIRAC System

Traveling preparations completed

Fuel debris canister (PADIRAC)

Setting the TPS + PADIRAC on to the cart
©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.21
Project commenced in FY2020

6.2 Development of remotely controlled transport cart for fuel debris canisters[Achievements for FY2021: 3/4]
✓ In-factory verification test of the remotely controlled transport cart was conducted and the following performance and functions wereverified. Hence it was projected that it can be used on site.
No.

Items

Implementation details

Results

Judgment

Remarks

1

Hexapod positioning
performance

Data on hexapod positioning performance while holding PADIRAC is acquired, and whether or not thevalue meets the design requirements and conditions is evaluated and studied.

It was confirmed that positioning accuracy requiredfor connection to the transfer port was met.

Pass

Figure 1
Photo 1

2

Mecanum wheel
Traveling performance

Traveling performance with respect to the following is verified.
1)
Performance with respect to rough position adjustment (braking distance)
2)
Traveling on slopes
3)
Impact of the conditions of the pathways (obstacles, accumulated water, sand, etc.)
4)
Camera visibility Etc.

It was confirmed that required travelingperformance in all respects was met.

Pass

Photos 2 to 4

3

Airtight container
connection test

It is confirmed that the docking table, shielding door opening/closing mechanism, etc. operate according to
the design, and that the airtight container fits properly into the transfer port and can be attached anddetached.

It was confirmed that the airtight container can beproperly attached and detached.

Pass

Photo 54Comprehensive verification
test

It is confirmed that the series of operations from installing PADIRAC - traveling - fitting the airtightcontainer to the simulated double door - attaching/detaching it - traveling - removing PADIRAC can be
performed smoothly.

5

Rescue test

It is confirmed that rescue measures can be carried out wherein the transport cart is moved to the truck
bay door in the event of failure of motor, etc.

It was confirmed that the planned rescue measures
can be implemented.

Pass

Photo 6

6

Maintenance verification
test

It is confirmed that the work of replacement and maintenance of failed components can be carried out
under site conditions (wearing radiation protective clothing). (Verification of maintenance work withrepresentative components)

It was confirmed through verification using a typicalexample that maintenance can be carried out asplanned in all respects.

Pass

Photo 7

It was confirmed that the series of work can be
performed smoothly.

Pass

Required positioning
performance values
Tx= ±0.5mm

Rx= ± 1°

Ty= ±1mm

Ry= ± 0.17°

Tz= ±1 mm

Rz=± 0.17°

Figure 11Hexapod positioning performance test plan

Photo 1 Hexapod positioning performance test
©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.22

6.2 Development of remotely controlled transport cart for fuel debris canisters

Project commenced in FY2020[Achievements for FY2021: 4/4]

Photo 2 Traveling test (traveling over a slope)

Photo 3 Traveling test (traveling through narrow spaces)

Zone where sand isspread all over
Photo 4 Traveling test (traveling over sand)Rescue tool connector

Handy tool
Shielding door

Photo 5 Connection test (opening/closing of shielding door)

Photo 6 Rescue test (when motor for closing theshielding door fails)

Photo 7 Maintenance test (replacement of travel motor)[Issues and future plans]✓ Since system verification still remains as an issue, re-verification tests and combination verification tests with the enclosure will be conductedin Japan as part of project commenced in FY2021.
✓ Selection of the maintenance area during work using actual equipment, and the method of managing carryin-in/out of the remotely controlled
transport cart from the Reactor Building need to be studied.
©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.23

6.3 Update of the retrieval technology development plan

Project commenced in FY2021[Achievements for FY2021:1/3]✓ Development plan of the retrieval technology (retrieval equipment and systems, etc.) for gradually increasing the retrieval
scale of fuel debris created until FY2020 was updated.
✓ Based on the information obtained from the manufacturing tests and combination tests of the access equipment forinvestigation inside PCV, the time period of reflection into the project development plan, the reflection items and specificdetails were examined.
Information planned
to be acquired

Operating speed of
the arm forinvestigation inside
PCV

Attenuation
properties of thearm forinvestigation inside
PCV

Workability ofremoving theexternal cable using
the dual arm typemanipulator

Time period ofacquisition
Time period ofreflection

Items to be reflected in thedevelopment

Specific implementation details and implementation method

Status of reflection

Review of the expected
performance of the retrieval arm,
study on the possibility of
improving speed, study on thepossibility of changing theoperating method

The expected performance is reviewed considering the disparities in theweight, gear ratio and motor torque of the retrieval arm.
If the expected performance of operating 5 round trips a day is not met, thepossibility of improving the speed by increasing the motor torque is studied.
If it is evaluated that there isn’t sufficient room for improving the speed, thepossibility of changing the operating method such as by reducing the applied
load or number of round trips, or reducing the time required by reviewing theoperating procedures, is studied.

The following speeds need to be
improved.
・Forward and reverse speed of
the carriage
・Telescopic arm extension speed
For the former, the improvementsfrom the PCV investigation projectwill be followed. For the latter, theresults of testing the front-end arm
will be evaluated.

November 2021 toJanuary 2022

Review of the expected behaviorof the retrieval arm, study on thepossibility of reducing vibrations,study on the possibility ofchanging the operating method

The expected behavior in terms of the vibrations is reviewed considering the
disparities in the length and weight of the retrieval arm.
If the expected vibrations of the arm have a negative impact on the passing
ability through the X-6 penetration or the platform opening, or if the vibrations
when the tip tool approaches fuel debris exceeds 100mm, the possibility of
reducing vibrations by means of low speed operation is studied.
If it is evaluated that there isn’t sufficient room for reducing vibrations, thepossibility of controlling vibrations by reviewing the operating procedures, isstudied.

Was 4% or more (as expected)
horizontally.
Was less than 1% vertically. As
stabilization of the vibrations
required time, it is determined thatthe arm needs to come to a resting
position inside the pedestal.
The acquired data will be utilized
in the future for mechanism
analysis.

November 2021 toJanuary 2022

Review of the cable fixing
structure or the cable drum
structure of the retrieval arm,
study on the necessity of special
tools for the installation work,
study on the possibility of
improvement in the external cable

The cable fixing structure or the cable drum structure is reviewed for improving
the workability of remote operation by means of the dual arm type manipulator.
And, whether or not special tools can be used for supporting the installation
work, is studied. Also, whether or not improvements can be made to make iteasier to handle the external cable itself using the dual arm type manipulator,
is studied.

Although verification is still notcompleted, 2 issues are evident.
In the future, the possibility ofadditional tests and development
during this project will be studied.

November 2021 toJanuary 2022

©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.24

6.3 Update of the retrieval technology development plan

Project commenced in FY2021[Achievements for FY2021: 2/3]
✓ A chart was developed indicating the positioning, verification items, and goals to be achieved pertaining to the combination
tests of equipment developed during the project commenced in FY2019 and the project commenced in FY2020.
✓ Preliminary work for the “[1] Combination tests of the front-end arm and the fuel debris cutting and collection equipment”
has started.
Combination test items[Place of implementation][1] Combination tests of thefront-end arm and the fueldebris cutting andcollection equipment[UK][2] Combination tests of thearm and the simulated X-6
penetration[UK]

Positioning

Validity

Items to be verified

Goals to be achieved

The method and procedure for operating inside
the pedestal to bring the fuel debris cutting andcollection equipment and the neutron monitor inclose proximity to the target location in thedesignated position, is verified.
Until now, the study was conducted using VR
simulation, but verification is required considering
the vibrations arising fromacceleration/deceleration and rigidity of the arm.

Since the front-end arm that is beyond thetelescopic arm is used, the vibrations arising fromthe posterior half of the arm cannot be simulated,
but issues can be ascertained early on (*).
Full-scale pedestal simulation facility can be used.
(*) After the entire arm is completed, as adjusting
the motor drive of the boom link requires time, it is
not possible to move on to testing immediately.

Vibrational amplitude of the armand deceleration time
Visibility of the camera installedon the arm in motion
Workability of operation of thefront-end arm (wand inparticular)
Method of getting closer to thetarget location in thedesignated position

Vibrational amplitude: 100mm
or less
Deceleration time: less than 5
minutes
The camera image recording
must not hinder arm operation.
There must not be any steps
wherein it is difficult to operate
the arm.
Must not collide with thesurroundings
Must be able to get closer to thetarget location in the designatedposition.

The passing ability of the retrieval arm throughthe X-6 penetration is verified by spreading out
the boom link and forward movement of thecarriage.
The vibrating properties are verified by operating
the front-end arm beyond the telescopic arm
while the boom link is spread out.

Since the structure of the boom link is different
than the arm for PCV investigation, it needs to beverified using the retrieval arm as well.
Since the front-end arm gets involved in the
movement of the arm after it passes through x-6
penetration, the results of the combination tests ofthe front-end arm conducted in [1] above can beeffectively used upon ascertaining the vibration
properties by operating the anterior half of thetelescopic arm, etc. while the boom link is spreadout.

Verification of passing throughX-6 penetration
Measurement of the deflectionof the arm
Vibration properties of thetelescopic arm by operating thewand while the arm is extended

Must be able to pass while
maintaining a clearance of
10mm or more. (including
vibrations)
Arm deflection must be
equivalent to or under the value
assumed in the design.
Amplitude must be within 30mm.

Boom link(unfolded)

Boom link

Simulated X-6 penetration

Continued on the next slide

Carriage©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.25

6.3 Update of the retrieval technology development plan

Project commenced in FY2021[Achievements for FY2021: 3/3]
✓ Table continued from the previous slide
Combination test items[Place of implementation]

Positioning[3] Combination tests of theenclosure (double door
mechanism) and X-6
penetration connection
structure[Japan]

It is verified that docking of the double door
mechanism and the X-6 penetration connection
structure can be performed as per the design,
while installing the enclosure on site.
Layout of the camera is verified considering
workability of remote operation, particularly since
workers are unable to access the narrow spaceinside the airtight door where the double door
connection is performed.

[4] Combination tests of theenclosure and the remotely
controlled transport cart
[Japan]Work of docking the fuel debris canister(PADIRAC) in the enclosure is verified, and therescue method in the event of an accident isverified.

[5] Combination tests of thedual arm type manipulator
and the simulated double
door mechanism[Japan]A simulated double door mechanism equippedwith a rescue interface is placed in the simulated
enclosure that is used in the dual arm typemanipulator verification test, and it is verified thatthe operation of restoring the double door
mechanism using the dual arm type manipulator
and special auxiliary tools can be performed.

[6] Combination tests of thedual arm type manipulator
and the remotely operated
cable
attachment/detachment
mechanism[Japan]The operation of the cableattachment/detachment mechanism of the dual
arm type manipulator is verified inside thesimulated enclosure used in the dual arm typemanipulator verification test. Test is conductedwith the dual arm type manipulator, its dedicatedcart and its rail combined.

Validity

Items to be verified

Goals to be achieved

Weight is simulated by installing a dummy arm, etc.
inside the enclosure. Therefore, efficiency ofsimulation is ensured.

Eccentricity at the time of
installation
Clamp torque at the time of
docking
Stop position accuracy
View from camera

Must be within the permissible
eccentricity.
Must be lower than the motor
design torque.
Must be within the permissible
dimensions.
Laser pointer must be visible.

Efficiency of simulation is ensured by simulating
the interfering objects around the enclosure.

Docking operation of bothWork efficiency in the event of
rescue operation

Must be able perform docking
without any problems.
Must be able to perform rescue
operation.

Visibility of the camera
Performance of access of thearms of the dual arm typemanipulator
Efficacy of the special tools

Must be able to observe theoperation of special tools andthe status of movement of the
double door.
Must be able to install the
special tools.
The arms of the dual arm typemanipulator must be able tosupport the rotational torque.

Electrical connectivity
Driving force of the actuator
Driving force of the brake

Must be able to have anelectrical connection at all
terminals.
Driving force of the actuator andbrake must be adequate.

Simulation of the relative position of the dual arm
type manipulator and the simulated double door
mechanism, the interference objects, form of the
rescue interface, and the required torque, isenabled. Therefore, efficiency of simulation is
ensured.

Efficiency of simulation is ensured by simulating
the interfering objects inside the enclosure. The
remotely controlled transport equipment(equipment collection box) of the dual arm typemanipulator is not simulated, but the remotely
controlled attachment/detachment mechanism is atechnology that is used for the maintenance of thedual arm type manipulator regardless of thepresence of the equipment collection box, and iseffective in ascertaining issues early on.

©International Research Institute for Nuclear Decommissioning6. Implementation Details

No.26
Project commenced in FY2021

6.3 Update of the retrieval technology development plan

[Issues]✓ It is necessary to keep to a schedule for developing the retrieval arm due to the extension of the front-end arm.
✓ The verification of the overall mock-up test needs to be considered after the completion of this project.
FY2021
令和３年度

Development
開発項目 items

FY2022
令和４年度

Jul 8月Sep 10月11月12月1月
Oct Nov Dec Jan Feb
Oct Nov Dec Jan Feb
Mar
Aug 9月Apr 5月May 6月Jun 7月Jul Aug
Apr 5月May 6月Jun 7月
4月
2月 Mar
3月 4月
8月 Sep9月 10月11月12月1月
2月 3月

11Element
technology to be installed on the retrieval
取り出し用アームに搭載する要素技術
arm

製作・工場内検証
Manufacturing
and in-factory verification

FY2023
onwards
令和５年度以降Extension due to the COVID-19 pandemic
Assembly andcoordination
組立・調整
Testing
試験

取り出し用エンクロージャに搭載する要素技術
22Element
technology to be installed on theenclosure for retrieval
燃料デブリ収納容器の遠隔輸送台車
33Remotely
controlled transport cart for fuel debris
canisters
取り出し用アクセス装置(アーム・エンクロー
44Developmentof access equipment (arm andジャ等)の開発
enclosure,etc.) for retrieval

製作・工場内検証
Manufacturing
and in-factory verification

製作・工場内検証
Manufacturing
and in-factory verification

Manufacturing 取り出し用アームand integration of theretrieval arm
製作・統合

Incorporationof the dual arm type manipulator
双腕マニピュレータ組み込み

アーム組み込み
Incorporation of the arm

Manufacturing andin-factory verification of the enclosure for retrieval
取り出し用エンクロージャ製作・工場内検証
Improvementin the dual arm type manipulator
双腕マニピュレータの改造

5 Combination tests of the retrieval equipment and5 取り出し用装置、システム全体の組合せ試験
entiresystems
Combination tests of the front-end arm and the fuel debris cutting and collection
アーム前半部と燃料デブリ切削
回収装置／中性子モニタシステムの組合せ試験
equipment/neutron
monitoring system

Combination tests of the entire arm (In-factory verification)
アーム全体の組合せ試験(工場内検証）

Combination tests of the enclosure and the X-6 penetration connection structure/remotely
エンクロージャとX-6ペネ接続構造／燃料デブリ収納容器の遠隔輸送台車の組合せ試験
operatedtransport cart for the fuel debris canisters
Verification tests on the remotely operated cable attachment/detachment mechanism of the
双腕マニピュレータのケーブル遠隔脱着機構、ダブルドア機構非常時対応の確認試験
dual arm type manipulator, and the emergency response of the double door mechanism
Overall mock-up tests
全体モックアップ試験
Development of the products that were arranged to
段取りプロジェクト開発品の開発終了
be developedin this project, has been completed.
AnnualreportInterimreport
中間報告会
年度報告会
中間報告会
最終報告会
[Future plans]✓ The retrieval technology (retrieval equipment and systems, etc.) development plan for gradually increasing the retrieval
scale of fuel debris, will be updated as required.
✓ The latest findings will be reflected and updated into the scenarios related to gradually increasing the scale of fuel debris
retrieval as needed .
Interim report

Final report©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2021

No.27

6.4 Development of the retrieval equipment and combination tests
6.4.1 Development of access equipment for retrieval (arm and enclosure, etc.)[Achievements for FY2021 (arm) : 1/2]
✓ Boom links 1 to 5 are being manufactured in Japan.
✓ Manufacturing drawings of the boom links were revised to improve manufacturing efficiency.
Carriage

Link 1
Link 3

Link 4

Link 2Retrieval arm

Link 5

Lug at the base Box section

Lug at the tip

The cutting efficiency was enhanced by increasing the cornerradius of the counterbore part inside the lug.

Socket welding

Structure of boom link 1

Butt welding

Improvement in the method of welding the lug and the box section©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2021

No.28

6.4 Development of the retrieval equipment and combination tests
6.4.1 Development of access equipment for retrieval (arm and enclosure, etc.)[Achievements for FY2021 (arm) : 2/2]
✓ The material for the boom links has been arranged for in Japan, and processing has commenced.
✓ Veolia Nuclear Solutions (VNS) in UK has started preparations for arranging products such as the carriage that will bedelivered for a long period.

Lug at the base

Box section

Lug at the tip

Edge開先加工部
preparation part

Status of processing the box section of Link 2

Status of processing the lug at the base of Link 1[Issues (arm)]✓ Improvement points(preventing deformation during thermal processing) obtained from the experience of manufacturing thehorizontal offset link need to be reflected.
✓ The quality of the arm needs to be ensured while some process that require time such as acid cleaning, etc. are simplified toretain the overall schedule.
[Future plans (arm)]✓ The components of the posterior half of the arm will be supplied for VNS (UK) to assemble the whole arm and the function of
the retrieval equipment will be verified in combination with the front-end arm and the enclosure.

©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2021

No.29

6.4 Development of the retrieval equipment and combination tests
6.4.1 Development of access equipment for retrieval (arm and enclosure, etc.)[Achievements for FY2021 (enclosure)]✓ The manufacturing drawings were examined in preparation for fabricating the enclosure for the verification test. (Main body andancillary equipment)✓ The arrangements of components has commenced. (Main component used for the boundary part, SUS material for the interior
equipment, etc.)✓ Manufacturing of the remotely operated cable attachment/detachment mechanism that was improved dual arm type manipulator wasstarted.
[Issues (enclosure)]With the regard to the positioning of the double door system and the rail for the retrieval arm when installing in the enclosure, it isnecessary to consider the standard setting to satisfy the accuracy requirements.
[Future plans (enclosure)]
After manufacturing is completed, the double door system will be incorporated and combination tests with the X-6 penetration
connection structure and the remotely controlled transport cart will be conducted.
Cable tray

Decontaminationequipment

Peephole made at the locations
for connector panels

Rail on which the dual arm type manipulator travels
Horizontally moving transport cart

Filter unit
installation panel
inside theenclosureSpacer for installation
Double door system(For opening/closing
arm port)
Work tray
Hydrogen measuring
equipment (Dummy)

Tool rack(For placing the fuel debris cutting andcollection equipment, etc.)

Rail on which the retrieval arm travels
Port for fuel debris containers

Port cover

Earthquake resistantanti-vibration metal
fittingSpacer for installation

Arm and dual arm type manipulator are not shown.
©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2021

No.30

6.4 Development of the retrieval equipment and combination tests
6.4.2 Combination tests of the access equipment for retrieval with the other equipment and systems[Achievements for FY2021 (Bucket type debris collection equipment)]✓ Maneuverability of the bucket type debris collection equipment cable was studied in preparation for the combination testwith the front-end arm, and it was designed so that the cable does not protrude on the outside.
✓ Installing a protective cover was considered to prevent interference while passing through narrow spaces.
✓ The structure of the equipment was improved based on the above-mentioned design.
External appearance of the equipment developed
as part of the project commenced in FY2019

Status of preparations
for the tests

Preventing protrusion bymeans of protective coverConnector

Cable

Structure for pulling up
the cable to matchthe interface forconnection with the arm

Drain hole at the bottom

Connector

Position while passing throughX-6 penetration

Position when spread out

Protective coverConsideration of installing a protective cover[Issues (Bucket type debris collection equipment)]✓ It is necessary to verify the scenario of approaching fuel debris when combined with the arm.
©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2021

No.31

6.4 Development of the retrieval equipment and combination tests

6.4.2 Combination tests of the access equipment for retrieval with the other equipment and systems[Achievements for FY2021 (Flexible gripper type debris collection equipment)]✓ A design for ensuring visibility by extending the camera outside was adopted, in order to enhance visibility when the flexible
gripper type debris collection equipment approaches fuel debris, in preparation for the combination test with the front-end
arm.
Current state
View from the camera with 1m
air space above

View from the camera with
70mm air space above

Camera ⇒ Installedon the moving arm
MirrorMoving arm

Target debris is not visible

Visible 70mm in front

View from camera expected during the combination test

Camera extension

Mirror ⇒ Removed

Laser pointer ⇒ Placed on the sides of the bucket(2 locations on
the left and right)

Study of change in position of the camera

Laser pointer dot
Visible from 1m air space above

Position can be aligned
70mm in front

Result of verification of the view from camera[Issues (Flexible gripper type debris collection equipment)]✓ It is necessary to verify the scenario of approaching fuel debris when combined with the arm.
©International Research Institute for Nuclear Decommissioning6. Implementation Details

Project commenced in FY2021

No.32

6.4 Development of the retrieval equipment and combination tests
6.4.2 Combination tests of the access equipment for retrieval with the other equipment and systems[Achievements for FY2021 (Cutting powdery fuel debris collection equipment)]✓ The design of the gimbal mechanism was reviewed in order to ensure accessibility of the fuel debris on theplatform, in preparation for the combination test with the front-end arm.

Structure before
improvement

Status of preparations
for the tests

Structure before
improvement

Status of preparations
for the tests

Adhesion pad
Rotating shaft

Cutting chamber
Since the rotating shaft is located below the focal
point, the target debris is approached in an inclined
position.
The cutting chamber cannot be set up unless it isthrust with strong force.

Rotating shaft

Issues of approaching fuel debris
Moving the rotating shaft above the focal point

Integration of the rotating gimbal in the
cutting direction with the cutting chamber[Issues (Cutting powdery fuel debris collection equipment)]✓ The scenario of approaching fuel debris when approaching the platform beam needs to be verified.
✓ The thrust and cutting performance when combined with the arm needs to be verified.
[Future plans (Bucket type debris collection equipment, flexible gripper type debris collection equipment, cutting powdery fuel debris
collection equipment)]✓ The equipment will be modified based on the studies, in preparation for the combination tests.
✓ The approach scenario will be verified and the arm behavior and debris collection performance will be confirmed through the
combination test with the front-end arm.
©International Research Institute for Nuclear DecommissioningProject commenced in FY2020

7. Summary and Future Action

No.33

Project commenced in FY2021

Summary of the scope of implementation in FY2021, and the future actions are given below.
No.

Implementation items

Summary of the scope of implementation in FY2021•

6.1

Development ofelement technology anddesign of the accessequipment for fueldebris retrieval (armand enclosure, etc.)

6.1.1 Element technology to beinstalled on the retrieval
arm

•

•
6.1.2 Element technology to beinstalled on the enclosure
for retrieval

•

•
6.2

Development of
remotely controlled
transport cart for fueldebris canisters

Remotely controlled transport
cart for fuel debris canisters

•

•
•
6.3

Update of the retrieval technology development plan

6.4.1 Development of accessequipment for retrieval(arm and enclosure, etc.)
6.4

•
•

Manufacturing of prototypes of the front-end arm such as
the horizontal offset mechanism, telescopic mechanism,
wand, etc. is being continued.
The plan for in-factory verification test of the prototypes has
been created and preparations for the testing facility havebeen completed.

Fabrication of the front-end arm will be completed,and the performance of the prototypes will beverified through in-factory verification tests.

Manufacturing of the prototype of the double door system
has been completed.
The appropriateness of the linkage function, airtightness,
restoration method in the event of a failure is confirmed bymeans of the in-factory verification test of the prototypes.

The equipment will be transported to Japan, will
be incorporated into the enclosure, andcombination tests, etc. with the X-6 penetration
connection structure will be conducted, to verify
the system.

The prototype of the remotely controlled transport cart has
been manufactured.
That the work of moving the fuel debris canisters can be
performed, or that the performance of the remotely
controlled transport cart and the maintenance method areappropriate, is confirmed.

The equipment will be transported to Japan, reconfirmation tests and combination verification
tests with the enslosure will be conducted inJapan.

The development plan is updated, the timing and points tobe focused on while reflecting the results of the verification
test of the arm for detailed investigation inside PCV, into thedevelopment plan is examined, and the details of the combi
nation verification tests on various developed equipment are examined.

The development plan will be updated as required.
The latest findings, etc. will be reflected andupdated as needed into the scenarios related togradually increasing the scale of fuel debris
retrieval.

Designing and manufacturing of the base of the arm andintegrating it with the front-end arm are being continued.
The enclosure has been designed, manufacturing is being
continued.

In-factory verification test will be conducted uponcompletion of the access equipment.
After enclosure is completed, the double door
system will be incorporated, and combination
tests with the X-6 penetration connection
structure and the remotely controlled transport
cart will be conducted.

The study of the combination test plan is being continued.
Preparations for the combination tests are being continued.

The equipment will be modified in preparation forthe combination tests.
The approach scenario will be verified and the arm
behavior and debris collection performance will
be confirmed through the combination test withthe front-end arm.

Development of theretrieval equipment andcombination tests
6.4.2 Combination tests of theaccess equipment for
retrieval with the otherequipment and systems••

Future action

Black: Desk study

Blue: Testing

Red: Manufacturing©International Research Institute for Nuclear Decommissioning