Nuclear Damage Compensation and Decommissioning Facilitation Corporation
The 3rd International Forum on theDecommissioning of the Fukushima Daiichi
Nuclear Power Station

Application of Remotely
Operated Technology (ROT)
under Fukushima Daiichi
D&D strategy
2018. 08. 06
Toshihiko Fukuda
Nuclear Damage Compensation andDecommissioning Facilitation Corporation（NDF）©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Contents for today"Application of remotely operated technology
under Fukushima Daiichi D&D strategy”
History of measures taken for 1F D&D strategy（Focused on remotely operated technology)
Risk reduction strategy for fuel debris retrieval andsurveys using remotely operated technology
Policy for fuel debris retrieval and way forward
Remotely operated technology for fuel debris
retrieval
1©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Overview of Fukushima Daiichi (1F) site
1F siteVolume reduction /storage

Unit 5,6

N

Solid
waste
Fuel in dry
cask

Frozen soil
wall

HIC slurry「福島第一の廃炉は、堅牢な城攻めか？！
」
1F D&Dis Siege of sturdy Japanese Castle?
プール燃料
Spent
fuel pool

AbsorbingcolumnFuel incommon pool

Fuel debris

Stagnant water

Pacific Ocean

Site area ; approx. 4.4 Mm3

1-3号機原子炉建屋
ReactorBld. 1-3 unit
2
©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

History of measures for 1F and D&D strategy
2011年

2012

3.11
▽Accident
break out

Emergency
response

2013

2014

2015

2016

2017

2018

11.18
▽Start of fuel removalfrom Unit 4 pool

12.16
▽ Coldshutdown

2019

2020

2021

2022

2023
以降

▽FD retrieval
for 1st Unit
starts▽TodayMachines from outside
Prompt action from outside of RB

Stabilization

Inside RB, survey rubble
removal, decontamination byusing off-the-shelf machines

Step 1/2
Mid-and-longterm RM
Plannedimplementation of
D&D including R&D▽R0 ▽R1▽R2▽R3

Strategic Plan ▽2015▽2016

Phase Ⅰ

Contaminated water
management

▽R4
▽2017

▽2018→

Phase ⅡSea sideimpermeable wall▽

Phase ⅢLand side
impermeable wall▽

Pool fuel removal 4u

Completion of stagnant
water treatment
▽

1u
2u

3u

Fuel debris retrieval

Policy▽Waste Management

Fundamental wayof thinking▽

Method for 1st Unit▽

Work for 1st Unit

Approach for treatment
and disposal / safety
perspective▽

3©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Necessity of remotely operated technology for 1F D&D
Feature of 1F accident and its D&D①Nearly no chance to use off-the-shelfmachines and systems②Extensive contamination and high dose
③Large damages to building/structures andscattered rubbles in-outside of Bld.
④Fuel debris scattered inside PCV, while SF
left at high location⑤Different situation at each Unit
⑥Large amount of Unknowns at site

Atmospheric Dose rate at 1st floor of
Reactor BLD Unit 3 2016/08

Dose in map

Atmospheric Dose rate at operating
floor of Unit 2 2012/06

Maximum challenge;
To secure access to the D&D site for survey
and D&D work↓

Active and effective application of Remotely
Operated Technology indispensable
4©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Example of remotely operated technology
at emergency response and stabilization

Water injection by fire truck

Remotely operated heavymachineSurvey robot

Rubble removal robot
Water discharge to spent fuel by concrete pump car

Survey(40units)

Inside RB

Decon(20units)

RubbleRemoval(24units)

Floor decontamination
robot

Inside PCVUnit 3 Pool Fuel/Inside RB of each unit

Around RB

Unit 3 Pool Fuel

Unit 1 Pool

5
©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Example of remotely operated technology
for pool fuel removal
Main demolition tool for rubble removal

Image of remote control system with disassembled
heavy machine
Remote control room
Camera at the
tip of the boom

Hydraulic Fork

Hydraulic grab
bucketHydraulic cutter

Hydraulic pliers
Remotely operated
disassembling
heavy machine

Remotely operated
disassembling heavy machine

Images of rubble removal and attached building dismantling by 10 remote control
heavy machines

Opticalcable

Crawler craneGantryGantryUnit 3 R/B

Sea side
Turbine building

Camera on
gantryDismantling
heavy machine

Communication station

Remotely operated crawler crane

Optical cable

Dismantling
heavy machine
Unit1 Unit 2
GantryBackhoe

Optical cable

Crawler dump

Mountain side
Optical cable Communication base station

Remote operation room 500 m away from the site

6
©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Risk reduction strategy for fuel debris
Fuel debris NOW
 Risk identified
 Uncertain
 Unstable Lack of enough control Threat of risk increase due to mid-and-longterm aging

 Certain stability
 Cooling maintained
 Sub criticality
 Drastic lower
releaseRisk reduction strategy on
fuel debris
Timely and safe fuel debris retrieval

Safe and stable storage of fueldebrisSecure safety during retrieval

Survey and understandingof the situation

Removal system/method①Identify damages at PCV（Survey of Torus room/inside R/B）

PCV repair method②Understanding in-reactor situation (Fuel debris distribution,
Inside of PCV)SA analysis codes, Muon measurement, PCV inside survey

Develop fuel debris retrieval method-Water level inside : flooding or in air-Access direction: top or side

7
©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

① Identify damages at PCV（Survey of Torus room)
Example of remotely operated technology
The operating floor (5F)

Ds pitDry well

Vent pipe

Upper survey device of
S/C for Unit 1
Survey device inside
the torus room

Waling survey device at thelower vent pipe

Torus room

S/C Inner side survey device

Wall surface survey
device of torus room

Wall surface survey
device of torus room

S/C Lower Outside survey device

8©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

② Understanding in-reactor situation
SA Analysis

Muon measurement

Remote survey

Estimation by MAAP/SAMPSON
ShroudUnit 1
Transformer robot

Pellets partially remain
Outer
shell

CR guide tubes
partially remains

Vessel bottom
damagedhttp://photo.tepco.co.jp/en/indexe.html

2号機 クローラ型ロボット

Deposit of
granular debris
Fuel pins
partiallyremainPart of FD solidified
not causing MCCI?

Damage of
CR tubeDispersion of
MCCI and FDIsolation valve

Unit ３ Underwater ROV
Pedestal

Guide pipe

Penetration
part of PCV
Cable drum

Cable

Alternative shield

Cable feeding mechanism
Bird’s eye view camera

Unit 2 Telescopic
Outline of telescopic tip
survey device
Survey unit

Pan/tilt camera /light

9©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Inside PCV survey Unit 1（March 2017）
Outside of Pedestal with possible scatter of Fuel Debris
Aperture
1 floor grating

Penetration partof PCV(X-100B Pene)

PCV

Self-propelledsurvey device
Water level

CRD rail
PedestalPedestal
Dosimeter &Underwater
cameraSurvey scope outside the pedestal

Scope of this survey

Spread of fuel debris (image)Assumed access route

Dosimeter & Underwater camera

Measurementpoint
On the grating
Radiationdose(Sv/h)
Lowest point
Radiationdose(Sv/h)(Height from the floor)

Representative images taken are as follows
PCV
Pedestal

Aperture
CRD rail

3/18 D0 Shooting on lowest point

3/20 D2 Shooting on lowest point

1 floor PCV section

3/19 BG Shooting on lowest point First shoot of PCV bottom closepedestal opening
 Confirm deposits at PCV, Piping etc.
 Low dose underwater, while high dosecloser to the floor
 No serious damages at existing
structures
 Next step to look into PCV floor
conditions based on images anddose data obtained10©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Inside PCV survey Unit 2（Jan. 2018）
Bottom of Platform with possible scatter of Fuel Debris
Measurement
point

Dose rate

Temperature

CRD exchange machine

Grating
shedding part①

Platform

Grating
shedding part②

Point aPCV ExternalWork area in front of X6

Intermediate
work platform

Point bPoint cAdhesion of
堆積物のsediment

付着

Max
Min

Point dPedestal inner wall

ペデスタル内壁A part of fuel
燃料集合体
aggregateの一部

Sediment

堆積物
Pebbly
小石状のsediment

堆積物

Pedestal bottom

Dose rate
Temperature

Cable tray

Grating shedding②

Falling object
落下物【Reference : Outside the pedestal】

Pedestal bottom

 Pebble like and Clay like Deposits
at Pedestal bottom Parts of FA fallen at Pedestal
bottom. Deposits nearby could
be Fuel Debris
 Higher dose rate at outside
Pedestal than inside Pedestal Next step to look into PCV floor
conditions based on images anddose data obtained11©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Inside PCV survey Unit 3（July 2017）
Survey of Inside Pedestal by Under water ROVWorker access opening
Platform flam

Shooting area C5＜Camera Orientation : Downward ＞

Shooting area C1
Turning rail bracket

Shooting area C5
Shooting area C3
Shooting area C1
Sediment (Pebble shape)＜Camera Orientation : Downward ＞

Shooting area C4

Grating

Shooting area C2
Falling object

Lower part of pedestal
Bulky sediment
Bulky sediment

Shooting area C3＜Camera Orientation : Above ＞

Pan/tilt
camera/Dosimeter

X6 PeneShooting area C4＜Camera Orientation : Downward ＞(reference) Survey in October 2015

X53
Pene

Inspection platform
Pedestal

1 floor grating

3D reconstruction from video

Direction of worker access opening

Sediment (Sandy)

Shooting area C2＜Camera Orientation : Horizontal ＞

Sediment

Measurement point

Dose

Near the PCV wall～

550㎜ from the Pene
outlet～ Sand like, Pebble like andAgglomerate like deposits bottom ofPedestal inside No direct observation at the opening
for work access, while Deposits
nearby confirmed
 Next step to study the design andprocedures of retrieval system andpointed jigs using the information
obtained on “conditions/positions ofpossible interfering structures” and“characterization/positions of FD”

12©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Fuel debris in each Unit（Estimate）
Unit 1
PCV

Unit 2

Spent
Fuel

Spent
Fuel

Pedestal

Reflection from survey in future
because of non-observation

Water Level in PCV :approx.2m

Core

Water Leakage(visual observation)●Small amount atbottom of RPV

Situations ofFD(Distribution ●Most of theestimated) amountat bottom of PCV

Water Level in PCV :approx.6m

Water Level in PCV :approx.30cm

Personal
Entrance

Personal
Entrance

Personal
Entrance
Fuel Debris

Spent
Fuel

Core

Core

RPV

Unit 3

Fuel Debris

Water Leakage(visual observation)

Fuel Debris

Water Leakage(visual observation)●Most of theamount at bottomof RPV●Part of theamount at bottomof RPV●Small amount atbottom of Pedestal●More amount atbottom of PCV thanUnit 2
13©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Fuel debris retrieval policy【Most cautious care required for fuel debris retrieval
with safety first】
１：Leak prevention
Tech. Req.
２：Lower exposure
３：Safe recovery
Integrity ofstructure(seismicity)

SF
pool

High
efficiency
filterLabor safety
Lower dose
（Decontamination
・Shield）
Gas
purification

Confinement
Development of
FD retrieval
machineWater
purification

Prevention ofrecriticality
Water level control

Retrieval Policy① Step-by Step approach② Optimization of whole D&D
work③ Combination of multiple
methods④ First priority to partial
submersion method⑤ Initial challenge to remove
horizontally from the bottomof PCVWay forward for fuel debris retrieval
Pre-Engineering

Selected and focused R&D

From R&D to actual D&D
engineering phase
14©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Image of “Step-by Step” approach for fuel debris
retrieval
Image of “Step-by
Step” approach
For insidesurveyR/B
Pedestal

Equipment
hatch

PCV
Air tight
cell forretrievalAnalyticalLab

canister

R/B

Pedestal

Transfer container

Temp.
storage

PCV
Storage
Air tight
cell forretrieval R/B
Pedestal

Add. safetysystemStorage sys.
Enlarged
access Precede with horizontal retrieval at PCV bottom
 Stepwise enlargement based on new findings withflexible planning① Inside survey
 Gather and reflect information and insights (on internal
conditions, FD distribution etc.) for the help of FD retrieval byutilizing existing PCV opening Sampling and analysis of deposits for characterization② Small scale retrieval Sampling of amount of deposits needed for FD
characterization
 As a preparation for large scale FD, continuously pick up small
amount of FD utilizing systems for survey and current safetysystem Store temporarily within buildings by fixing storage policy③ Large scale retrieval
 As a continuous FD retrieval, PCV opening is enlarged andsafety system and storage system is established. Then afterlarge scale FD retrieval is to be started.

PCV

15©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

FD retrieval strategy of TMI-2 （Reference）
Features of TMI-2 Accident FD stayed inside RPV
 Workable with FD covered withwater
 Relatively low dose upper RPC⇒Limited high contamination and working
area⇒Easier shielding and dust scattering
prevention⇒Easier access to upper RPV
Drilling
machineOperator
platform

Transfer
cask roller
platform

Defueling
Work platform

Interfaceplatform

Upper grid damage

CavityCoating of previouslymolten material on
bypass region interior
surfaces

Underwater
Drill pipe
Support structure

Loose core debris

Fuelcanister

Crust
Previously moltenmaterial

DrillcasingHole in baffle
plate
Ablated incore
instrument guide

Fuel canister
Carousel
mast

Void

Lower plenum debris
Possible region
depleted in uranium

Internal reactor

0.87mSv/h

Fuel debris removal in flood

A state of removing fuel debris
Ref.：NUREG/KM-0001, Supplement1

16©Nuclear Damage Compensation and Decommissioning Facilitation CorporationDifficulties to apply remotely operated technology
to FD retrieval
10 Challenges

1. Extremely severe radiation environment：High radiation resistance（Electronicparts, particularly camera）
2. Severe working conditions （dark, high-humidity, dust etc. ) : Lighting, Weather proof
3. Damaged structures, obstacles (rubbles, water, depositions etc.) : Avoidance and removalof obstacles
4. No logistics（electricity, communication, measuring devices) ：wired electricity supply
and information transmission, judgment of orientation
5. Long distance for access and transportation of heavy load：trade-off between long
distance for move and pay load
6. Unknown characterization of FD（hardness 、fragility etc.）:preparation of versatile tools
7. Trade-off with safety function（confinement, cooling, sub criticality, inertization,
structural integrity)：particularly entry/exit system with simultaneous confinement,
min. necessary opening
8. Remote operation from the distance; man-machine interface
9. Long term operation：high-reliability equipment, maintainability
10. Likelihood of troubles and unplanned events ：rescue functions

To overcome by;
Solution of individual challenges
Development of elementary technologies
And overall system integration17©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

Remotely operated technology at New Stage
Fuel Debris
Retrieval

New stage Ⅳ to apply remotely operated
technology to extremely high challenges
Stage ｰ Ⅱ

Stage ｰ Ⅰ

Location：Outdoor
Objectives：
・Removal of rubble,
transportation
Remote technology：
・Existing heavymachineFeature：・Emergency

Location：Inside R/B
Objectives：
・Decontamination,
surveyRemote technology：
・Small heavy machine,
robot
Feature：・Rubble, narrow
・Secure electricity,communication

Stage ｰ Ⅲ
Location：Inside PCV
Objectives：

・Survey

Remote technology：
・Small robots etc.,
Feature：・Small access・Unknown Unknowns
・Secure confinement

Stage ｰ Ⅳ
Location：Inside PCV
Objectives：

・Fuel debris retrieval
Remote technology：
・Large robots etc.
Features：・Long distance access・Keep debris shipment
and confinement
・Long reach, heavy load
・Complex system
・Long working time andmaintenanceStage ｰ Ⅰ

Stage ｰ Ⅱ

Stage ｰ Ⅲ

Stage ｰ Ⅳ

Environment

low dose rate

high dose rate

extreme high dose
rate

extreme high dose rate

Scale

large

medium

small

large

Type

mobilemobilemobile

fixed

Usage

D&D work

survey/D&D work

surveyD&D work

Periodshort~medium

short

short

long（permanent）

Develop
-ment

nil

small

mediumlarge

18©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

ROT* for FD retrieval (1）In-PCV detail survey -1
In PCV
investigationnext step
Isolation valve

Use arm type manipulator
enabling extensive survey
through X-6 penetration again

Try to understand scattering ofstructure inside of PCV anddose rate

X6 PenePedestalPedestal
X6 PeneAccess/survey device

Access/survey device

CRD rail

Draft plan for access/survey device installation in front of X-6
Move back and forth

CRD rail

Tilt axis

Pivot axis

Pedestal
opening

Tilt axis

Proposed deployment of access/survey device

Pivot axis
Telescopic

Arm type access/survey device

PCV
Measurement device

ROT*
Remotely Operated Technology©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

19

ROT for FD retrieval (1）In-PCV detail survey-2
 video動画©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

20

ROT for FD retrieval (1）Inside PCV Investigation-3
Movement route
P/A room

Cable drum

Survey device
Isolation valve
Guide ring
Installation
deviceUnit 1 access/investigation
machineUnderground transport

Survey unit
Ultrasonic range finder
Water temperature gauge
Appearance of sensor

Anchor

ROV for guide ring installation
Diameter : φ25cm
Length : approx. 1.1m
Principle of measurement Thrust : over 25N

Scanning type UT distancemeasurement

Underwater rover©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

21

ROT for FD retrieval (2）In-RPV Survey
Working cell
(Including
ventilating airconditioning
equipment

Drilling from the top
Ventilation air
conditioning
in the cell

Drilling position

The operating floor

Pollution
prevention system

Steam generator
Drilling from the top

Drilling position
Construction of access
route(Drilling technology)

A steam-water separator
In-reactor survey device(Sensor/Camera)

Drilling from the top
Drilling position

Fuel debris(Estimate)

Upper lattice plate©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

22

ROT for FD retrieval (3) Water stoppage at PCV bottom
Vent tube test

Repair/Stop water scope

Full scale test (1/8)
Full scale model (1/8 sector)
Vent Pipe

Vent Pipe

Downcomer
QuencherConfirm waterproof
performance on 1/2 scale

Inflatable bag
sealing test
Primary Auxiliarymaterial

Suppression
Chamber

Torus Room
wall
Vent Pipe stop water

Naraha Center for Remote Control Technology
Development

Remote manipulator

Vent Pipe
Primary Auxiliarymaterial

Confirm waterproof
performance on 1/1 scale

Remote manipulator©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

23

ROT for FD retrieval (4）Small scale retrieval
Insert access tool to
Penetration at PCV
located 1st floor of
Reactor Building

Small step

Retrieve FD
located bottom of
RPV horizontally

No new penetration madeat PCV and building (nostructural influence)

Separation cell for removal

No influence tocontrolling of gas, water,
criticality

RPV
Access device
Pedestal

Transfer container
PCV
Grip/Suction tool
Pedestal
PCV

CRD rail

Access device

Pedestal
opening

PCV

Move back and forth

CRD rail
Pivot axis

Tilt axis

Outside PCV

Pivot axis

Tilt axis
Telescopic

In PCV

Pedestal

Arm deployment©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

24

ROT for FD retrieval (5）Large scale retrieval-1
Summary・Large scale retrieval like boring of cluster type debris
・Criticality control, confinement (gas/liquid)
Horizontal access (example 1)

Horizontal access (example 2)
Access tunnel

RPV

Equipment hatch
Image of carrying out fuel debris

Rail

Multi-axis robot

Arm
RPV

Truck type multi-axis robot

Muscle robot

Pedestal

Carrying out

Carrying in

Working robot

25©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

ROT for FD retrieval (5）Large scale retrieval-2
Vertical access (example 1)

Vertical access (example 2)

Support mechanism

Transfer fuel debris to operating floor via DSP
Access device
RPV

Leaf spring seal

Robot arm

26
©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

ROT for FD retrieval (6) Elementary and measuring
technology
CameraRotation mechanism
Collimator

Air blow
Scanner head
Development of underwater
non-penetrating laser cutting head

Preliminary test of chisel processing

密封試験 test
Sealing

Tool plate
Development of geometry measurement
device by light cutting method

Development of a radiation-resistantimaging tube camera

Intercept simulator

Removal device

Manipulator
Equipment transport cart
Pedestal opening

Sealing
密封機構 mechanism

Element test of fuel debris cutting
and collecting tool

Development of small neutron detector

In freight seal

Cutting
切削試験 test

Cuttingblade
切削刃

Gamma camera
Development of radiation measurement
device with gamma camera

Element test of inflate seal

Element test of removal of interfering
substance in the pedestal

27©Nuclear Damage Compensation and Decommissioning Facilitation Corporation

ROT for FD retrieval (7) Packaging, transportation and storage
Design ofCanisterTo meet 1F uniquechallenges

High burnup and enrichment →High reactivity
MCCI→H2 generation due to radiolysis of water in concrete
Seawater injection and melt with I&C cables→ effect of salt, impurities

Transfer (in case of dry and horizontal access)
Reactorbuilding

Maintenance CellFD
packaging
cell

Exit
(addition)

Exit cell

FD Exist Bld.

Handling cell

Storagebuilding

Unit CanistercanDebris retrieval

Collecting andPackagingTransport
Car

Cleaning

Transport
cask

Canister to cask

Trailer

Transfer of cask

©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

28

Strategy for mockup Mockup test as V&V
 Clear definition of the mockup test through risk assessment for Stakeholder engagement for assessment of feasibility at each step of
requirement, design and fabrication
 Environmental mockup
 For the verification of total remotely operated system for FD retrieval,applicability to be confirmed at environmental mockup simulating unclear
1f site conditions
 To update environmental mockup according to new finding of in-PCV
conditions and to reduce the risks by repeating mockup tests
 To establish plans aiming at the rationalized cost and durationconsidering the unit-by-unit features and retrieval methods (horizontal,
top entry etc.)
 Training mockup
 Operators to join at the stage of environmental mockup and to conduct
training mockup effectively and efficiently to flexibly cope with emergency
conditions
 Use of 3D simulator and VR is effective for reduced mockup test
frequencies and training time.
 To define the training for operation, maintenance and improvement fromthe long term viewpoint of FD retrieval©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

29

Conclusion
 Remotely operated technology indispensable at 1F D&D due to its challenges
like its high radiation dose Active operations of remotely operated technology in place so far forinvestigation, rubble removal decontamination etc.
 1F D&D transitioned to new phase for actual fuel debris retrieval
 Fuel debris retrieval is “Castle Keep” and in a way department shop
collecting wide range of challenges requiring remotely operated technologies
 No immediate application of world available experiences of remotetechnology to 1F situations
 Remotely operated technology as well transitioned to new stage = plunged into
“Castle Keep”
 Clues to successfully apply to the actual sites
 By gather world insights, solve individual challenges and developelementary technology
 Technical development to integrate individual elementary techniques Mockup facilities to verify and improve site applicability and train
operators
 Further enhancement of program/project management is important©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

30

Acknowledgement
We acknowledge lots of information and data as follows provided by TEPCO and IRID for thispresentation.
（TEPCO HD）


Necessity of remotely operated technology for 1F D&D (images) P.4



Examples of remotely operated technology for emergency response and stabilization stage etc. (images) P.5



Examples of remotely operated technology for fuel pool removal (images) P.6



Examples of remotely operated technology for investigation of torus room (image) P.8



Information on in-reactor situation, investigation of inside of PCV of unit 3 (image) P.9,12（IRID）


Examples of remotely operated technology for investigation of torus room (image) P.8



Information on in-reactor situation, investigation of inside of PCV of unit 1-3 (image) P.9,10,11,12



investigation of inside of PCV -1,-2,-3（Image, video）P.19,20,21



investigation of inside of RPV (image) P.22



Water stoppage at PCV bottom (image) P.23



Small scale retrieval, large scale retrieval 1,2 (image) P.24,25,26

Elementary and measuring technology (image) P.27



Packaging and transportation (image) P.28
©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation

Thank you for your attention©Nuclear Damage Compensation and Decommissioning Facilitation
Corporation