NDF International Forum in the Decommissioning of the Fukushima Daiichi Nuclear Power StationIwaki, Aug. 6, 2018

Remote Technology for Decommissioning ofFukushima Daiichi Nuclear Power StationHajime ASAMA

Dept. of Precision Engineering, The University of Tokyo, Japan
Agency for Natural Resources and Energy (ANRE) and TEPCO:
Council for the Decommissioning of TEPCO’s Fukushima Daiichi NPS, member
Nuclear Damage Compensation & Decommissioning Facilitation Corp. (NDF):
Fuel Debris Retrieval Expert Committee, member
Decommissioning R&D Partnership Council, member
International Research Institute for Nuclear Decommissioning (IRID), TC member
Japan Atomic Energy Agency(JAEA): Working Committee on Remote Control Equipment and Device
Development Facility (Mock-up facility), Chair
Fukushima Innovation Coast Framework Promotion Committee, memberHajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 20181

Accident of Fukushima Daiichi Nuclear Power Plant
 Earthquake (14:47)
 Loss of Power Supply
 Activation of Emergency Diesel
Generator
 SCRAM

Fukushima Daiichi Nuclear Power Plant
Seismic Center

Stop Reactors

 Tsunami Damage of Fuel Tanks andGenerators
 SBO (Situation Black Out) (15:39)
 Failure of Cooling System of Reactorsand Fuel Storage Pool
 Loss of Cooling Water
 Melt down
 Hydrogen Explosion (Mar. 12-15, Unit1, 3, 4)
Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 20182

Current Situation of 4 Units
Fuel Debris (Melt-down Fuel)
Spent Fuel and New Fuel in Spent Fuel Pool

55th meeting of Japanese Government and TEPCO: Council for the Decommissioning of TEPCO’s Fukushima Daiichi NPS

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 20183

Mid-and-long-Term Roadmap Summary(TEPCO)

Hajime Asama
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Needs (Tasks) for Remote Technology• Water injection• Removal and transportation of rubbles, fuels (includingfuel debris), and contaminated water, etc. (Cutting,suction, handling)• Investigation, measurement, and mapping (images,radiation, etc.)• Sampling (dust, contaminated water, concrete core, fueldebris, etc.)• Decontamination and Shielding• Fixing of contaminated water leakages• Handling, transportation, removal, setup, anddismantling of devices, instruments, equipments,facilities, etc.
• Waste and contaminated water management• Dismantling
Hajime Asama
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Missions depending on phases• Phase 1: Emergent Situation– Cooling down of reactors• Phase 2: Stabilization– Containment, systems reconstruction, foraftershocks• Phase 3: Decommission– Fuel removal• Reduction of radiation exposure of workers
Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 20186

Phase 1

Procure off-the-shelf robots and equipment(for general purpose)Remotely Controlled
Construction Machines

QinetiQ Talon

Brokk-90

QinetiQ Bob CatBrokk-330

Putzmeister
Concrete Pump Truck

Honeywell
T-HAWK

iRobot Packbot

iRobot Warrior

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 20187Phase 2

Remodel developed system and technology

QuinceSakuraQuince 2

Quince 3

Gamma-ray
Measurement Robot

Rosemary
FRIGO-MA

Quadruped Robot& Inspection Robot

JAEA-3

ASTACO-SORA

Survey Runner

MEISTeR
Inspection Robot
Of upper part of S/CROV

Manipulator
for Robot Set-upHajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 20188Phase 3

New development(for specific use)

Robot forDecontamination

Inspection robot
for high location

Robot for Measurementof S/C Water Level
PCV Inspection Robot
PMORPH

Water Surface
Inspection Robot
Inspection Robot forLower part of S/C

PCV Inspection Robot
Mini Mola Mola

PCV Inspection Robot
Scorpion Robot

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 20189

Remotely controlled machines utilized forthe response of accident of nuclear power plant(Foreign Machines)
Brokk-90

Brokk-330
iRobot PackbotPentek Moose

Putzmeister
Concrete Pump Truck
QinetiQ Talon
iRobot Warrior

Honeywell
T-HAWK

Createc RISER
iRobot Kobra

QinetiQ Bob Cat

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201810

Remotely controlled machines utilized forthe response of accident of nuclear power plant(Domestic Machines)

Remotely ControlledConstruction Machines

FRIGO-MA

QuinceQuince 2

Quince 3

Survey Runner

JAEA-3

Inspection Robot for
Lower part of S/C

ASTACO-SORA

ROVTransform

Quadruped Robot& Inspection Robot
Inspection robot
for high location

Robot forDecontamination

Manipulator
for Robot Set-up

PCV Inspection Robot
PMORPHMEISTeR
SakuraUUVInspection Robot
Of upper part of S/CWater Surface
Inspection Robot

PCV Inspection Robot PCV Inspection Robot
Scorpion Robot
Mini Mola Mola
Robot for Measurementof S/C Water Level
Underwater Floor
Mobile Robot
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 2018 11
RosemaryHajime AsamaWhat have achieved so far(Successful)• Exploration, investigation & measurement– States, Spatial Radiation Dose (Level & Distribution),
3D data, etc.

• Rubble removal– On Site Field (Outdoor), Inside R/B, Inside Spent Fuel
Pool, on Operation Floor• Sampling– Dust, Contaminated Water, Core Samples
Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201812

What have achieved so far(Insufficient or on-going)• Decontamination• Water Leakage Fixing• Sampling– Fuel Debris• Fuel Debris Removal and Transportation

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201813

Unrecoverable Robots

Transform

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201814

Factors of failures• Direct factors– Communication failures– Misoperation– Malfunctions by radiation• Indirect factors– Prototypes (not products)– Unknown environment

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201815

Measures for Direct Factors• Communication failures– Combination of wired & wireless communication– Implementation of wireless com. infrastructure• Misoperation– Training– Improvements of Human Interface (situation awareness)

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201816

Concept of Bird-eye view Display••Production of Virtual bird-eye camera image by integrating Multiple
Fish-eye cameras
Obstacle detection by LRF
VirtualCamera

FrontRear

LeftRightImage
Processing
4 Fish-eye Cameras
LRF

Concept of Bird-eye View

Multiple Fish-eye Camera Images
Hajime Asama

Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201817

Outcome of the Project

Narrow Passage (Maze)

Bird-eye View Image
Hajime Asama

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Application to Robot for Decommissioning of NPSMHI Super Giraffe

MHI MEISTeR

Hajime AsamaCopyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201819

Generation of robot view from arbitrary viewpoints

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201820

Measures for Direct Factors• Communication failures– Combination of wired & wireless communication– Implementation of wireless com. infrastructure• Misoperation– Training– Improvements of Human Interface (situation awareness)• Malfunctions by radiation– Rad-hardened devices, mechanical systems (not use semiconductor)– Design of robust systems– Redundant and functionally degradable

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 20182122

Gamma irradiation experiment
The gamma irradiation was conducted in theTechnology Development Center of ATOX Co., Ltd.

Camera model : AXIS M3007‐PV
Fish-eye cameras
Radiation
source50°

500 mmRadiation source（800 mm
Camera２

Camera１
Box made withaluminum frames

600 mmCamera３

Experimental environmentCo）

600 mmCamera４

Experimental layout seen from above

2016/4/5

23

Gamma irradiation experiment : Movie
After 23 min irradiation

Camera１（malfunction afterCamera２
23 minutes）

Camera３

Bird's-eye view

Camera４

Bird's-eye view generation
corresponding tocamera malfunction
2016/4/5

24

Gamma irradiation experiment : Result(1) Camera 1 malfunctioned after 23 min irradiation（Integral dose: 192.1 Gy）

Camera２ Camera１

4 cameras

Camera 1
malfunctioned

Proposed method

Camera３ Camera４

 Camera 2 malfunctioned after 54 min irradiation（Integral dose: 141.3 Gy）
Camera２

3 cameras

Camera 2malfunctioned

Proposed method

Camera３ Camera４
2016/4/5

Gamma irradiation experiment : Result(2)25 Camera 4 malfunctioned after 82 min irradiation（Integral dose: 224.1 Gy）

Camera３Camera４
2 cameras

Camera 4
malfunctioned

Proposed method Camera 3 malfunctioned after 94 min irradiation（Integral dose: 162.9 Gy）

Camera３

2016/4/5

Measures for Other Factors• Prototypes (not products)– Risk assessment for failures– Testing

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201826

Fukushima Innovation Coast Framework
R&D bases, organization for ollaboration, human resource development in Fukushima prefecture
Fukushima U.

Aizu U.

Nihon Univ.,
Col. Eng.

Human Resource Development

Fukushima
Tech. Center

Collaboration with Industry

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 2014

Mockup and instrumentation
tools to be installed Facilities
Demonstration test area for the technique to repair a water leakage at the PCV anddevelopment and demonstration test area for the remote controlled devices areprepared in Test building
Test building(W60m×D80m×H40m)

Research
managementbuilding
Virtual Reality System

Test assembly (1/8 cut) : IRID

7Water pool

Motion capture camera

Robot Simulator
Mock-up staircase

Measures for Other Factors• Prototypes (not products)– Risk assessment for failures– Testing• Unknown environment– Advance investigation– Assumption of various situation

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201829

For Fuel Debris Retrieval andDecommissioning• Development of diverse technology (Portfolio)– Devices and robots for specific and general use– Cutting devices, manipulators, handling devices(Sampling, leakage fixing, contaminated waterprocessing, retrieval of fuel debris)– Endoscope-type Robot

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201830

Summary of Technology Diversity (Portfolio)
Needs

Basic Function

Environment/Objects

Means

Basic Environment type

AccessMobility

GroundMove by crawlers, wheels(normal, magnet), endscope

AerialMove by multi-copter, baloon, blimp, suspension-type,telescopic

Water, Underwater

Move by boat(ROV, USV), submarine(ROV, UAV)

OthersCombination, specialized

Environment conditions
Obstacles

Avoiding, pushing, clearing, climbing

Narrow space, Pipes

Passing through (active/passive)

High radiation

Radiation-tollerant

Basic Environment typeGround, aerial, underwater
Informationacquisition

Environment conditions

SensingWork(debris removal,decontamination,set-up)(samping)

Camera, gamma camera, dosimeter, laser range sensors,
endoscope

Obstacles

Image processing (counter-occlusion)

Turbidity

Soner

Water drop

Image processing

High radiation

Radiation-tollerant

Objects
Manipulation, handling,vacuuming
Cutting, scabbling
Vacuuming, cutting,manipulation, handling

Material(Rubbles, debris, shielding
Arm, gripper, vacuumer, water injection
blocks, walls/floors)
Material(Rubbles, debris, shieldingMachining tools, laser cutting devices, waterjet
blocks, walls/floors)
Material(fuel debris, concreteVacuumer, machining tools, waterjet, arm, grippercore), air, dust, sand, water

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201831

For Fuel Debris Retrieval andDecommissioning• Development of diverse technology (Portfolio)– Devices and robots for specific and general use– Cutting devices, manipulators, handling devices(Sampling, leakage fixing, contaminated waterprocessing, retrieval of fuel debris)– Endoscope-type Robot• Water proof devices• Radiation-tolerant devices• Autonomy and intelligence of remotely controlledsystems• 3D reconstruction from movies– Structure from Motion

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201832

Inspection inside PCV in Unit 3(operated by IRID/Toshiba and TEPCO)
July 19-22, 2017

Mini Mola Mola



Mola Mola(Sunfish)

Structures
MeltDeposits
Hajime Asama

Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 20173333

3D Reconstruction of Unit 3 Pedestal
 3D Reconstruction by Structure from Motion…

…

3D reconstruction using multiple images

Univ. of Tokyo

IRID, ToshibaHajime Asama

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Coming soon
• Removal of spent fuel of unit 3• Dismantling of exhaust pipe of unit 1-2• Investigation inside PCV of unit 1• Retrieval of fuel debris of unit 2Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201835

Removal of spent fuel of unit 3(2018.11-)(Toshiba, IRID)

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201836Dismantling of exhaust stack of unit 1-2(2018.12-)(TEPCO, ABLE)

Hajime Asama
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Investigation inside PCV of unit 1(2019-)(HGNE, IRID)

Hajime Asama
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Retrieval of fuel debris of unit 2(2019-)(MHI, IRID)

Hajime Asama
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For Future Development• Make use of the failure experience• Utilization of available technology– SLAM, SfM, Drones, AI (Deep Learning), IoT,etc.

• Efficiency: Systematic and drastic design
for repeating use• Common platform– From specific system development tostandardized components

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201840

Summary• Robot Tech.=Remote Tech.

– System integration– Derivation of solutions– Intelligent (not just mounting AI)• Needs to concentrate the wisdomof the world– Nuclear accidents do not happen often– International cooperation in
knowledge sharing and technology
transfer• Dissemination of the developedtechnology to other sites andapplications• Develop young human resources

Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201841

IFAC World Congress 2023
(International Federation of Automatic Control)

Venue:PACIFICO Yokohama (All‐in‐One Venue)
Dates (tentative):
July 9th (Sun) – 14th (Fri), 2023
Vision:Wa: Harmony of Traditional Culture
and Innovative Technology

Control for Solving Societal Problems
and Creating Social Values

Thank you for your attention!
Hajime ASAMA

Dept. of Precision Engineering
The University of Tokyo, Japan
asama@robot.t.u-tokyo.ac.jp
Hajime Asama
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 201843