In-plant 3D positioning system using point cloud data for remote decontamination machine

Toshiba Corporation, a member of International Research Institute of Nuclear Decommissioning (IRID), has contributed to decontamination works throughout Fukushima Daiichi Nuclear Power Plant from outside ground to inside of the buildings. Speedy decontamination works allow workers to access and stay...

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Autores principales:	Yoshinori SATOH, Tetsuro AIKAWA, Yuji KAWAGUCHI, Naoya SAKAMOTO, Masahiro SAITO, Masayuki KANEDA, Hitoshi SAKAI
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2017
Materias:	decontamination remote system image processing 3d positioning 3d point cloud Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/498884af0abb42078032a0cbac53e5fa
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spelling	oai:doaj.org-article:498884af0abb42078032a0cbac53e5fa2021-11-26T07:03:57ZIn-plant 3D positioning system using point cloud data for remote decontamination machine2187-974510.1299/mej.16-00587https://doaj.org/article/498884af0abb42078032a0cbac53e5fa2017-06-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/4/3/4_16-00587/_pdf/-char/enhttps://doaj.org/toc/2187-9745Toshiba Corporation, a member of International Research Institute of Nuclear Decommissioning (IRID), has contributed to decontamination works throughout Fukushima Daiichi Nuclear Power Plant from outside ground to inside of the buildings. Speedy decontamination works allow workers to access and stay inside of the contaminated buildings for many hours, and as a result, all decommission works can be accelerated. Some remote decontamination machines to decontaminate the inside of the reactor buildings from a remote safe building have been developed for workers not to be radiated by high-level radiation. Conventionally, operators have remotely controlled the decontamination machine through multiple views of some remote surveillance cameras mounted on it. Because the position data such as GPS data is not available in the buildings, it was hard for operators to detect its absolute position and orientation in the building, and it took much time to recognize targets to be decontaminated. In order to reduce positioning time and make operation works easier, we constructed 3D positioning system to automatically detect the absolute 3D position of the decontamination machine in the reactor buildings from a remote safe building. Moreover, we can also keep records of decontamination works easily by tracking 3D position of the decontamination machine. This paper shows the overview of our approach of 3D positioning and a result of examinations in the mock-up facility that simulates a part of the inside of the reactor building at Fukushima Daiichi NPP.Yoshinori SATOHTetsuro AIKAWAYuji KAWAGUCHINaoya SAKAMOTOMasahiro SAITOMasayuki KANEDAHitoshi SAKAIThe Japan Society of Mechanical Engineersarticledecontaminationremote systemimage processing3d positioning3d point cloudMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 4, Iss 3, Pp 16-00587-16-00587 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	decontamination remote system image processing 3d positioning 3d point cloud Mechanical engineering and machinery TJ1-1570
spellingShingle	decontamination remote system image processing 3d positioning 3d point cloud Mechanical engineering and machinery TJ1-1570 Yoshinori SATOH Tetsuro AIKAWA Yuji KAWAGUCHI Naoya SAKAMOTO Masahiro SAITO Masayuki KANEDA Hitoshi SAKAI In-plant 3D positioning system using point cloud data for remote decontamination machine
description	Toshiba Corporation, a member of International Research Institute of Nuclear Decommissioning (IRID), has contributed to decontamination works throughout Fukushima Daiichi Nuclear Power Plant from outside ground to inside of the buildings. Speedy decontamination works allow workers to access and stay inside of the contaminated buildings for many hours, and as a result, all decommission works can be accelerated. Some remote decontamination machines to decontaminate the inside of the reactor buildings from a remote safe building have been developed for workers not to be radiated by high-level radiation. Conventionally, operators have remotely controlled the decontamination machine through multiple views of some remote surveillance cameras mounted on it. Because the position data such as GPS data is not available in the buildings, it was hard for operators to detect its absolute position and orientation in the building, and it took much time to recognize targets to be decontaminated. In order to reduce positioning time and make operation works easier, we constructed 3D positioning system to automatically detect the absolute 3D position of the decontamination machine in the reactor buildings from a remote safe building. Moreover, we can also keep records of decontamination works easily by tracking 3D position of the decontamination machine. This paper shows the overview of our approach of 3D positioning and a result of examinations in the mock-up facility that simulates a part of the inside of the reactor building at Fukushima Daiichi NPP.
format	article
author	Yoshinori SATOH Tetsuro AIKAWA Yuji KAWAGUCHI Naoya SAKAMOTO Masahiro SAITO Masayuki KANEDA Hitoshi SAKAI
author_facet	Yoshinori SATOH Tetsuro AIKAWA Yuji KAWAGUCHI Naoya SAKAMOTO Masahiro SAITO Masayuki KANEDA Hitoshi SAKAI
author_sort	Yoshinori SATOH
title	In-plant 3D positioning system using point cloud data for remote decontamination machine
title_short	In-plant 3D positioning system using point cloud data for remote decontamination machine
title_full	In-plant 3D positioning system using point cloud data for remote decontamination machine
title_fullStr	In-plant 3D positioning system using point cloud data for remote decontamination machine
title_full_unstemmed	In-plant 3D positioning system using point cloud data for remote decontamination machine
title_sort	in-plant 3d positioning system using point cloud data for remote decontamination machine
publisher	The Japan Society of Mechanical Engineers
publishDate	2017
url	https://doaj.org/article/498884af0abb42078032a0cbac53e5fa
work_keys_str_mv	AT yoshinorisatoh inplant3dpositioningsystemusingpointclouddataforremotedecontaminationmachine AT tetsuroaikawa inplant3dpositioningsystemusingpointclouddataforremotedecontaminationmachine AT yujikawaguchi inplant3dpositioningsystemusingpointclouddataforremotedecontaminationmachine AT naoyasakamoto inplant3dpositioningsystemusingpointclouddataforremotedecontaminationmachine AT masahirosaito inplant3dpositioningsystemusingpointclouddataforremotedecontaminationmachine AT masayukikaneda inplant3dpositioningsystemusingpointclouddataforremotedecontaminationmachine AT hitoshisakai inplant3dpositioningsystemusingpointclouddataforremotedecontaminationmachine
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In-plant 3D positioning system using point cloud data for remote decontamination machine

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