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Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility

Research output: Contribution to Journal/Magazine › Journal article › peer-review

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Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility. / Nancekievill, M.; Espinosa, J.; Watson, S. et al.
In: Sensors, Vol. 19, No. 20, 4602, 22.10.2019.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Nancekievill, M, Espinosa, J, Watson, S, Lennox, B, Jones, A, Joyce, MJ, Katakura, J-I, Okumura, K, Kamada, S, Katoh, M & Nishimura, K 2019, 'Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility', Sensors, vol. 19, no. 20, 4602. https://doi.org/10.3390/s19204602

APA

Nancekievill, M., Espinosa, J., Watson, S., Lennox, B., Jones, A., Joyce, M. J., Katakura, J-I., Okumura, K., Kamada, S., Katoh, M., & Nishimura, K. (2019). Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility. Sensors, 19(20), Article 4602. https://doi.org/10.3390/s19204602

Vancouver

Nancekievill M, Espinosa J, Watson S, Lennox B, Jones A, Joyce MJ et al. Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility. Sensors. 2019 Oct 22;19(20):4602. doi: 10.3390/s19204602

Author

Nancekievill, M. ; Espinosa, J. ; Watson, S. et al. / Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility. In: Sensors. 2019 ; Vol. 19, No. 20.

Bibtex

@article{1bf16eae6bb2462b96cadbbf70f5ec15,
title = "Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility",
abstract = "The use of robotics in harsh environments, such as nuclear decommissioning, has increased in recent years. Environments such as the Fukushima Daiichi accident site from 2011 and the Sellafield legacy ponds highlight the need for robotic systems capable of deployment in hazardous environments unsafe for human workers. To characterise these environments, it is important to develop robust and accurate localization systems that can be combined with mapping techniques to create 3D reconstructions of the unknown environment. This paper describes the development and experimental verification of a localization system for an underwater robot, which enabled the collection of sonar data to create 3D images of submerged simulated fuel debris. The system was demonstrated at the Naraha test facility, Fukushima prefecture, Japan. Using a camera with a bird{\textquoteright}s-eye view of the simulated primary containment vessel, the 3D position and attitude of the robot was obtained using coloured LED markers (active markers) on the robot, landmarks on the test-rig (passive markers), and a depth sensor on the robot. The successful reconstruction of a 3D image has been created through use of a robot operating system (ROS) node in real-time.",
keywords = "robotics, nuclear characterization, underwater, submersible, ROV, 3D reconstruction, mapping, localization, vision",
author = "M. Nancekievill and J. Espinosa and S. Watson and B. Lennox and A. Jones and M.J. Joyce and J.-I. Katakura and K. Okumura and S. Kamada and M. Katoh and K. Nishimura",
note = "Export Date: 7 November 2019",
year = "2019",
month = oct,
day = "22",
doi = "10.3390/s19204602",
language = "English",
volume = "19",
journal = "Sensors",
issn = "1424-8220",
publisher = "Multidisciplinary Digital Publishing Institute (MDPI)",
number = "20",

}

RIS

TY - JOUR

T1 - Detection of simulated fukushima daichii fuel debris using a remotely operated vehicle at the naraha test facility

AU - Nancekievill, M.

AU - Espinosa, J.

AU - Watson, S.

AU - Lennox, B.

AU - Jones, A.

AU - Joyce, M.J.

AU - Katakura, J.-I.

AU - Okumura, K.

AU - Kamada, S.

AU - Katoh, M.

AU - Nishimura, K.

N1 - Export Date: 7 November 2019

PY - 2019/10/22

Y1 - 2019/10/22

N2 - The use of robotics in harsh environments, such as nuclear decommissioning, has increased in recent years. Environments such as the Fukushima Daiichi accident site from 2011 and the Sellafield legacy ponds highlight the need for robotic systems capable of deployment in hazardous environments unsafe for human workers. To characterise these environments, it is important to develop robust and accurate localization systems that can be combined with mapping techniques to create 3D reconstructions of the unknown environment. This paper describes the development and experimental verification of a localization system for an underwater robot, which enabled the collection of sonar data to create 3D images of submerged simulated fuel debris. The system was demonstrated at the Naraha test facility, Fukushima prefecture, Japan. Using a camera with a bird’s-eye view of the simulated primary containment vessel, the 3D position and attitude of the robot was obtained using coloured LED markers (active markers) on the robot, landmarks on the test-rig (passive markers), and a depth sensor on the robot. The successful reconstruction of a 3D image has been created through use of a robot operating system (ROS) node in real-time.

AB - The use of robotics in harsh environments, such as nuclear decommissioning, has increased in recent years. Environments such as the Fukushima Daiichi accident site from 2011 and the Sellafield legacy ponds highlight the need for robotic systems capable of deployment in hazardous environments unsafe for human workers. To characterise these environments, it is important to develop robust and accurate localization systems that can be combined with mapping techniques to create 3D reconstructions of the unknown environment. This paper describes the development and experimental verification of a localization system for an underwater robot, which enabled the collection of sonar data to create 3D images of submerged simulated fuel debris. The system was demonstrated at the Naraha test facility, Fukushima prefecture, Japan. Using a camera with a bird’s-eye view of the simulated primary containment vessel, the 3D position and attitude of the robot was obtained using coloured LED markers (active markers) on the robot, landmarks on the test-rig (passive markers), and a depth sensor on the robot. The successful reconstruction of a 3D image has been created through use of a robot operating system (ROS) node in real-time.

KW - robotics

KW - nuclear characterization

KW - underwater

KW - submersible

KW - ROV

KW - 3D reconstruction

KW - mapping

KW - localization

KW - vision

U2 - 10.3390/s19204602

DO - 10.3390/s19204602

M3 - Journal article

VL - 19

JO - Sensors

JF - Sensors

SN - 1424-8220

IS - 20

M1 - 4602

ER -