ロボット遠隔操作による超音波流動計測のフローマッピング手法に関する研究

抄録

At Fukushima Daiichi Nuclear Power Station, leaking water from PCVs is disturbing the removal of fuel debris. Therefore, investigating the leakage locations of the PCVs is required. In this research, we developed a system to investigate leakage locations remotely. We applied the flow vector mapping by Phased Array UVP method as a method of investigating leakage locations, and we considered that this method is possible to estimate leakage locations by measuring the flow pattern in the PCVs. In order to measure remotely using this method, we have developed a self-localization method using particle filter to estimate sensor position under water. After that, we experimented a leakage location estimation by remotely using the developed robot system, and we confirmed that it is possible to estimate leakage positions from the flow vector map we measured.