The child who had a handicap in the motor function is difficult to perform autonomous mobile. Motor dysfunction not only disturbs the movement, but it becomes an obstacle on the mental development. In this investigation, we propose electric mobile support vehicles equipped with commercially available posture holding tools, in order to realize early movement experience of children. Furthermore, in order to put the model into practical use, we try to produce proposed models at a low cost.

View full abstract

Bamboo is a natural structural material that can be processed with little energy and ultimately biodegrades. The students have developed a portable ultra-lightweight and small electric vehicle; pico-EV using bamboo fiber laminated plates under project based learning. The pico-EV has a low traveling velocity and it facilitates shopping and movement. The material constants, which were necessary in the design of the pico-EV, were evaluated experimentally with reference to elementary beam theory. To increase the rigidity and strength of the parts, the laminated plates consisting of thin bamboo fiber sheets at arbitrary angles were newly developed, and used. The pico-EV echo challenge competition 2014 is introduced.

View full abstract

We are developing a hyper small compact electric motor tricycle with six AA Batteries as source of power. Now, we concentrate on manufacturing driving part of it. In this study, while using gears, chain and sprockets, a transmission device was manufactured. And, we adopted bicycle as base vehicle and maxon DC motor 148866 as actuator. There, revolving speed of motor was controlled by PWD control using MOS-FET. Next, the running test was done in order to evaluate the quality of the vehicle. As a result, in the regular run on 3^<rd> gear, the average speed was 3.36 km/h and the running time was 32'00''till energy of the battery were all consumed. As a result, we got conclusion it was suitable when the moderating ratio is about 76 on the vehicle.

View full abstract

The pico-EV Eco Challenge 2014 was held at Tokyo National College of Technology. Participants compete the 30 minutes running distance using only six small rechargeable Ni-MH (Nickel metal hydride) batteries. Fourteen vehicles with approximately 70 persons were participated. The champion was able to run approximately 3.8km. This paper will present the administration and results of the completion.

View full abstract

We made it possible to simulate the same model without switching. This simulation results are simulated with high stability and smooth even for transient state.

View full abstract

The popularization level of the electric arm prosthesis in the present Japanese market is still very low due to the high cost and the lack of function, safety, etc. Our purpose is to know how to make cost-effective electric arm prosthesis. For that purpose, we first made a simple electric arm prosthesis and tried to drive the prosthesis by a surface myoelectric signal through our own made preamp, band-pass filter and a computer controller. After the driving experiment, we thought that the application of the myoelectric signal might be one of the reasons of the high-cost constitution. Myoelectric signal is originally generated by the brain. Therefore, we may generally believe that the myoelectric signal is the signal that we should use for driving the arm prosthesis. The real surface myoelectric signal is, however, an indirect signal that is measured an alternative muscle's activity through a skin. The signal strength is very weak, that is mV order level. Therefore, we have to prepare anti-noise measures. It leads to the cost up. So we searched the alternative information. We decided to apply a balloon shaped soft pressure sensors made of silicone rubber. This sensor was developed by us to measure the inner pressure distribution of the socket of the leg prosthesis. The basic structure is that a photo-reflector was installed in the center of the silicone rubber balloon, and if the balloon is deformed by the pressure, the deformation quantity of the balloon membrane is measured by the inner photo-reflector. We install this sensor on the jacket of the arm prosthesis and measured the tension and the projection of the muscle. The noise level of this sensor is very low and we can use it very stably to drive the electric arm prosthesis. We also succeeded to apply the sensor's signal to control the opening and closing speed and grasping force of the fingers.

View full abstract

The child who had a handicap in the motor function is difficult to perform autonomous mobile. Motor dysfunction disturbs movement, and also, it becomes a disturbance for the mental development. In this study, we produce the electric wheelchair in order that a child with motor dysfunction can move independently. We aim that the disorder in development of handicapped children is restrained by actively approaching to the ambient environment and by getting various experiences. The collision avoidance system is needed, in order that a child operates it safely. This study builds the collision avoidance system which uses stop and avoidance properly by using ultrasonic sensors.

View full abstract

Intelligent cane is a robot developed for assisting the elderly or handicapped people in walking. As a nursing care device, the cane robot is designed to assist the elderly or handicapped people not only in indoor environments but also in outdoor environments. Also, the cane robot is controlled to prevent the elderly from falling over in the situation where the elderly stumbles. The elderly in the state of stumbling may fall over in forward direction. On the other hand, the elderly in the state of tandem stance may fall over in backward direction. In this paper, the fall prevention method focused on tandem stance is proposed. The motion of the elderly in the state of tandem stance is modeled as the linear inverted pendulum. The cane robot pulls the user in the state of tandem stance and complements the orbital energy so that the user can keep one's balance.

View full abstract

This paper describes effect of elapsed time for position estimation of care receiver in nursing care robot with dual arms. A lot of care givers have lower back pain due to transferring a care receiver between bed and wheelchair. Our robot lifts up and transfers a care receiver from bed to wheelchair using its two arms to reduce burden of care giver. To transfer the care receiver safety and without inflicting pain and discomfort, the robot must detect the care receiver's position. The robot has tactile sensors within arms, and the robot is able to detect the care receiver's position by touching the care receiver during lifting up motion. The sensor data prior to being lifted is the most effective for estimating the care receiver's position.

View full abstract

A series hybrid electrical vehicle with a bio fuel diesel engine generator, named as bio EV, is proposed in this paper. The diesel engine rotates an electric generator using straight bio fuels such as sun flower oil. The hybrid electric vehicle is able to run using the generated electricity. The electric generator is also able to charge the electricity to batteries. It is expected to realize a long distance running electrical vehicle, and also a carbon neutral system. This paper will present the experimental results of the bio fuel influence.

View full abstract

pico-EV is the competition of the technique of the small electric car that the students design, develop produce and evaluate by themselves. We use only 6 pieces of size AA rechargeable nickel hydride batteries as drive source. We developed the electric car produced by cardboard boxes to participate in the competition. The reason why we used the cardboard boxes is they are easy to recycle. Our car weighs about 10KG. We produced not only the body of the car but tires by cardboard boxes. In this report we explain the design of the cardboard boxes car and the process of its development.

View full abstract

A handy type position measurement system for the small electric vehicles of economy running competitions was proposed in this paper. The position measurement system has many features; lightweight and small, low electricity consumption, easy to store running data, etc. This paper will describe the design concept, how use, and the some experimental results.

View full abstract

Recently, an electric car is the focus of attention, with concerns about the environment. However, These electric cars have problems with cruising range, infrastructure building and so on. Especially, in country side, it is very difficult to develop the infrastructure for electric cars. Then, our design concept decide to make energy in simple batteries which is sold in supermarket and so on. And, our car designed only a few small batteries (unit 3 type: 6 batteries). However, if this small car are used by general, it need high level efficient for energy. In this research, we aim to reduce the resistance for eco-car. For the running efficiency of Eco-Car, we have developed a small electric vehicle of new design improvements and small electric vehicle. We report the evaluation of the running efficiency in flat road when it is played in the "Pico-EV・Eco Challenge 2014" in this paper.

View full abstract

In recent years, we have two problems for aging society in Japan. One is the problem that the elderly people are fall out of bed. This is likely to occur by rolling over. So it is reported that the care of constant attendance is required. By the way, the other is the bedsore problem of bedridden patients. The bedridden elderly people have a problem that they cause the congestion or the pressure ulcer. This is because they keep the same posture for a long time and the pressured body has been inhibited. So it is essential to change the postural of the patients. Further, the burden of caregivers is large. Therefore, in this study, as care support equipment practical, we develop an active sensing mat that is effective for prevention of the congestion and the falls from bed. In addition, we reveal the effectiveness of the proposed mat.

View full abstract

Interface device for direction presentation and guidance for walking by the visually impaired is proposed. The mechanism consists of two passive wheels aligned on the same axis, two series-connected motors and cane. Controlling the motor angles serve wheel steering and direction presentation. The mechanism has sufficiently small footprint and weighs less than 1kg. Guidance experiments illustrate the validity of the proposed system.

View full abstract

In this study, the prosthetic hand that combines the advantages of a cosmetic prosthetic hand and a functional prosthetic hand is designed and its prototypes are produced. The clearance in every joint of a finger like that in a machine is also focused on for achievement of the natural and soft movements of human being original. Several 3-dimensional CAD models of the prosthetic hand with reference to the human hand were made and the prototypes of them were produced using the 3-axis NC machine tool actually. The results of the operation tests by the manual manner show that the prosthetic hand developed in this study can pick a piece of paper on the table and grip a cylinder.

View full abstract

We are developing a portable intelligent medicine case to assist users in maintaining their good medication compliance. The medicine case is composed of a smartphone with a camera and a smartphone cover which has three storage compartments for medicine. The cover also has one plane mirror and three cylindrical mirrors. These cylindrical mirrors enable the camera to capture all the compartments by reflection. In this paper, we propose an image processing technique for object detection. This technique takes advantage of the shapes of the cylindrical mirrors and calculates coefficients of three approximated curves corresponding to the three mirrors. We confirmed that the medicine case utilizing the proposed technique was able to recognize the presence of medicines in each compartment through experimentation.

View full abstract

We conceived engine generator system independent of crank. We presented new motion method of the system and maked experimental equipment. This paper shows motion method and experimental equipment.

View full abstract

The new small servo valve for water hydraulic system was developed. Here, the mechanism is designed based on durability, low leakage and control ability. This servo valve will have high performance for water hydraulic system.

View full abstract

The development of the energy simulator of Internal Combustion Engine with Linear Generator and suggestion of the efficient driving method. We showed the possibility that the driving method was high efficiency than a crank-type engine by a calculation.

View full abstract

In this study, focusing on realization of the healthy and sustainable lifestyle, a design of the living environment is developed. Using experimental systems, which consist with actual sized/scale down sized house, renewable ener-gy sources, sensors and computers for analysis. To measure and analyze information relating the daily living such as power consumption, power generation, temperature, heliograph, weather, wind velocity, and so on, the system dis-covers relations between the design of the living environment and the several information. In this paper, constitution, analyzes and control algorithm of the living environment using scale down sized house system, which termed as Sus-tainable Emulator, is described.

View full abstract

For the independence of the elderly and reducing the burden on caregivers, METI started the Project to Promote the Development and Introduction of Robotic Devices for Nursing Care. Under the Project, robotic devices for nursing care are developed and standards are formulated to evaluate the devices, which are indispensable for commercializing the robotic devices for nursing care. I introduce SysML modeling to the system design of robotic devices especially on the requirement development considering elderlies' daily life.

View full abstract

These days, the development of ICT (information and communication technology) is expected for the contribution in the public field such as medical, caring, the welfare and education. Accordingly, the Ministry of Internal Affairs and Communications promotes "ICT citizen-based town planning promotion business". It is intended for the solution to local multiple problem, activation of the economy, creation of the employment. Itoshima City is focusing on improving administration efficiency of public transportations for elderly people who cannot drive a vehicle or residents of an area that does not have any transportation system. The vehicle that has been being produced for elderly person until now has some problems such as heavyweight, expensive cost, and it is difficult to move when the battery gave out, so only some people is able to purchase it. In this study, the model of foot pedaling type city commuter was designed and manufactured.

View full abstract

In this study, in order to develop a power assisted cart having low cost and high operability, we have developed a cart of one motor drive. It is controlled so as to have an impedance characteristic in cart by using operation force. In order to realize low cost, operation force is calculated from the angle of the movable handle, and the handle angle is measured by a potentiometer. We have mapped the relationships of operation force and the handle angle. We have assessed operability of the cart by using the SD method.

View full abstract

Many elderly people don't go outside so often because of physical motor impairment and inconvenience of public transport. One of the reasons, it is difficult to access public transport services by a personal mobility. From such a background, we suggest a four-wheel type electric power-assisted personal mobility for care prevention. In order to check the performance of mobile support equipment, we have experimented for three healthy elderly subjects (male 1 and female 2) using this equipment. The purpose of this experimental is to evaluate the physical load of user by the oxygen uptake values while they are running at Ochikata area (the roadway grade 0.9% course and the roadway grade 5.8% slope course) of Sasayama city, one of rural area in Hyogo prefecture. The new personal mobility has been suggested that elderly people support to health maintenance, public transport access and go outside. These results can be used for the development of new mobility equipment and method for improve physical ability of the elderly.

View full abstract

We conceived engine generator system independent of crank. We presented new motion method of the system and produced simulator. The simulator can measure energy of the system. This paper shows effectiveness of the method.

View full abstract

Renewable energy obtained from natural resources, such as sunlight, wind, and biomass, has low energy density and a fluctuation property. Therefore, the energy shows intrinsic difficulties; energy-harvesting and leveling the variance of production. Supposing that the time-response of energy production by photosynthetic bacteria, one of biomass, with respect to daily sunlight differs from that in case of others, the combination of renewable energies is capable to solve the energy-leveling difficulties. This study focused on the fluctuation characteristic of bio-hydrogen produced by photosynthetic bacteria. As the experimental result of bio-hydrogen production in an imitated daily-sunlight, the production profile of bio-hydrogen showed a delay of 2-4 h to that of light-intensity. This characteristic was speculated to be different from that of other natural resources and found to be modeled with 2^<nd>-order system appropriately. This model would be useful for evaluating the combination system and understanding the internal mechanism of bio-hydrogen by photosynthetic bacteria.

View full abstract

In order to use the stable biomass resources that exist in rural areas, we have developed a bio-methane production cycle system by the technology of GET system, which is a bio-methane production system from renewable energy resources in fallow paddy fields, rice straw. We develop a bio-methane production cycle system simulator in order to clarify performance prediction of this system within a natural environment, the problem of when to build. The authors, considering the system of power generation engine and the heat transfer clarify the environmental factors contribute to the methane fermentation and suggest a fusion system model of engineering and agriculture than ever before.

View full abstract

Terfenol-D, magnetostriction material, is utilized for vibration energy harvesting. A compact power generator has been built and tested for a wide range of vibration frequencies through experiments. It is found that there are certain conditions which are crucial for achieving a satisfactory performance. It also is verified that an appropriate choice of operation conditions combined with design elaboration will lead to a significant level of energy production which is considerably higher than those obtained by conventional piezoelectric materials. In another experiment, the energy harvested is stored and re-used to drive a wireless switch several times. This energy harvester is promising in supplying energy to self-powered devices such as wireless sensing electronics which may be installed at inaccessible locations.

View full abstract

To realize evaluation of nursing care robots, we propose methodology to develop evaluation tree by employees and customers. Then recording support mobile terminals along with employees and with various sensors embedded in the facilities are expected to support the visualization of situations in such collaborative and face-to-face service fields. Moreover, motivation for employees to record actions and knowledge is crucial because human-sensor and human-computation abilities are completely dependent on their proactivity. This paper describes an evaluation support methodology of nursing-care service components with both direct effects and long-term effects of actions by participatory interaction design, which we proposed previously.

View full abstract

This paper proposes a novel neural network enabling estimation of a posteriori probability for learned and unlearned classes. By defining probability density functions of unlearned classes in a Gaussian mixture model, undefined classes can be discriminated via network training using given learning samples. This method can be applied to various pattern discrimination problems such as electromyogram (EMG) classification. In the experiments reported here, the classification ability of the proposed network was demonstrated using artificial data and EMG patterns. The results showed that the method provides a high level of performance for learned and unlearned class discrimination.

View full abstract

An innovative master-slave control system for an electronic prosthetic hand is proposed in this study. The conventional prosthetic hand has not force feedback and frequent battery replacement is required. The proposal system consists of two DC-motors connected in an electric circuit, and the two motors are located at the master and slave respectively. The system is characterized by simple structure, bidirectional controllability, energy recycling, and force feedback without force sensors. Furthermore, by using smaller actuator coefficient of the slave motor than that of the master motor, speed difference is produced and the system becomes battery replacement unnecessary according to that energy regenerative charging to a battery. In this report, these characteristics were confirmed experimentally using a basic circuit. And then an experimental prototype was developed and charging to a battery was shown.

View full abstract

This paper outlines a novel method called virtual light touch contact (VLTC), which helps to mitigate postural sway of the human body during walking. The method involves setting a virtual partition around the user and estimating the virtual force caused when the user touches it. A prototype system was developed using motion-capture technology and a tactile stimulator, and experiments involving young healthy subjects were conducted during periods of standing and walking. In the preliminary experiments reported here, the values of six indices used for VLTC evaluation were significantly lower than those for normal tandem (heel-to-toe) standing. The walking experiments also showed that the RMS of acceleration for VLTC was lower than for normal walking. These outcomes suggest that the VLTC method helps to mitigate body sway and is therefore useful for walking support.

View full abstract

When an active volcano erupts, it is important to observe in the area for forecasting debris flood and/or a pyroclastic flow for inhabitants. However, typically, a restricted area is set, such as within a few kilometers radius of the crater. Therefore, we proposed an observation system based on a tele-operated mobile robot via radio communication in active volcanoes. To evaluate the system, we conducted some field tests via 3G communication in Mt. Asama and Mt. Mihara etc. During the experiments, we faced some critical situations that the robot stopped all motion because of weakness of communication signal of 3G. To solve the problem, in this research, we developed a hybrid connection system with multi-robots that is composed of two radio communication lines. In this paper, we explain how the system works, introduce our new robots equipped with the system, and report operation tests on them.

View full abstract

When a disaster occurs, there is a risk of secondary disasters for rescue crews. To use a robotic technology for search and rescue is a good solution to reduce the risk. Recent tracked vehicles for search and rescue missions have some additional actuators to improve traversability on rough terrains. However, it is very hard for operators to control such robots remotely because of the additional control of actuators. So, assist system of remote control of a tracked vehicle is effective. In this research, we proposed a method of autonomous stair climbing/descending method for a tracked vehicle based on small range sensors mounted on its subtracks. The method was implemented on one of the tracked vehicles called "Quince", and was evaluated by some indoor environments. In this paper, we introduce our system, and report the results of the experiments.

View full abstract

Once a volcano erupts, severe disasters might be caused by molten rock, ashes, pyroclastic flow, and debris flow. To keep neighborhood safety from these disasters, it is important to observe the volcano, and to conduct hazard predictions. However, when a volcano erupts, a restricted area is set in a few kilometers radius around it, and it is difficult to obtain information inside the area. Based on the above situations, in this study, we developed a self-contained portable unmanned observation device that observes a volcano for a long time. The device includes some sensors and a satellite communication module. In this paper, we introduce design and development of the device, and report some satellite communication tests.

View full abstract

Building a map of the distribution of radiation activities is needed to assist in decontamination work. The authors have proposed a method to estimate the intensities of point-like radiation sources from the radiation dose measured by moving a dosimeter in three-dimensions and 3-D map of the environment, and it was found that the accuracy of estimated distribution of radiation sources depended on the trajectory of dosimeter. To improve the problem we propose a method to plan a best trajectory of measurement of dosimeter in estimation of radiation sources. In this paper, the difference of likelihood distribution caused by trajectory of dosimeter is shown to evaluate the trajectory.

View full abstract

Increase of CO_2 and PM2.5 concentration are serious problems. The technique which measures the gas concentration in the environment is very important. In addition, today, people who require care are five million in Japan. Therefore, the technique which measures the gas concentration in room can help the people require care. In this study, small gas sensor module which enables to communicate in wireless communication is developed. In this paper, we attempted to design a small CO_2 sensor module based on solid-state electrolyte type gas sensor using CAD system.

View full abstract

Recent years, Japan is facing a "Super Aging Society". To realize care prevention, various rehabilitation and training machines are developing. In this research, we pay attention to standing motion assist. We try to control a linear drive actuator having two step operation modes depending on the load of the actuator, using adaptive learning force controller. We propose a standing assist chair using two proposed linear actuators. The one lift the chair seat up and down, another tilt the seat angle. The actuators are controlled with adaptive learning force controller to assist standing motion of the user.

View full abstract

In This paper, a mechanism of multi-degrees-of-freedom using diagonal joint mechanism is proposed, and the motion of the unit of the joint mechanism has been confirmed by simulation. Multi-degree-of-freedom using diagonal joint mechanism is constructed by connecting a single-degree-of-freedom diagonal joint mechanism. By rotating independently of the joint mechanism, it was realized the motion of bending mechanism.

View full abstract

In this research, we propose a "Rescue Stick" that enables to search avalanche victims rapidly. The Rescue Stick is used by victims buried into snow due to an avalanche disaster. In conventional method for searching avalanche victims, an avalanche beacon and a probe stick are widely used. However this method takes time to search buried victim. The Rescue Stick beneath snow can extend over a snow surface quickly by a extending mechanism, and serve a guiding mark for rescue. Because the avalanche victim uses the Rescue Stick, a searching party can find locations of victims visually and save them. The extending mechanism consists of moving pulleys, nested stages, worm gear with a high-power motor and an avalanche beacon. This paper describes a prototype development and a functional verification of the extending mechanism for the Rescue Stick.

View full abstract

We have been researching on an information gathering robot. Before a rescue team enters to save the people who encountered the damage in a disaster and the terrorism spot safely, this robot searches for a safe course for the rescue team, dangerous equipments and the victim. We have been developing a small, light-weight and portable robot which can enter narrow space. This robot has Extendable Spiny Wheels of which diameter be able to change from 0.12[m] to 0.24[m] to adapt rough terrain. In this report, we describe an improvement of link mechanism of Extendable Spiny Wheels. By this improvement, the shape of the robot became smaller than old one. And diameter of the Spiny Wheels became to be able to change from 0.09[m] to 0.25[m].

View full abstract

This paper describes about variable angle restriction mechanism for the crawler robot with passive sub-crawler. Most crawler type robots for search and rescue have been adopted the active sub-crawler in order to traverse the rough terrain. However, the mobility of the robot depend on the skill of an operator due to the complicated operation. This study propose the crawler type robot with the passive sub-crawler. The angle of the passive sub-crawler must be restricted depending on road-surface condition. Experimentation results for the simple step and stair traverse demonstrated the efectiveness of the proposed variable angle restriction mechanism.

View full abstract

Recently the studies of autonomous mobile robot are increasing. As a task of these robots, navigation of humans is considered. Such a robot needs to find people who need a navigation service. In this paper, we propose two methods to distinguish humans who need navigation services from other people. The first one is using an environment map that presents history of human activity to find humans who stand in not-often used areas. The second method is based on evaluations of human walking paths. An experiment is conducted to evaluate the usefulness of the first method at a public space. To evaluate the usefulness of the first method experiments are conducted using the proposed environment maps that are built on three different times of a day. In addition, the accuracy of the second method is also evaluated.

View full abstract

In Japan, the number of senior citizens who live alone is increasing. Even if they fell down because of illness or accidents, no one will notice it and it may results solitary death at the worst. In fact, the solitary death is one of the major social problems and many public offices are trying to prevent it. For senior citizens and their families, it is important to monitor them in distant all the time and notice it when some irregular event has happened. In this paper, we propose senior citizen monitoring system that uses thermal image sensors. We also propose the methods for estimating the availability of elder person and the degree of their activities in each room. We conducted experiments with subjects and confirmed the feasibility of the proposed system.

View full abstract

This paper proposes human behavior perception compound between passive perception and active perception. Human behavior is stored in a database for creating the life log for supporting elderly people. First, we discuss the life log system configuration based on informationally structured space, and explain robot partner for active perception and the database system that constructs informationally structured space. Next, we apply sensor network for measuring human behavior to realize passive perception, and we also apply conversation system for conducting communication between robot partner and human to realize active perception. Finally, we discuss the usability of our measurement system through experimental results.

View full abstract

Indication of place where the things are stored is needed to dictate the tidy things up to robot. If robot has knowledge of place where the things are stored, robot can tidy things up without indication of place where the things are stored. I research the method of taking the information of the place where the things should be stored by cameras in Kukanch keeping in consideration of privacy.

View full abstract

This paper describes the operability for a robot arm for purpose of the environmental measurement by using master-slave control system. The robot arm is mounted on the crawler type disaster response robot in this study. It is common knowledge that master-slave system has the intuitive operability, because the structure of master arm is the same structure as the slave arm. The evaluation method of the robot arm was performed by comparing with the master-slave and the gamepad in accordance with the manipulation task for obstacles in RoboCup Rescue. Form experimental results, we confirmed that the operator can be achieved the faster and steady achievement time by using master-slave control system for the manipulation task in disaster area.

View full abstract

When the tele-operated mobile robot went over its communication range accidentally, the operation would be suspended. We named this kind of trouble "the distress of mobile robot". In order to prevent the distress of mobile robot, it is necessary to estimate communications conditions around the robot by means of radio wave propagation simulation. It is thought that the robot by means of radio wave propagation simulation about the indoor environmental uses the model who settled a plan of building for the cause. However, plan of building may be different from true environment, because many building are given equipment, enlargements and rubble. They can obstacle to the robot and the communication. In this paper, we simulated radio wave propagation on some indoor environment models. We compared that results and considered that obstacle effects tele-operated mobile robot.

View full abstract

At the time of the Fukushima nuclear accident, the fire rescue task forces of Tokyo fire department was injected cooling water into the reactor. At the time of accident there was no unmanned radiation measurement system. Therefore, the fire rescue task forces forced to enter the disaster site without information of dose of radiation. In addition, there was no way to supervise the exposed dose of rescue workers at the command post. Therefore, each rescue workers had to manage the exposed dose by himself. The exposed dose was checked after the cooling work. Therefore, there was high risk of exceed the maximum permissible dose. In this paper, we propose attack and retreat judgment system that is consist from a rescue worker's condition management system and unmanned information gathering system for NBC disaster response.

View full abstract