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>Study of a robotic system to detect water leakage and fuel debris-System proposal and feasibility study of visual odometry providing intuitive birds eye view-
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Study of a robotic system to detect water leakage and fuel debris-System proposal and feasibility study of visual odometry providing intuitive birds eye view-
To obtain the necessary information on fuel debris and water leakages during the decommissioning task of the Fukushima Daiichi Nuclear Power Plant, an ultrasonic-based method was proposed for future internal investigation of the primary containment vessel (PCV). In this article, we describe the rotatable winch mechanism and visual localization method, which were used to aid the investigation. We used the rotatable winch mechanism to adjust the height and orientation of the ultrasonic sensor and localized the robot with cameras to localize the sensor, to provide assisting information for data combination. We studied the feasibility of the conventional visual odometry method for application to the situation and performed localizing accuracy evaluation experiments with a mobile robotic platform prototype. The results showed that the visual odometry method could generate intuitive bird s-eye-view maps, and provided an average error rate of 35 mm/1500 mm, which met the required maximum error rate of 100 mm/1500 mm for the grating movement. Experiments were also conducted with adjustable parameter ranges that could provide the required accuracy.
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机译:为了在福岛核电站退役期间获得有关燃料碎片和漏水的必要信息,提出了一种超声波的方法,以便将来的主要容器血管(PCV)内部调查。在本文中,我们描述了可旋转的绞盘机制和视觉定位方法,用于帮助调查。我们使用可旋转的绞盘机制来调节超声波传感器的高度和方向,并用相机本地化机器人来定位传感器,以提供数据组合的辅助信息。我们研究了传统的视觉测量方法的可行性,以应用于情况,并用移动机器人平台原型进行定位精度评估实验。结果表明,视觉机径方法可以产生直观的俯瞰式地图,并提供35 mm / 1500mm的平均误差率,从而达到光栅运动的所需最大误码率为100 mm / 1500mm。还使用可调节的参数范围进行实验,可以提供所需的精度。
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