Robot Technology for Decommissioning of Fukushima Daiichi Nuclear Power Plant (IEEE-R10HTC 2015)
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September 22, 25
スライド概要
Stakeholders’ Workshop on Rehabilitation Efforts in Disaster-stricken Provinces in the Visayas, Philippines, IEEE-R10 Humanitarian Technology Conference, December 2015
東北大学大学院工学研究科ロボティクス専攻 田村研究室
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Robot Technology for Decommissioning of Fukushima Daiichi Nuclear Power Plant Yusuke Tamura The University of Tokyo [email protected] Stakeholders Workshop on Rehabilitation Efforts in Disaster Stricken Provinces in the Visayas, Philippines IEEE R10 Workshop on Humanitarian Technologies, Dec. 9, 2015
The Great East Japan Earthquake 14:46, Mar. 11, 2011 Magnitude: M9.0 epicenter cf.) 1960: Valdivia, Chile M9.5 1964: Alaska, US M9.2 2004: Sumatra, Indonesia M9.1 2011: Tohoku, Japan M9.0 strong weak Seismic intensity map http://www.data.jma.go.jp/svd/eqev/data/2011_03_11_tohoku/ 2
and Tsunami… After 30-60 min of the earthquake Maximum wave height: 40.5 m 3
Damage Situation (Nov. 10, 2015) Personnel damages: Killed: 15,893 Missing: 2,567 Property damages: Total collapse: 121,771 Half collapse: 277,846 Fukushima Daiichi nuclear disaster 4
Fukushima Daiichi Nuclear Power Station 6 BWRs in Fukushima Daiichi Unit 1 (1971-): 460MW Unit 2 (1974-): 784MW Unit 3 (1976-): 784MW Unit 4 (1978-): 784MW Unit 5 (1978-): 784MW Unit 6 (1979-): 1.10GW http://www.tepco.co.jp/en/decommision/about-f-nps/index-e.html Boiling Water Reactor (BWR) 5
Accident of Fukushima Daiichi Nuclear Power Plant Time Event Mar. 11, 14:46 Earthquake SCRAM (stop reactors) Loss of power supply Activation of emergency diesel generator 15:35 Tsunami Damage of fuel tanks and generators 15:39 SBO (station blackout) Failure of cooling system of reactors and fuel storage pool Loss of cooling water Melt down Mar. 12 - 15 Hydrogen explosion (Units 1, 3 and 4) Height of Fukushima Daiichi Nuclear Power Station grounds and tsunami (illustration) Maximum height assumption of tsunami: 6.1 m Seaside area Measures for dealing with tsunami +6.1 m high completed Reactor building Main buildings area Actual flood height nits side nits side approx. 11.5−15.5 m Maximum tsunami height 13 m above sea level Turbine building, Control building Flood route approx. 13.0−14.5 m Human height (as 170 cm) Flood route Pressure vessel Power transmission and receiving facilities Flood route Seawater pump Primary Containment Vessel 6.1 m above sea level 0 m above sea level Battery Breakwater nits nits 10 m above sea level (height of grounds) 13 m above sea level (height of grounds) Emergency diesel generator Power panel Air supply louver for emergency diesel generator Turbine building entrance Component hatch http://www.tepco.co.jp/en/decommision/accident/images/outline01.pdf 6
Explosion of the reactor building Unit4 Unit4 Unit3 Unit2 Unit1 Unit3 Unit2 Unit1 7
Dose rate map (Mar. 23, 2011)
Survey map of Fukusima Daiichi Nucler Power Station on March 23, 2011
Measured on March 20, 2011
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http://www.tepco.co.jp/en/nu/fukushima-np/f1/images/f1-sv-20110323-e.pdf
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Needs for Robot Technology For operation in nuclear power plants Missions - Stabilization of the cooling systems - Containment (Coverage of Reactor Buildings) - Decommission (Extraction of nuclear fuels) - Reduction of radiation exposure of workers Tasks - Debris removal - Surveillance and mapping outside and inside of the buildings (Images, radiation, temperature, humidity, oxygen concentration, etc.) - Instruments setup, sampling - Shield and decontamination - Material transportation - Construction of pipes and equipments, etc. … 9
Robot Technologies for Accident Response 1 Automated watering by concrete pumping truck Mar. 22, 2011 - http://photo.tepco.co.jp/date/2011/201103-j/110322-01j.html Remotely controlled unmanned construction system for debris clearing-up Apr. 6, 2011 - http://photo.tepco.co.jp/date/2011/201104-j/110411-01j.html 10
Robot Technologies for Accident Response 2 Unmanned Aerial Vehicles Apr. 10, 2011 - T-Hawk (Honeywell) Top-view of Unit 1 Top-view of Unit 3 Operating floor of Unit 4 http://photo.tepco.co.jp/date/2011/201104-j/110416-02j.html 11
Robot Technologies for Accident Response 3 Mobile Robots Apr. 17, 2011 - Packbot (iRobot) http://photo.tepco.co.jp/date/2011/201104-j/110428-01j.html http://photo.tepco.co.jp/date/2011/201104-j/110417-01j.html Entering from the door http://photo.tepco.co.jp/date/2011/201104-j/110420-01j.html Inspection of Unit 2 http://photo.tepco.co.jp/date/2011/201104-j/110419-01j.html 1st floor of Unit 1 12
Robot Technologies for Accident Response 4 Mobile Robots June 24, 2011 - http://photo.tepco.co.jp/date/2011/201104-j/110428-01j.html Quince (Chiba Inst. of Tech., Tohoku Univ., IRS) http://photo.tepco.co.jp/date/2011/201107-j/110716-01j.html 13
Robot Technologies for Accident Response 5 Decontamination Robot Nov. 28, 2013 RACCOON (ATOX) 14
monitoring posts at the site bounda Following the removal, after regul Robot Technologies for Accident Response 6 invest of anti-scattering agents and the status of rubble, removal of inte n overview Inspection robot inside PCV of Unit 1 frames will start for installing steer nducting an investigation in order to collect information on “the 1st floor grating Apr. 10 from & 15-20, ainment Vessel (PCV)” the robot2015 inserted through X-100B penetration pipe.as anti-scattering measures. CRD rail Building cover se) HVH MS pipe Reactor Building (R/B) wise route B17, ute B16, B18, Pedestal Opening B15, C11, B14, C10, B13, C9, B12, C8, B11, PLR pump C7, B9, C6, B10, PLR pipe C5, B8, B5, C4, B3, C3, HVH B4, B7, B6, C2, B1, B2, C1, C0, B0, Opening to access Basement floor X-100B http://irid.or.jp/wp-content/uploads/2015/04/20150413_e.pdf Primary Containment Vessel (PCV) Reactor Pressure Vessel (RPV) Spent Fuel Pool (SFP) 392 Water injection Counterclockwise access route (Conducted on April 10) Fuel debris Vent pipe Torus room Suppression Chamber (S/C) 1 Unit 1 15
Robot Technologies for Accident Response 6 Inspection robot inside PCV Apr. 10 & 15-20, 2015 http://irid.or.jp/research/20150203/ Shape-changing robot (Hitachi-GE Nuclear Energy) 16
Robot Technologies for Accident Response 6 Inspection robot inside PCV Apr. 10 & 15-20, 2015 Result of the inspection http://irid.or.jp/en/research/20150420/ 17
Many robots worked in Fukushima Brokk-90 Brokk-330 iRobot Packbot tzmeister e Pump Truck oneywell -HAWK QinetiQ Talon iRobot Warrior QinetiQ Bob Cat Pentek Moose 18
Many robots worked in Fukushima Remotely controlled construction machines Quince Quince 2 Quince 3 Survey Runner JAEA-3 Water Surface Inspection Robot ROV FRIGO-MA ASTACO-SORA Quadruped Robot & Inspection Robot Inspection robot for high location Sakura Robot for Measurement of S/C Water Level Inspection Robot Of upper part of S/C Rosemary Inspection Robot for Lower part of S/C Robot for Decontamination Inspection Robot inside PCV 19
Dose rate map (July 19, 2013) Fukushima Daiichi NPS Survey Map (As of 5:00 PM on July 19, 2013) Unit: mSv/h Upper part of concretefilled vertical shaft 0.25 (After gravel installation) 0.15 0.085 0.10 0.050 0.30 0.45 0.55 0.15 0.23 0.14 0.10 1.0 0.20 0.27 0.070 0.45 0.040 0.085 0.15 0.20 0.040 0.14 2.5 2.0 0.050 0.15 0.25 0.090 0.075 0.20 Bottom of side ditch 0.30 0.40 Transfer pipe 120 (Surface) 11 (Atmosphere) 30 (Surface) 0.20 1.3 (Atmosphere) Unit 1 R/B 0.32 0.32 3.1 4.0 1.5 1.3 5.5 Units 1-2 SGTS pipe >10,000 Transfer pipe 80 (Surface) 25 (Atmosphere) Transfer pipe 100 (Surface) 17 (Atmosphere) 1.0 Unit 2 R/B 2.5 Unit 3 R/B 1.0 0.40 70-100 2.1 1.1 1.1 0.65 1.7 0.55 0.60 0.35 1.0 0.21 0.28 0.7 0.75 0.45 June 2012 March 2013 July 2012 June 2013 October 2012 July 2013 July 19, 2013 0.18 0.10 Transfer pipe 80 (Surface) 7 (Atmosphere) 0.20 Unit 4 R/B 0.90 2.7 0.70 0.092 1.0 0.055 160 (Surface) 18 (Atmosphere) 0.47 0.20 0.085 0.070 0.050 0.050 0.040 0.050 Transfer pipe 0.1 (Atmosphere) 0.14 0.05 0.43 0.50 0.085 Transfer pipe 1.1 (Atmosphere) 0.17 0.30 Transfer pipe 2.7 (Surface) 0.025 1.5 (Atmosphere) 0.025 0.068 (Rooftop) 0.30 0.025 0.050 0.040 Transfer pipe 0.60 0.20 0.60 0.20 December 2012 0.12 0.70 0.20 March 2012 0.25 0.75 0.30 November 2012 0.25 4.5 0.80 July 2011 0.040 0.50 0.13 Measurement Results 0.050 Transfer pipe 5.5 (Surface) 1.5 (Atmosphere) 0.24 0.035 Transfer pipe 15 (Surface) 1.6 (Atmosphere) 0.18 0.10 20
Other achievement of disaster response robots Investigation of Building (Kohga3: Matsuno, Kyoto U.) Investigation under Water Investigating under Water (Anchor Diver III: Hirose, TITech.) (Remote-Controlled ROV: Ura, U. Tokyo) UAV (Nonami, Chiba Univ.) Mental Care in Refuge (Paro: Shibata, AIST) Mapping of the Destroyed Area (Omni-directional Camera on a Vehicle Ikeuchi, U. Tokyo, Deguchi, Tohoku U.) Assist of Heavy Load Task (Smart Suit Light: Tanaka, Hokkaido U.) 21
Removal of roof panels from Unit 1 R/B cover completed To facilitate rubble removal from the top of Unit 1 Reactor Building (R/B), removal of roof panels from the building cover started on July 28 and all panels had been removed by October 5. During this work, no significant change was identified in the dust densities of radioactive materials at dust monitors within the site and monitoring posts at the site boundaries. Following the removal, after regular spraying of anti-scattering agents and investigation into the status of rubble, removal of interfering steer frames will start for installing sprinklers as anti-scattering measures. <Example of interfering steel frames to be removed> Current Situation Building cover impermeable walls completed To prevent the outflow of contaminated water into the sea, sea-side impermeable walls have been installed. Following the completed installation of steel pipe sheet piles on September 22, these piles were connected and connection of seaside impermeable walls was completed on October 26. Through these works, closure of sea-side impermeable walls was finished and the contaminated water countermeasures have been greatly advanced. Blowout panel (closed) 構台 福島第一 安全第一 福島第一 福島第一 安全第一 安全 第一 392 Fuel debris Removed fuel (assemblies) 615 Water injection ｸﾛｰﾗｸﾚｰﾝ 1533/1533 (Fuel removal completed on December 22, 2014) Construction on mountain side completed Land-side impermeable walls Spent Fuel Pool (SFP) Water injection To facilitate the decommiss Nuclear Power Station, the J building a facility for develop control devices and equipme Development Center). On October 19, the openin ceremony was held celebrat completed construction of th research management build this center and the start of s operations. Construction of t building continues, targeting operational launch for the fo fiscal year. Cover for fuel removal Reactor Building (R/B) Primary Containment Vessel (PCV) Reactor Pressure Vessel (RPV) Opening ceremo Technology 566 Water injection 安全第一 福島第一 福島第一 安全第一 Drilling for frozen pipes <Installation> (pipes) Vent pipe 1568<1519>/1568 Torus room Suppression Chamber (S/C) Unit 1 Unit 3 Unit 2 Unit 4 Drilling: 100%, installation: 97% completed (As of October 27) * Excluding two new fuel assemblies removed first in 2012. http://www.tepco.co.jp/en/nu/fukushima-np/roadmap/images/d151029_01-e.pdf Removal of large rubble inside the Unit 3 spent fuel pool Investigation inside th To facilitate fuel removal from Unit 3 spent fuel pool, removal of large rubble is underway. On October 15, the hatch lid of the Reactor Water Clean-up System filtering desalination device (CUW F/D)(Note), a large piece of rubble inside the Unit 3 spent fuel pool, was removed, marking the removal of all large rubble on the fuel rack. After the removal, among four spent fuel assemblies located under the hatch lid, a slight distortion of fuel handles was detected in two fuel assemblies. Treatment of these Equipment to remove the CUW F/D hatch lid CUW F/D hatch lid To confirm the status inside Unit 3 PCV, an investigation inserted into the PCV on October 20 and 22 to obtain ima and temperature and sample accumulated water. No damage was identified on the structure and walls inside the PCV and the water level was almost identical to the estimated value. In addition, the dose inside the PCV was confirmed as lower than in other Units. In the next step, the obtained information will be analyzed and utilized when considering the policy 22
Roadmap Dec. 2011 Efforts to stabilize plant condition Nov. 2013 Phase 1 Achieve cold shutdown Commencement of - cold shutdown state the removal of the - significantly reduce fuel from the spent radiation releases fuel pool (within 2 years) 30-40 years in the future Dec. 2021 Phase 2 Commencement of the retrieval of the fuel debris (within 10 years) Phase 3 Period up to the completion of decommissioning measures (30 to 40 years) 23
Roadmap Fuel Removal Units 1&2 Unit 3 Rubble removal & dose reduction Unit 1 & 2: Start in FY2020 Unit 4 Unit 3: Start in FY2017 Unit 4: Completed in FY2014 Installing a Fuel-Handling Machine Fuel removal Storage and handling Fuel debris removal Storage and handling Design & manufacturing of devices/equipment Dismantling Fuel Debris Removal Units 1-3 Capturing the status inside PCV, examination of fuel debris removal method, etc. Dismantling Facilities Scenario development & technology consideration 24
Unrecoverable robots… Shape changing 25
Factors for failures in operation Prototypes (not products) - Risk assessment for failures - Testing Operation mistake - Training - Improvements of human interface Unknown environment - Advance investigation - Assumption of various situation 26
Current issues Investigation in PCV and RPV for fuel debris retrieval - Distribution of fuel debris - Characteristics of fuel debris Human Resource Development - Decommissioning tasks last for at least 30-40 years - Young researchers & engineers must be developed 27
Our current project HRD for Fukushima Daiichi Decommissioning based on Robotics and Nuclide Analysis (funded by MEXT, Japan, FY2014-2018) Target task of our project Remote control Inspection Nuclide analysis Gamma-ray CT Understanding the distribution of fuel debris Remote control Sampling Nuclide analysis Microanalysis Characterization of fuel debris 28
Our current project (1) Remote control technology - Generation of bird’s-eye view image for teleoperation - Tactile display for teleoperated manipulation - Automated construction system of robot operation platform - Flying robot with adhesion mechanism - Active scope camera into collapsed structure - Control system for underwater robot (2) Nuclide analysis - Gamma-ray CT system - Microanalysis of fuel debris (3) Education - Lecture series for graduate students - Seminars - Summer schools 29
Human interface for teleoperation Teleoperation in narrow space Normal view of teleoperation interface Difficult to understand the surrounding environment 30
Simple solution? Bird’s-eye view Camera Operator Robot 31
How to generate the bird’s-eye view image 4 fish-eye cameras Mobile robot Captured fish-eye images 32
How to generate the image Fish-eye images Perspective projection Superposition Partial bird’s-eye view Bird’s-eye view 33
Bird’s-eye view image Cameras are vulnerable to radiation 34
Fault-tolerant camera system 2 cameras 35
Irradiation test for cameras Condition: Radiation source: 60Co sealed source (γ-ray) Camera: Normal fish-eye web camera (AXIS M3007-PV) Before irradiation During irradiation (501 Gy/h) The camera broke down after 23 min irradiation (Integral dose: 192.1 Gy). * Average integral dose to break the cameras: 180.1 Gy 36
Before irradiation 4 cameras 3 cameras 1 camera 37
For Future - Transform the experience to the chance for the technological advancement - Construct international network and framework - Develop young human resources 38