原子力発電所の事故対応および廃炉措置 のための

2015.6.29
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 2015
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M9.0
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40.5[m]
15892
27 6
2576
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M7.3
130[Km]
24[Km]
6437
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SCRAM
(SBO:
Situation of Black Out)
(15:39)
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–  1979 3 28
–  Level 5
–  1986 4 26
–  Level 7
JCO
–  1999 9 30
–  Level 4
–  2011 3 11
–  Level 7
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1 2mSv/h
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PT
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ROBOTAD
ROBOtics Task force for Anti-Disaster
(ROBOtics - Temporary Active Duty)
http://roboticstaskforce.wordpress.com/
Anchorman:
Chairman:
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PT
5
(IRS)
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2011 4 6
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JV
4/6
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11t
0
1
1
1
1
1
3
2
9
2
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1991
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Packbot
2011 4 17, 18
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iRobot
Packbot 2
70× 53×
35[kg]
18 [cm]
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Packbot
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Quince
2011 6 24
Quince
Quince
LED
500m
50m
LED
Quince
1
5
2011 10 20
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Packbot
Quince
CS
2011 7 22
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CS
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2013 11 13
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1/2号機3Dレーザースキャンによる3D環境モデルの作成
(2013年12月26日)
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2014 3
Warrior
13
14
Packbot
2014 3
21
MEISTeR
Warrior
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22
IRID
GE
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GE
4
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GE
PCV
2015 4 12
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GE
PCV
2015 4 12
2015年4月13日
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19
GE
PCV
2015 4 12
2015年4月19日
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Brokk
Brokk-90
Brokk
Brokk-330
iRobot
Packbot
Putzmeister
QinetiQ
Honeywell
T-HAWK
iRobot
Warrior
QinetiQ
Talon
Pentek
Bob Cat
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Moose
Quince
Quince 2
Quince 3
Survey Runner
JAEA-3
ROV
FRIGO-MA
4
ASTACO-SORA
Sakura
S/C
PCV
Rosemary
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IRS
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CMU
2011.4.3
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Gap
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Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 2015
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AIMARS
1983-1990
1999-2003
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JCO
(
2001)
SMERT-K
MARS-A
SMERT-M
MARS-T
SWAN
MENHIR
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JCO
2001
RESQ: Remote Surveillance Squad
RESQ-A
RESQ-B
RESQ-C
RaBOT: Radiation-proof Robot
,
:
1
Vol.19, No.6, pp.706-709, 2001.
,
:
2
Vol.19, No.6, pp.710-713, 2001.
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 2015
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50% 4
10
10
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Quince
Kohga3
Survey Runne
r
Hexa-rotor MAV
Anchoriver III
ASTACO-SoRa
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Man-Computer Symbiosis
Inspiration and Goals
J. C. R. Licklider (head of DARPA IPTO 1962)
IRE Transactions on Human Factors in Electronics,
volume HFE-1, pages 4-11, March 1960
1.  Target disaster response in dangerous
environments, and important DoD capability for
HADR (Humanitarian Assistance and Disaster
Relief) missions
2.  Advance supervised autonomy, mobility,
manipulation, and energetic efficiency.
3.  Catalyze the robotics industry by developing a
Fukushima - 2011
validated, real-time, operator-interactive
simulator.
“… close study of the disaster’s first 24 hours,
before the cascade of failures carried reactor 1
beyond any hope of salvation, reveals clear
inflection points where minor differences would
have prevented events from spiraling out of
control.” IEEE Spectrum, November 2011 pg. 36.
4.  Welcome a wide range of international
contributors including traditional and nontraditional DARPA performers from a variety of
fields.
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
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Example Disaster Challenge Scenario
X
2.11Travel1dismounted1across1rubble
X
X
3.11Remove1debris1blocking1entryway
X
X
X
4.11Open1door,1enter1building
X
X
X
5.11Climb1industrial1ladder,1traverse1industrial1walkway
X
X
6.11Use1tool1to1break1through1concrete1panel
X
X
7.11Locate1and1close1valve1near1leaking1pipe
X
X
8.11Replace1component
X
X
1
Endurance
X
Strength
Mounted1Mobility
X
Dexterity
Autonomy1–1Decision2making
1.11Drive1u6lity1vehicle1to1site
Dismounted1Mobility
Autonomy121Percep6on
Tasks
Capabilities
X
X
X
X
X
X
X
X
X
X
X
X
X
1
X
1
1
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
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Participation Options
Track A - Funded Teams design and build platform systems to participate
in Disaster Response Challenge.
Track B –– Teams develop algorithms using DARPA provided Simulator.
Disaster Virtual Challenge conducted to identify which teams will be
provided Government Furnished Equipment (GFE) Robot and additional
funding to participate in Disaster Response Challenge
Track C – Unfunded teams use Simulator to and develop algorithms and
participate in Disaster Virtual Challenge and will compete along with
Track B teams for GFE Robot and funding award
Track D – Unfunded teams develop platforms to compete in Disaster
Response Challenges
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
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Planned Schedule and Funding
2013.12
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
2014.12
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15/07/07
Further dissemination only as directed by DARPA Public Release Center or higher DoD
authority.
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OECD
• 
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OECD
2014 5
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