安全性と開発効率を考慮した災害対応 ロボットの実用化の方策に関する
Contents
1. 2 02. 48 49
3. 101 A 2005 NEDO
4. 2
5. 82 83 7 JIS CE
6. 100 Bec AS eere CHS S amp S
7. 4 m 5 14 JIS JIS
8. e 4 Cem m F I Fo F F iin J s OE AE n wi A En k 4L A E ET Fig 2 1 Example of principle of safeguarding in the demonstration experiment 71 72 4 Devil River Devil river Darwinian sea EET aa i N bs m Research i Practical use gt Commercialization gt Industrializ
9. PRETO 2 5 Hig 2 4 Fig 2 4 JIS Q31000 2010 2 5 1 Fig 2 4Loop A 2 5 2 fig 2 4 a Loop B JIS Q81000 2010
10. Fig 2 8 B 1 Hig 2 8 B 2 C8 ol Fig 2 8 B 3 Fig 2 8 B 4 Fig 2 8 B 5
11. 4 60 150IGy h 300IGyl
12. 3 MATOI MATO1 RT 98
13. Fig 4 7 6 DE B AV WAI BR Ue C 60 42 lcml 200 IGy h CHO 50 cm 167 Gy h 40 lcml 236 Gy
14. 2011 73 Sewgay PT I80 Winglet 81 40 2 7
15. BELO 2 2 8 94 ae eran
16. MATOI 4 2 Table 446 ELED
17. 37 18 19 a8 rna iir uen Latis
18. BLE fe
19. Fig 2 7 Loop a Fige 2 7 OO 1 1 8 JIS B 9702 2000 A fig 2 12 a Fig 2 12 No 1 95kg JIS B 9702 2000 A No 1 c
20. 32 Third Party First Party Maker Implementer Prepare of the conformity Review of the assessment results Verification conformity Conformity Account Technical Reviewer assessment body Product development Attestation assessment A Conformity 0 assessment activity L v S d Part oe econ a ccount y p Account Supplier s declaration Supporting of conformity Customer Documentation assessment JIS Q17050 1 2 JISQ170501 1 Annex A 1 Establishing the context Third Party First Party Insurance Experiments participator Developer Researchers in university institute and company Experiment host Organaizing committee Public administration Researchers in university institute and company Public administration local government public office etc Account 2 Evaluation of safety aspect 3 Risk assessment by robot of the rule Risk assessment Developer Author with fictitious robot 3 ization Public administration police etc 4
21. 4 OR 5 1 a AIREAN EIEE NAE A NR IEN IAESTE AALEN 1 OC ie GG 1 NOME race c Sa a MU MP 1 RS JEU EOS umo EU E ouis avito a ene pei ate ee 2 1 3 1 i 6 1 8 0 DA RUD IE EE ccce dares scree tated t scu de UR OR T MAR SENSN Re 6 Ld o
22. LRS LAL 1 Table 4 1 Table 4 2 Table 4 3 Table 4 5 500IGyj Category 3 Category2
23. WAA RIDA SGL BERRA SA NEDO 19 23 BIR VY RY ICRA ETF SGI CEO KAR
24. MATOI Small Medium MATOI 2 1 2 MATOI MATOI
25. 2000 2011
26. Fig 4 10 b SICK LMS100 30 45 Gyl 1 5 c SICKLD MRS 170 210 Gy 80 LRS Fig 4 16 LK 2 MEO LMS100 Fig 4 16 A
27. 2
28. 99 10 I11 I12 13 I14 I15 I16 17 18 19 23 20 21 1 2
29. LED AA CCD 1IC TTD TID DDD DDD BPREILHS rf MSHS E FIT ici GM ccr T7 A X Le RR fa xo IRL EROO HR weI F Fig 4 1 Shielding with each radiation 102 70 4 1 2 COTS Commercial Off The Shelf iX
30. REX a 4 HNPO 68 OT ROR Ao RO Chal LS 1 Gyl 1 Sv
31. LRS Laser Range Sensor LRS
32. RTA Wit RT 1 5 2 5 13 1
33. 75 JIS Q31000 2010 5 2 VAG TE TR LE OO AT ew su EO Dc ee OVS ea dt COs 1 Oley IAT KJ as A 2 4 2
34. 1995 1999 JOC 26 27 LL RH EK CORD ODS 1 8
35. 1999 TCO 98 CCD 2011 99 Quince I84 PC 60 100 200IGyj Quince
36. RT MATOI FUMA BlackShip 4
37. 388 8S J Kiine Fig 1 30 Fig 1 3 a 39 40 41 1
38. 2 2 2 eol 22 1 2 3 4 5 4Ikm h GRE
39. 44 3 1
40. Fig 2 3 Snapshots of Tsukuba Challenge 74 21 1 Eo UM de 2 3 qv 1 75lcm 120Icml mi A 150lcml 100Ikgl 2 4 km h 3 4 5
41. Wilda Clay OCI oe vw Clay Ree Ste Ce COD JIS Q17050 1 2005 119 3 8 MATOI
42. 105 RSCC European Space Components Coordination 106 28 CPU COTS COTS
43. 5 3 JIS B 9700 1 2004 5 8 2 8 10 2 I 6 CE
44. Table 4 8 BR
45. 2011 12 8 Fig 4 6 II116 1 Fig 4 7 Fig 4 8 6 Category 1 10 IGyyhl 12 2 2 Fig 49 amp G8l122 00 HERR E UX LRS 81
46. 1 3 UGV Unmanned Ground Vehicle UMV Unmanned Maritime Vehicle UAV Unmanned Aerial Vehicle mO 24 25 1995 1999 JOC 26 27 1990460038
47. JIS OJIS Q31000 2010 64 V 2 1 2 17 2005 2005 13 65 JIS B9702 2000 I66
48. 2 C S EK
49. 37D HS 5 E 1 4 2
50. JIS Q3100 2010 1 Fig 2 5 HALAK U JIS Q31000 2010 lL Determination of the Limits of the Machinery Risk Treatment Protective Measure Fig 2 4 26 2 4 1 2 4 2 Monitoring and review E 3 Q E Ss S Q Ce
51. 22 2000 2005 JIS JIS B 0187 2005 22D wa LAG HEPAT ee ay hi Re RTTA Fig IERT NEDO 2085 9 8 5 23 LBL 2011 600 UE
52. 2 3 1 JRI FEZ Y KORE 29 JIS B9702 2000
53. C JTS Q31000 2010 Ed1 GE FE THig 2 4
54. bg T lt sah i P er ei M M T s CDD gu RV YT D gt El WSL a Fig 3 11 Snapshot of experiments in the nuclear power plant a Operator station b Test around the gas turbine generators c Test around the unit 3 turbine building 62 RH Trajectory Tow times rounds Gas turbine generators 40 20 0 20 x m Fig 3 12 The generated map based on the sensory data obtained around the gas turbine generators o Start position of the robot x camera positon and posture that the image of Fig 3 11 b was taken 3 8 RT C FUMA
55. 20 2
56. Hig 4 5 3 COTS 1 2
57. 1 EPROM BE C UI EPROM 92 RHBD Radiation Hardness By Design COTS BCH
58. FUMA 4 1 1 1 1 4 16 x x BlackShip FUMA SGI API Application Programming Interface BlackShip 3 1 1 1 7 BlackShip FUMA UT MATO1I 3
59. Fig 2 MB Y6 Fig 2 8 B 7 FAIL
60. 2 2014 12 2007 2011 1 2012 2 3 JIS Z0002 2006 Standard 18 A ETIRAZ RV
61. LMS511 LMS100 LD MRS UTM 30LX Thick wall Holefor cables Desk 3 e 30 5Gy h 200Gy h 100Gy h X 42cm lt 61cm 5 298 3Gy h 153 6Gy h 3 Fig 4 6 Layout of devices and experimental facility 82 5 Top 4 Right Ami 6 Front 3 Left 1 Under Fig 4 7 Experimental set up Left Change of irradiation direction Right location of A
62. SICK LD MRS ee ae 50 Gy h amp 100 Gy h Under amp Top Lear Right F admin op e Hui MN i LRS r D cian Nectar BRE inia i
63. 54 65 Fig a 1 Hig a 1 tin AE SD Ail Cao oe 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
64. Fig 3 9 MATOI L LRS Fig 3 10 Positon Corrector GyroOdometoryy me MATOI GyroOdometory Hig 3 6 Route2 Gyro 58 Odometory CHA L Positon Corrector Fig 3 10 Route 1 for experi
65. JIS Q17050 1 2005 KYM JTS B9700 1 2004 9
66. mes L 3 ET 1
67. 2 3 2 REJ RO ERR JIS B9700 1 2004 55 3 55 DLE 5 6 LC
68. RESQ A A B 26 271 8 2 2 4Ikm hl vici cei diii iiic iudici A iain 2011 LIRR BARA ERO AR V eae PackBot Talon 49 3 3 2 MATOI 3 3 1
69. ERPROM EX Hig 4 15 Fig 4 15 LRS 25x
70. JIS Z8051 2004 ISO IEC Guide 51 1999 Risk communication JIS Q31000 2010 ISO 31000 2009 8 EMIT SD EVE ORS SDE O rad rad
71. A 5 1 2 COCN 1991 5
72. 79 EF 99 OH GC Ate Ck oO UA Ss oS Pe OCF eo wea
73. 2 C
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75. Oe AA 96 Table 4 8 The necessary policy for the development of disaster response device radiation resistance Industrial Space Aircraft Defense Nuclear Disaster response field equipment equipment equipment power robots Evaluation established established established established Manufacturer of non established method j know how Cooperation with om cet many many research institutes 1 Customized dedicated dedicated dedicated dedicated ce MON platform platform j platform platform electronic components volume Component ble h ble h ee n Loy ximatel Market size approximately approximately approximately app id in J 026 triti 14 trilli 2tilli APR E in Japanese 26 trillion yen a rillion yen rillion yen la aD ready made 4 4 C LRS
76. RT 2011 2013 PERS AARIRG 2014 MOT tE pp 13 37 2004 B M Lewis National Innovation Systems and US Government Policy International Conference on Innovation in Energy Technologies NIST 30 9 2003 Online Available http www oecd org dataoecd 20 16 16454388 pdf Accessed 8 9 2014 BGR vol 56 no 9 2001 Masaharu Shimizu Nobuyuki Kita Toshihisa Saito Eijiro Takeuchi Yusuke Nakajima Naohito Takegawa Hiroki Igarashi Yasuo Hayashibara Hideaki Yamato Kengo Toda Takayuki Furuta Makoto Mizukawa The Joint Interface of RT Components for Mobile Robots The Activity Report Inform the Mobile Robot Working Group of the NEDO Intelligent RT Software Project Journal of Robotics and Mechatronics Vol 22 No 6 PP 767 776
77. b RET DERSLE E 6 45 1990
78. 1 2 3 vol 32 no 5 pp 473 480 2014 6 2 Kazuyuki Kon Hiroki Igarashi Noritaka Sato Tetsushi Kamegawa Fumitoshi Matsuno Development of a Practical Mobile Robot Platform for NBC Disasters and Its Field Test Proceedings of The 12th IEEE International Symposium on Safety Security and Rescue Robotics 2012 SSRR2012 2012 3 4 Hiroki Igarashi Kazuyuki Kon Fumitoshi Matsuno Evaluation of sensors for mobile robots based on irradiation experiment Proceedings of 2012 IEEE SICE International Symposium on System Integration SIT2012 pp 212 217 2012 12 4
79. B RT 4 1 1 KX CHEN RE THig 4 1 TODA ETA EART A dni
80. MATOI1 RTFMiddleware RT Component RTC 93 92 EK RTC RTC IS 94 MATOI env dotenv
81. fb Fig 1 4 Fig 1 1 Fig 1 4 Fig 1 4 Fig 1 4 KE Research Development Production Marketing
82. 2 SEL Single Event Latch up SEU Single Event Up set 101 100 TID Total Ionizing Dose MOS s 107 101 100 DDD Displacement Damage Dose
83. 5 35 36 D Eset TI ARR COCN Council on Competitiveness Nippon K
84. A C RT MATOIT E ZIP RIAA ic OOK Ce Co es ee 66 4 AE Cll 4 2011 3
85. 32 a Livelihood Support b Social support Home robot amusement robot Guidance robot Cleaning robot c Medical robot d Disaster response Maintenance Rehabilitation robot Communication robot Fig 1 1 Example of service robots a 33 34 35 b 36 37 38 c 39 40 41 a 21 42 43 VP i GPSEDER cdi mguu Ex Hj oR RI RERO Eumizlramuedukx a Unmanned construction system we qt UM zn Hg Eu CY f neoo SE an Toucan IMORONIS p neater d Unmanned anti disaster system R amp D project NEDO Fig 1 2 Example of Disaster response robots a 33 b 29 c 30 d 34 1 3 1
86. Ge BED UI scq Ec 0 SEERBUZRZ y HZ 4 0f 46 Hic Be ER RARE UCBRUT PackBot 29 Talon 30 PR2 WillowGaragett 88 l X ROS Robot Operation System LAL NBCK EN E Table 3 1 Comparison of uses and features of existing mobile robot platforms 3 3
87. MATOI 3 Fige 8 4 1 PTZ Pan Tilt Zoom Camera 2 IAAT CHS 3 xm MATOI 3 LRS Laser Range Sensor LMS 500 SICK LD MRS SICK S300 SICK LEGACY E F GPS Global Positioning System MATOI
88. 60 4 150IGy h 300IGj COTS KE 97 5 1 amp EO ELT
89. 100 m x 50 ml MATO1 2 0 m s Fig 3 11 Fig 3 11 b fig 3 12 97 Fig 3 12 SegwayRMP400 MATOI FEOG SLAM Simultaneous Localization and Mapping RT MATOI 61 MATOI
90. 200 Gy Phase3 8 3 Fig 3 3 b 4 Fig 3 3 b GIS MC Du o0 Phase 1 Phase 2 Short term a mBasic Features 1 e Tele operated control Taking pictures and videos and sending them online Middle sized robot Equipment Based on Segway RMP400 mBasic Features 2 e Autonomy Obstacle detection and avoidance Monitoring Radiation measurement mI xperiments E Robotic Tech Middlewere Ww RT Middleware mAbilities j Implementing additional equipment eCarrying up to181 kg eSupporting workers uu ul l1 S M i Packaging i Link Disclosing and providing as open source Phase 3 Medium to l
91. 2600 MXATOI Oo PC A Web ie MATOI FOG Fiber Optic Gyro HOFG OLC GPS 91 92 Table 3 3 Device specifications on MATOI Device Specificarions Size 790 x 530 x 1110 mm Speed Max 29 km h Segway RMP400 Battery Lithium Ion Running distance 16 24 km Operation Time Max 8 hl ADVANTECH ERU Intel Core i7 2 53 GHz PC Apgk s440 RAM 4IGB OS Linux Size 30 x 104 x 130 mm PTZ Camera AXIS 218ptz MOeor 704x576 30 lipsi Zoom x 26 Network camera Mobile Platforom Measuremet ditance 65 m LRF 1 SICK LMS 500 Scan angle 190 Laser measurement sensors IMeasuremet ditance 0 3 50 m LRF 2 SICK LD MRS Scan angle 85
92. Practical use Commercialization Industrialization Innovation S J Kline 39 103 Experiment C
93. PackBot 31 5 OF OFF
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95. 52 53 ER
96. 85 1 L 2 3 ae 4 X
97. 10 107 JAXA 71 Web 108 78 E CABAL TVS 109
98. 8 Fig 3 2 Phasel 1 RUSSE yw eed E A SegwayRMP400 80 RTM Robot Technology Middleware 10 Phase2 2 1 MATOI 1 Fig 3 3 a 2 Fig 3 3 3 IP67
99. 2001 Ke Nagatani Seiga Kiribayashi Yoshito Okada Kazuki Otake Kazuya Yoshida Satoshi Tadokoro Takeshi Nishimura Tomoaki Yoshida Eiji Koyanagi Mineo Fukushima Shinji Kawatsuma Gamma ray irradia tion test of Electric components of rescue mobile robot QUINCE Toward emergency response to nuclear accident in Fukushima Daiichi Nuclear Power Station in March 2011 Conf on 2011 IEEE International Symposium Safety Security and Rescue Robotics SSRR2011 pp 56 60 2011 1 2012 HIREC 2 2013 116 102 103 104 105 106 107 108 109 110 111 112 113 114 Available http www fepc or jp 5 12 2014
100. L LED CCD 1C TITD TID DDD DDD 101 100 108 10 2002 2002 RT 2006 RES 2009
101. Eee Wee 2014 21 2009 21 2010 22 2011 GQuince pp 26 32 2012 24 2013 JIS B0187 2005
102. Loop a Cd Loop b Loop a EL Loop
103. MATOI Quince UGS Unmanned Ground System fe UGV Unmanned Ground Vehicle CH 1Ikg FRY 2004 90 Fig 83 1 PackBot Quince Small Light 2001 281 MATOI Small Medium
104. S P F 1 2 78
105. 71 4 2 76 ADA A aa gD iL St m 76 D AG OI E 77 RECS Uc i 78 AWO a 80 EID gk STER ERREUR THEE 84 2 Mol Dp ee Tc GG 85 ZW Eccc LM ere 91 II 95 eo 96 5 97 im o M 97 SIE ha pi A ore CE eT A OR OE ee ar 98 A 101 REB FP a sk a etae repaid erdua toa Gore o Deep e aaa A doe Beds osten tdsacs NOP 1V X Fig 1 1 Example of service robots 4 Fig 1 2 Example of Disaster response robots 5 Fig 1 3 Innovation process of linear model and Chain lined model 49 9 Fig 1 4 Positioning comparison of each failure and the COMMENCIANZ AVION SPP Goss b a ete A os olds 10 Fig 1 5 Positioning of each process and service robots in Fig 1 1 11 Fig 2 1 Example of principle of safeguarding in the demonstration experiment 80 81 lt 18
106. oh FAIS Z COTS 103 104 L COTS NASA The National Aeronautics and Space Administration NASA F JPL Jet Propulsion Laboratory Br NSREC Nuclear and Space Radiation Effects Conference IRPS International Reliability Physics Symposium
107. 2014 2014 2011 10 Hos no 740 pp 48 51 2011 NEDO Available http www nedo go jp news press AA5_100176 html 5 12 2014 2013 2010 A Jacoff E Messina H Huang A Virts A Downs Richard Norcross Standard Test Methods For Response Robots ASTM International Committee on Homeland Se curity Applications 2011 S J Kline INNOVATION IS NOT A LINEAR RESEARCH MANAGEMENT vol 28 no 4 pp 36 45 1985 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 111 8SJ EXER 7
108. Lik UK Fig 2 11 69 Fig 2 11 38 LDL 2 2 2 5
109. RTC X 3 1 55 223 2 MATOI 3 RER OO PTI RTC Hig 3 5 Fig 3 5 1 2 ES ButtonConverterO 4 GamePado 6 LMS5xx0 13 F 0110 Fig 3 5 System configuration based on RTCs for basic functions in Phase 2 7 LD MRSO GpsInformationProcessingO i CoordinateTransformationO 3 5 2 1 GUI RTC RTC RTC RTC
110. 3 R COARal MATO1 4 xcu
111. JIS B9002 2004 A ERR JIS Q17050 1 2005 LBL
112. JIS B9702 2000 JIS Q31000 2010 JIS B9702 2000 JIS B9702 2000 1 Fig 2 6 Hig 2 7 V fig 2 8
113. 129 24 2 4 2 4 1
114. 92 RTCQ3 RTC LaserScanner 95 93 3 6 Fig 8 5 o1 3 6 1 1 Hig 3 6 240 m MATOI LAN Fig 8 74 GUI GUI
115. A 16 NIST OB M Lewis 71 48 42 144
116. RTC LaserScanner RTC 6 GPS RTC 8 91 RTC 10 SegwayRMP400 RTC IIS 19 RTC 3 5 3 2 RTC RTC RTC RTC 11 12 GyroOdometry 11 RTC PositonCorretor 12 LaserScanner GPS
117. I76 CBR AeA JIS Q17050 1 2005 77
118. JIS Q17050 2005 41 JIS 7
119. 2 Sensor Fig 4 15 Sunshade and Weather protection 117 93
120. Fig 1 2 a 2011 3 11 2001 9 11 28l 2001 PackBot iRobot tt 29 Fig 1 2 b Talon QinetiqfE 30 Fig 1 2 cC UGV UGV RoboCup UT 2000 IRoboCup Rescue League A
121. KE Ye 4 106 FAL A EE
122. 3 TERT OBA NOH VP ESCTR SEL C V V 4
123. JTS B9702 2000 ANo 1 d No 1 UT El s eH b L5 Fig 2 9 MG OLE eC 96 Fig 2 10 Rua JIS B9700 1 2004 83 2
124. LD MRS Fig 4 16 B 7 A ASEHAESANCER ULCd20 94 Noise rate 96 Noise rate M 50 100 150 200 50 Gy h Total dose Gy A SICK LMS100 809 700 BH 50Gy h 100Gy h bg 0040 c 6011 21 oo oo 11 1I bg Fg gt 40r bu eS IN 002555 AEEEEEEEA 2 i 0 B H ez 20h wx ee SET IA nn 0 50 100 150 3200 250 300 100 Gy h Total dose Gy B SICK LD MRS Fig 4 16 Experimental setting of the sensors 95 4 3 5 A Fig 4 5 COTS
125. 2 25 1 42 4
126. S 1 Sv 100lrem 1 Gy 12 v k Sv 100 rad 1 Gy 106 Total dose Gy Ikg J kg 1 Gy 1 J kg Absorbed dese rate Gyyh 1 Gy h COTS Commercial Off The Shelf SEE Single Event Effect 1 RT
127. 2007 67 ISO13482 2014 121 CU CUN 2007 2011 2 1Real World Robot Challenge
128. LMS511 190 1 0 25 0 5 1 1 760 190 LMS511 1 10 ml HA Clr 25 mml 10 20 m ai Clk 35 mm 1 10Iml 7 mm 10 20 m 9 mm 7m LMS511 9Imml 83 27Imml 4 3 2 COM ping
129. 1 13 fig 3 5 RTC GUI1 RTC RTC MATO1I PTZ LaserScanner GUL 56 RTC 2 5 RTC GamePad 3 ButtonConverter CommandSelector TOD DeviceControl RTC 6 9
130. 6 6 2011 7 Available http diamond jp articles 12565 5 12 2014 Available http council rt tsukuba jp 5 12 2014 BEE vo1 32 no 5 pp 473 480 2014 pp 260 267 2006 JIS Q1000 2005 JIS Q17050 1 2005 1 2004 11
131. Demonstration experiment Pilot program Societal implementation Safety ISO IEC Guide 51 1999 JIS Z8051 2004 Risk ISO12100 1 2003 JIS B9700 1 2004 L AI State ofthe art Tolerable risk ISO
132. ide E 78 OT R 8 HE mn DES 10 6 3 1 P 6 4 2 1 REHE Fit MZ 4 8 2 1 R 20 183 IV 12 9 8 6 NVI 5 1 FACE
133. 101 1 SEE Single Event Effect 1 hr PP 2 TID Total Ionizing Dose MOS 69 3 DDD Displacement Damage Dose
134. 6 NEDO 2014 2014 110 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 UnmannedSystem 2014 di vo1 82 no 2 pp 154 161 2014 ERIE vol 53 no 3 pp 89 91 2003 2011 R R Murphy Trial by fire rescue robots Robotics and Automation Magazine IEEE vol 11 pp 50 61 2004 Brian M Yamauchi PackBot a versatile platform for military robotics Defense and Security International Society for Optics and Photonics 2004 pp 228 237 2004 QinetiQ Robots Online Available https www qinetiq na com products unmanned systems talon Accessed 5 12 2014 vol 32 no l pp 37 41 2014
135. Fig 2 7 7 Hig 2 7 ds 28 JIS B 9702 2000
136. 54 AO Hig 2 1 JIS B9700 1 2004 55 053 2 33v C 16 Cic 2 1 1 56 57 GLP
137. 1 3 GCP 58 GMP 59 60 61 GCP 3 62 1631
138. 2007 tS BIC SVC JIS JIS 130 42 YES Y 9 Z Ws Z RKN BT SI DEER AEA IB AG M p M GC 7 Sx 714 B COSE Bx ICPE NANE Te KIM Xd 3 BUE aX E 6 3 22992 3 VV 460 BEIT Y Y X ADM x e 4 xs 3223 i SEL BES c ANRI NIEZ RCH ee j n soa queuissosse YSTI Jo o durexo uy RE SHE IEG LIES ALI BELNET IHM CO SE HI H1 C P LIE 818 Co 036 18 IE HEC OB Wird teh ae ye 34083466 2 amp amp SEE IL E v Iie SS a Cr 53k ONS L Z 83 DI C 36 ce S5 5 CO UICE CO v if Et S NA BASSE y i YES Y YE Y G CH CE L c 914 GE GCSE se TIO os S24 Co UC HOV OVO O d sns di fu asja als 539 CSI SE Se REB Fr GU HHO 28 03 HS CH cx TT Hed lg x ONG nare WP 3 Co Y EES px 277222 hws KIIP IH VEBIIZHS SEO FhIAICPS BTS HE PIA 1240 CO Seay 14 eee CHEERS CO RE ES S 2 1 St Be cS CO UL t 9 L Z 34 EY OMS CO last GL 3 av GON G STH ALY Lgreoxes n grex BY JEE 0 571 Oe cgay vCtmticucaossg cO St 4U Np CO RU ch EE 3C ETEC S CU d ONLO 70381 G
139. 2012 2 MU FES NEDO
140. 83 3 step method JIS B9700 1 2004 ISO 12100 1 2003 1 2 3 Standard 105 JIS 20002 2006 ISO IEC Guide 2 2004 Standardization DO JIS Z0002 2006 ISO IEC Guide 2 2004 Risk management JIS Q0073 2010 ISO Guide 73 2009 Risk assessment
141. LaserScanner Fig 8 7 a co LRS 9 2 GUI E SLAM Simultaneous Localization and Mapping 96 Fig 3 8 SLAM DP SLAM 97 Fig 3 8 3 6 2 2 Fig 38 6 env Fig 3 9 2 5 1 9Ikml
142. MATOI MATOIL 3 3 1 B Quince PackBot MATOI AT 1 2 3
143. Table 4 1 a Hig 4 2 UL 10 Gy h 2 20 Gyj 1 Gy h 10 Gy h 2 40 Gy h l 80 IGy h 200 IGy Table 4 1 A CCD ARH CPU 20 Gy 10 Gy h x2 h Quince PC OT 60
144. 40 25 9 7 Fig 4 4 RARE Table 4 3 2001 10 Sv h Gy h 2 10 10 10 000IGy finite 111 112 73 Table 4 1 Experimental results 1n the previous studies A MSTC B Tohoku UNIV et al From Experiment A Sansa Total dose Absorbed dose Gy rate Gy h CCD Camera total of 4 camera Infrated Camera LO o 40 80 1 0 2 CPU board 100 Laptop PC 23 93 total of 4 PC Experiment B Sensor LES Total dose Absorbed dose Gy rate Gy h IUUD 40 5 ee L0 2M UM 6 o5 Fig 4 2 Experimental by A MSTC 98 T4 a Tracked vehicle Quince b Device configuration for Fukushima version gamma ray irradiation test
145. MATOI SegwayRMP400 181Ikgl 8 Table 3 214 MATOI MATOI 52 Table 3 2 Specifications of MATOI WxLxH mm 760x1120x610 Weight kg 109 Speed km h 0 30 Range km 16 24 Max pay load kg 181 A dust and water proof IP67 Radiation proof Gy 200 Control mode 4WD tractor mode Communication Wire Wireless LAN Drive batteries Four Li Ion Packs 3 4 2 MATOI Table 3 3
146. pp 1710 1713 2010 Segway Inc Segway The leader in personal green transportation Available http www segway com 5 12 2014 Winglet Available http www toyota co jp jpn tech personal_mobility winglet html 5 12 2014 TEM Hu 114 83 84 85 86 87 88 89 90 91 92 93 30 RSJ2012AC302 3 2012 1999 E Rohmer T Yoshida K Ohno K Nagatani S Tadokoro E Koyanagi Quince A Collaborative Mobile Robotic Platform for Rescue Robots Research and Development Proc of Int Conf on Advanced Mechatronics pp 225 230 2010 AAG vo1 14 no 1 pp 14 17 1996 MobileRobots Inc Intelligent Mobile Robotic Platforms for Research Development Rapid Prototyping Available http
147. THig 2 12 No 4 JIS B9700 1 2004 Fig 2 11 Risk assessment shown 1n result were based on Fig 2 5 2 6 2 Hig 2 8 2
148. pp 16 36 1992 A 1976 2004 ARR 2 BP pp 10 43 2003 MOT pp 15 22 2014 PRR ECR WME 10 pp 1 16 2006 BREH KWE KARE AIBO vol1 21 no 1 pp 55 56 2003 Intuitive Surgical Intuitive Surgical Inc da Vinci Surgical System Available http www intuitivesurgical com 7 Z AH 4 12 2014 DARPA DARPA Robotics Challenge Available http www theroboticschallenge org 5 12 2014 21 2009 National Institute of Standards and Technology Standard Test Methods For Response
149. 68 169 A 3 701 Hig 2 2 1 JIS Z0002 2006 Standardization
150. 1 Shin Hayato Kazuyuki Kon Hiroki Igarashi Yuichi Ambe Kim TaeHyon Yamasaki Ryuta Satoshi Toyoshima Sohei Hanamoto Noritaka Sato Tetsushi Kamegawa Fumitoshi Matsuno Hardware software integration of a practical mobile robot platform Proceedings of 2011 IEEE SICE International Symposium on System Integration SII2011 pp 1263 1268 2011 12 1996 4 2000 3 2006 10 2013 3 2001 6 2002 5 2009 10 2013 3 HE 2009 10 2012 3 2002 4 ea Ole SGI 2009 5
151. COTS 7 7 3 COTS Quince 072 C RAE LAL LRS Laser Range Sensor Expensive 1 Specific build of electronic development Experiment 2 Specific build of electronic components and module Evaluation 3 COTS of appraisal Complimentary protective Cheap measures Development cost Fig 4 5 The level of component selecti
152. G MULA ee ee 8 p am m s s o al 1 Loop B Loop A Declaration of conformity j _ Protective measure Fig 2 4 Necessary process for risk management to demonstration experiment with reference to JIS Q31000 2010 74 2 9 2 Establishing the context dc Risk Assessment 2 5 1 Risk identification Risk analysis Risk evaluation 2 4 1 2 4 2 Communication and consultation Monitoring and review Risk treatment 2 3 2 Fig 2 5 Process for risk management JIS Q31000 2010 Fig 1 64 27 2 5 1 THig 2 7 Fig 2 7 JIS B 9702 2000 1 Fig 2 6 Hig 2 7
153. 68 sud A ie mtd 38 3 MATO1 43 SO wy qug eee d sce deme ATR 44 9 2 We Oe a UE cS ee S ODORE onem eit ciated tienes 45 o Xen qe qq MATO ee dte 46 NU LJ 46 PB a 49 n LE EET E on 51 DENM ou NETT 51 EE OD DoD HE 52 Qoo MS E dada ML LN ME E MM dA E 54 eq dy1 0 54 SOE CNET DL CI VILI TT 54 3 5 9 1 ki 55 99 cL d DERE Dc ey ea ss ee eee eee E ER E ee aera 56 096 es MED a E E E OE 56 3 6 1 1 ne 57 3 6 2 2 57 i 60 SO CO Mic i E MEE 62 1l 4 66 4 1 68 4 1 1 raana 68 4 1 2 70 4 1 3
154. 11 BERE 3 2 129 30 86 87
155. LT LRS 67
156. c CPU board with some d Overview of gamma ray electric devices and CCD camera irradiation test Fig 4 3 Experiment by B Tohoku Univ et al 99 15 a METI Manufacturing Science and Technology Center Nuclear Accident and Robotics Project 2001 Total dose 20 Gy Absorbed dose rate 10 Gy h b MEXT Japan Atomic Energy Agency c CYBERNETIX Remote Surveillance Squad 2001 MENHIR Total dose 20 Gy Total dose 10 000 Gy Absorbed dose rate 10 Gy h Absorbed dose rate 100 Gy h Fig 4 4 Robots with Radiation resistance a 113 b 114 c 110 Table 4 2 Experimental condition of the previous studies A MSTC B Tohoku UNIV et al A Experimental conditon B Experimental condition Absorbed dose Absorbed dose Time Gy rate G a Gy rate G T E 16 Table 4 3 Classification of robots with respect to total dose and absorbed dose rate Absorbed dose rate PUDE of robots of robots 20 Gy or less 10 Gy or less 2 20 99 G 5 100 Gy h Total 9 100 499Gy 8 300 999Gy 0 over 10000Gy 6 Total 25 4 2 4 2 1
157. Fig 2 12 Fig 2 7 Loop a
158. Groupe INTRA Groupe Intra Intervention robotique sur accident 774 v Available http www groupe intra com 5 12 2014 1 Available http www jara jp x3_jirei h mitsubishi 07 html 5 12 2012 NNET Available 115 116 117 118 119 120 121 122 123 124 125 117 http www bousai ne jp vis torikumi 030301 html 7 7 t 3 H 5 12 2014 Kyoto University Research Reactor Institute Co 60 Gam ma ray Kyoto University Research Reactor Institute v Available http www rri kyoto u ac jp en facilities gamma 5 12 2014 ES e Irradiation Facility MS200 LMS211 LMS220 LMS221 LMS291 2002 2014
159. 6 1 4 lkm h 3 EL
160. FUMA BlackShip FUMA 2004 RoboCup Rescue SGI FUMA 4 1 63 38 Windows PC LAN FUMA 2005 BlackShip SGI MATOI FEUMA BlackShip Table 3 4 FUMA MATOI
161. ISO 15 2 A RTA 2 1 50 51
162. W M AE ave 2011 Takashi Kabe Kohichi Tanaka Hiroyasu Ikeda Noboru Sug1mot Safety Principle for Service Robot 7 Proc of International Conference on Safety of Industrial Automated Systems 2007 pp 204 209 2007 JIS 28002 2006 Organisations European Standardisation DIRECTIVE 2006 42 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 17 May 2006 on machinery and amending Directive 95 16 EC recast European Parliament 2006 iRobot Roomba Vacuum Cleaning Robot v Available http www irobot com For the Home Vacuum Cleaning Roomba aspx 5 12 2014 NEC Corporation v Available http jpn nec com robot 5 12 2014 wakamaru Available https www mhi co jp products detail wakamaru html 5 12 2014 1Robot Corporation 118 126 127 128 129 130 131 132 Honda UK Homepage Lawn amp
163. co 91 6 5 48 2 Summary of JRP Weight Classes Small Light 31to400Ibs E5 5353 Row nte 3 PackBot EOD MTRS 145 Ibs Small Medium 401 to 2500 Ibs GLADIATOR Mini Flail 1600 Ibs 2500 Ibs Small Heavy 2501 to 20K Ibs DEMO III XUV MULE ARTS RCSS Smoke HMMWV CR 3000 Ibs 8100 Ibs 11 500 Ibs Unmanned construction Large Over 30K Ibs DEUCE CRS D7G CRS A AOE 18 tons 28 tons 34 tons No systems currently exist in the Micro lt 8 Ibs Miniature 8 30 Ibs or Medium 20K 30K Ibs classes Fig 3 1 Comparison of robots based on FY2004 JOINT ROBOTICS MASTER PLAN 90 MATOI
164. 2008 2008 2008 pp 33 44 2009 24 20 2 29 2008 1998 17 3 23 36 2005 vo1 28 no 2 pp 49 58 2010 Wee vol 29 no 3 pp 236 240 2011 Be
165. 300mm 150mm Weight 3 7 kg 1 1 kg lke Enclosure rating Supply voltage Power Systematic error 100mm 30mm IP 67 IP6S IP68 DC 19 2 28 8V DC10 8 30V DC9 27V 22 W 10W 160 mm 88mm Dimensions 155 mm 2 164 5 mm 185 mm 2 93 2 mm Ambient operating 30 C 450 7C 0 7C 50 7C 40 C 70C 10 7C 50 temperature i 80 Table 4 5 Total dose and absorbed dose rate for experiments Absorbed dose rate Installation Time distance min cm Category Plan Gy h 4 3 1 60 nis 414X1012 Bql 30 000 IGy h Table 4 5 a Category 1 10 Gyl L 10 Gy h 20 Gy h 10IGyyh 12 2 Gyl 20 Gy h 24 8IGyj 10IGy
166. Multi layer scanner Measuremet ditance 30 m LRF 3 SICKS300 Scan angle 270 Sefety Laser Scanner GPS GPS GLONASS D GPS RTK GPS M Refresh Rate 20 Hz Input Range 120 deg s HOFG OLC Bias Stability 0 1 deg s No Linearity of Scale Factor 1 5 54 3 4 3 MATOI PC ARK 3440 ADVANTECH CPU 2 53 GHz Intel Corei7 RAM 4IGB Linux LAN Grace Cy RM Ies speso ele x 3 5 MATO1I 3 3 3 2 1 2 8 3 4 1 2 3 5 1
167. RUM Fig 4 14 B 200 IGyl Fig 4 14 O Fig 4 14D 76 4 IGy h 10 153 6 Gy 80 Fig 4 10 D ore 4 LRS reed ma 99 86 Noise rate Noise rate Noise rate 0 0 10 20 30 Total dose Gy Total dose Gy A SICK LMS511 B SICK LMS100 10Gy h OF MERE cs RE eee Rp sm 90Gyh 100Gy h I gd l i 60 i ee m Ecc En PEDEMEUE D ll 2 a gt li AQ p 1 e M ee eeepc IE i 3 5 nct 20 ty cae pl I ll ps PPT o s i 0 i 0 50 100 150 200 250 300 0 100 200 300 400 Total dose Gy Total dose Gy C SICK LD MRS 1 D Hokuyo NE Fig 4 10 Experimen
168. eq eeIUSOA U JE3S9 B U3SUJBDUT pul puooas sima1 IN g ISIN eas ueluIMJe Kalea yeaa 11 5 c i D s I S z z uz c i c 2 cd cS i o o i g S oO I I 4 as ee Oe 4 B i 8 c gt A e o 2 a A E i 8 i 2 D i E i D z gt S g 20 1 Na A MI 3 i o ea A i A i un 3 i d O i RS 1 9 amp c E gt 8 A lt l pu d E Eo E M 2 n i A i g lt B hi 3 oe i OX 2 Q BET G x 3 a l i D Gg i i D Al se i e 2 I op i I S T i d osuodsoi CZ osuoJoq goUeu UTeIA 19 Se SIC j110ddng roddns d 3TB 3A VOIP 9 ooutuojure N 3SUOdsar I9 SB SICT p PoodIBArT v etoos q Fig 1 5 Positioning of each process and service robots in Fig 1 1 a 45 b c 46 9 21 47 12 1 5 1 5 1
169. 0 Em E WR Se a a r 0 0 _ RNE m RSU 11 a APEA arie 0 0 0 0 0 8 X 0 p Fig a 1 Analysis of the Aichi Expo in structure risk management 102 B JIS BO187 2005 WE ADEA Research
170. 5 2 2 6 FER 2009 2014 NEDO 53 18 99 HAEE
171. Ies 4 1 3 MSTC 98 99 Table 4 1 Total dose Absorbed dese rate CK Gy Gy h CCD 48 18 CPU 48
172. XU Fig 2 10 Fig 2 9 Fig 2 10 CR Fig 2 9 Snapshots of a video for explanation of risk communication Of Fig 2 10 An example of risk assessment example Left Before execution of risk assessment Right After execution of risk assessment d Fig 2 12 No 4 SL 0 JIS B9702 2000 A No 20 4
173. dus sce es a DO nEIPOODINE pter cone OR eee Dot ud 7 ES OC A ee re oe 12 OA a eRe eee eee ee 12 B o tm 12 2 15 2 1 15 NNUS o ae pa Oe EDB 16 2 scq A NGC REST T rip Kem 16 2 9 20 De Or oe IER USED 20 2 2 2 ONSE Pe EEO A etum sd cauto 2 HIRT T ERA REM rU Bros Ne 29 og Jr E MUCIUS IE 22 nma WIE UP SLIDER ene eT ner nee eee eee EN 23 M FA Oa asda qua Giese MN Lacie 24 A I dp uL 24 2 SU Trpo E E ut dtt de cti ut tn tut cert SEE deed 24 b bo 11 2 5 1 i P Rc V eee ee 27 25 2 HERA An eME LURAR R RA FA ce cleat ee 30 2 6 LLL 33 9 6 1 33 269 00
174. 2005 RUE IZET vo1 42 no 5 pp 242 245 2005 United States Department of Defense MIL HDBK 217F Notice2 1995 ESCC European Space Components Coordination TOTAL DOSE STEADY STATE IRRADIATION No 22900 2010 1 2 RADFRET 2008 JAXA JAXA E Available https eeepitnl tksc jaxa jp jp info history htm 5 12 2014 1999 vol 19 no 6 pp 38 45 2001 HE e vol1 19 no 6 pp 2 8 2001
175. 51 Fig 3 5 System configuration based on RTOs for basic functions in ld c EEE 55 Fig 3 6 Routes for experiments 58 Fig 3 7 Snapshot of the GUI for teleoperation eene 58 Fig 3 8 Map generated by experiment based on SLAM technique Fig 3 6 Route Di 59 BIG 9 9 omla LOR CAN SMD td etian dott ol doni ob bee EAE 59 Fig 3 10 Simulation result of autonomous navigation Result 2 1n Fig Sx 60 Fig 3 11 Snapshot of experiments in the nuclear power plant a Operator station b Test around the gas turbine generators c Test around the unit 3 turbine building eene 61 Fig 3 12 The generated map based on the sensory data obtained around the gas turbine generators es 62 Fig 4 1 Shielding with each radiation 111 69 Fig 4 2 Experimental by A MSTC 107 73 Fig 4 3 Experiment by B Tohoku Univ et al 108 74 Fig 4 4 Robots with Radiation resistance i 75 Fig 4 5 The level of component selection and development considering radiation resistant desilo anrora raTa 77 Fig 4 6 Layout of devices and experimental facility 81 pis 4 7 Experimental s
176. 88 Table 8 1 Pioneer Adept MobileRobots 86 Beego I87 Pioneer Beego BlackShip 89 Pioneer Beego BlackShip LAL
177. Documentation of robot s Permission of the use risk assessment and conformity of road if necessary 6 Safety validation with robot declaration to the rule actual equipment and Account w 1 document robot inspection i 5 Supplier s declaration of ccount conformity assessment Second Party 2 7 Proceed experiment B Tsukuba challenge Fig 2 8 The framework and the process of the supplier s conformity assessment for A general products in JIS Q17050 1 2005 and B Tsukuba Challenge with reference to JIS Q17050 1 2005 99 2 6 TE SEE ROO UR E73 RNA DEDIRE 2 5 TTO 2 6 1 Fg 2 7 2 Fig 2 12
178. Fig 2 2 Positioning of the business process and bibliography 19 Fig 2 3 Snapshots of Tsukuba Challenge 83 20 Fig 2 4 Necessary process for risk management to demonstration experiment with reference to JIS Q31000 2010 83 26 Fig 2 5 Process for risk management JIS Q31000 2010 Fig 1 73 26 Fig 2 6 Process for risk management JIS B9702 2000 Fig 1 75 28 Fig 2 7 The risk assessment demonstration procedure with the proposed publi SDa6ee ciere t ba po s Con ud etate masa esae emi oben 29 Fig 2 8 The framework and the process of the supplier s conformity assessment for A general products in JIS Q17050 1 2005 and B Tsukuba Challenge with reference to JIS Q17050 1 20065 32 Fig 2 9 Snapshots of a video for explanation of risk communication 36 Fig 2 10 An example of risk assessment example 37 Fig 2 12 Risk assessment shown in result were based on Fig 2 5 38 Fig 2 12 An example of risk assessment result eese 42 Fig 3 1 Comparison of robots based on FY2004 JOINT ROBOTICS MASTER PLAN 900 48 Fig 3 2 Development scheme of a mobile robot platform MATOI for environmental monitoring eR 50 Fig 3 3 Basic functions of a mobile robot platform MATOL 50 Fig 3 4 A prototype of a mobile robot platform MATOLI
179. a Linear model Distribute and Market Detailed Design and Test Design and Produce Invent amp Analytic Design C p pe Research b Chain lined model Fig 1 3 Innovation process of linear model and Chain lined model 38 10 v b 9 ev 8 4 9 9681S UOI EZI EIOJOUIUIOO OY PUB eunjrej HB9 Jo uostreduroo SUIUOIPISO p T sty Jaded siu ul jeap 0 asuey uone1ueules duui je39120S aL e MEME MM wie1804d 10lld juauiJedxe uoneansuouag uonezi eudsnpu uo ezije pwwo SN IEJ1 PJd u21easaMy AalleA 1eaq youne jueuudoj o aq 104 19 J eUJ JO SS922n S 1X3 V ISJ9U1E8 UJn1U3UJOUU V JO W Ajald0s 8UIBUU V 19 ewu JY JO 1IX9 y e euJ V eas ueiuIMJeq JaAlY Aad juaugaAalIUu2e uon eAouu uo1eesay suluulsag A80 OUU231 au MOJS V eas ueluIMJeq AlleA u1eaq C E Mad uol ezllelj1snpul juauido aAag i uoJeasay MM ip eas UBIUIWJE UOI PeZzI eI2J09UJUJ0 ASIleA u1eeq JIE9S9 uonezinonpouJgd du J9N g 92uai5S UoJe2saJ jezu wepuny youeasal jejuawepun puly puodas pu 1se4 Ayyenyoe ees AajleA 1ead weep peg ow uoneulidi40 pue uoJeasaJ DISeg D M AalleA head asn IOH Ed yoieasay eas UBIUIWJE uonezijeuasnpu UOI1EZIIEID 9UJUUO U24easay ISEd Jaded SIU1 ui IESD 0 eSuey emesaq eas ueluIMJe Kalea yeaa J3Ald
180. h amp Ze A LMS511 159 X155 185Imml 70 IGy hl 4 1 8 CT 79 1lcml notes XE LER Table 4 4 Specification of LES for Experimental SICK LMSS11 SICK LMS100 SICK LD MRS Hokuyo UTM 30LX Field of view Angular resolution step de Me asurem ent i i 40mm T Resolution 25mm 25 mm 30mm 1m 10m 1m 10m 0 1 10m Statistical error 9mm 9mm G 10 20m 10 20m 3c 27mm 27mm
181. vo1 29 no 3 pp 250 254 2011 JIS Q31000 2010 State ofthe Art vo1 24 no 2 pp 167 168 2006 JIS B9702 2004 2007 vol 49 no 9 pp 572 578 2010 Jj vo1 49 no 9 pp 594 599 2010 71 72 73 74 75 76 77 78 79 80 81 82 113 pp 81 141 1996 KZE WL 16RIII 27 4 2006 Available http news mynavi jp photo news 2006 04 21 320hl pg 5 12 2014
182. www mobilerobots com 7 7 AH 5 12 2014 BURKS hrs Available http www roboken esys tsukuba ac jp theme 5 12 2014 Willow Garage Inc Willow Garage Available https www willowgarage com pages pr2 overview 5 12 2014 BlackShip v Available http www segway japan co jp robot hard blackship html 5 12 2014 OUSD Defense systems land warfare and munitions FY2004 JOINT ROBOTICS MASTER PLAN United States Department of Defense 2004 BELE Ajai RTC 5 RTK GPS RTC 26 AC3D1 03 2008 THAR BA 2010 1A2 E15 1 2010 Kiyohiro Goto Kazuyuki Kon and Fumitoshi Matsuno Mo
183. 2010 Noriaki Ando Takashi Suehiro Kousei Kitagaki Tetsuo Kotoku Woo Keun Yoon RT Component Object Model in RT Middleware 11 12 13 14 15 16 17 18 19 20 21 22 23 109 Distributed Component Middleware for RT Robot Technology Proc of The 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA2005 pp 457 462 2005 BABE Ei 2002 ISO 13482 2014 Robots and robotic devices Safety requirements for personal care robots 16 2005 2009 24 11 26 2 2014 NUI SB
184. 4 6 Table 3 5 FUMA MATO1I 2 5 RT 64 Table 3 4 Comparison of mobile platform robots L 1120mm L 640mm L 640mm Gize W 720mm W 460mm W 460mm H 610mm H 310 7 800mm H 310mm T 533mm T 310mm T 310mm 109 kg 30 ke 30 km h 1hma Max Driving i PC Encorder LRF PC Encorder LRF Mounted Camera IR sensor Camera Acceleration Encorder sensor iAcceleration sensor sensor Speaker Mic opeaker Mic Linux MMS non OS RT Middleware ML o non middleware Dedicated application BlackShip Table 3 5 Comparisons with other research and develo
185. 43 limits of the machinery Has the risk been idequately reduced Risk analysis Risk assessment Risk reduction Fig 2 6 Process for risk management JIS B9702 2000 Fig 1 66 29 1 Determination of 6 Relax restrictions the limits of the add of the Demonstration Tests Demonstration Tests 2 Hazard identification 3 Risk estimation 4 Risk evaluation 5 Has the risk been adequately reduced Risk analysis Risk assesment by experimental organizer Loop a Risk reduction for the Virtual Robot JISB 9702 2000 1 Determination of the limits of the Demonstration Tests 2 Hazard identification 3 Risk estimation 4 Risk evaluation 7 Is risk reduction necessary for real implementer 5 Has the risk been adequately reduced 2 8 Risk reduction Additional Protective measure for robot Loop b Risk reduction for the Real Robot by eee emi i i ee End Demonstration Tests Fig 2 7 The risk assessment demonstration procedure with the proposed public space 30 2 5 2 Hig 2 8 Fig 2 8
186. 6 EV VORE Table 4 7 LMS511 Fig 411 B Fig 4 12 C 2 LMS100 Fig 4 12 B 2 LD MRS Fig 4 12 76 4 Gy h 10 20 Fig 4 10 Q UTM 30LX 76 4 Gy h ae 153 6 Gy h
187. Fig 2 2 Positioning of the business process and bibliography e 56 59 58 60 m 61 n 62 o 63 p 68 q 13 73 s 53 12 19 20 2 2 69 2 2 1 1Ikm fig 2 3
188. Garden Available http www honda co uk garden miimo 7 7 3 H 5 12 2014 ce ES IALSOK saath AL SOK ALSOK Available http www alsok co jp company news news release details htm alp c news news detail 5Bid 5D 1960 5 12 2014 CYBERDYNE CYBERDYNE 7 Available http www cyberdyne jp products cleanrobot html 5 12 2014 CYBERDYNE HALSJ CYBERDYNE 1 Available http www cyberdyne jp products HAL index html 5 12 2014 DRH vol 24 no 3 pp 319 322 2006 moogle Lx 1 Available http www daiwahouse co jp robot moogle 4 12 2014 C20 000 2167 GEILE K LA AIO Sr 2009 JB at
189. IEC Guide 51 1999 JIS Z8051 2004 ATLARP As Low As Reasonably Practicable 104 ALARP MAZIM RSH P ALARP RAD Critical Hazard 120 RAD Reasonably Alternative Design Protective measure ISO14121 1 2007 3 9 ISO12100 1 2003 JIS B9700 1 2004 8
190. LENE L BEDR SR LICR EMD 2015 3 EVE L pH 36 2038 SR LICR EMD Fey Eig SC Ze A 355 FA Jj e x5 o ow mH mz xu m m di Es Af 2015 Studies on practical applications of disaster response robots considering safety and development efficiency Hiroki IGARASHI Abstract Although disaster response robots have been expected to be used for practical purpose there have been few such successful cases in Japan Based on such background this paper studied the following three topics with respect to practical applications of disaster response robots Firstly we proposed the security guideline for demonstration experiments which are aimed to evaluate the practical use of disaster response robots Secondly we developed a disaster response robot constructed with modularized hardware and software components to improve efficiency of the development Finally we carried out the radiation resistant experiments of sensors which are used for autonomous locomotion functions of disaster response robots and evaluated the necessary specifications of them
191. Robots Mobility Confined Area Obstacles Stairs Landings National Institute of Standards and Technology 2011 2009 Vol 49 no 9 pp 645 651 2010 TEE FINRA vol 24 no 3 pp 308 311 2006 PIIRAA AE vol 28 no 3 pp 311 318 2010 NEDO 28 RSJ2010ACB2 1 2010 112 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 AAA C vol1 75 754 pp 278 286 2009 JIS B9700 1 2004 1 20 7 31 IE
192. Y Os HnzId Bi OSS e M gy T OSSIBUS S CD ch gt D 3t 18 712618 E Co 2 2 Cysgt it 2 X 4 4L AFE C3 SET IRE E ZI H6 He H BENNY SE Bl SEG a 1g Ve HE N shen D gi I4 4 2 4 wir Bey Jn 941562 SV 1267 S9 BO 2 ES CO X zC vPzIP29 lgue JA oos EE yy FERN WS Ee SE DEG a Z L Z 314 6 L Z Bd syy E E TOIA274 86A 43 3 MATOI 2011 3 11 AER Cre WW Quince 84 PackBot GRobot 29 Talon Qinetiq 30 33 1
193. ation he 1 v amp i o0 I c c a i o gt Demonstration experiment c c E i E I w Pilot program Societal implementation d clinical research GLP e Ethical Review informed consent Helsinki Declaration f Trial Exemption pharmaceutical law p Phase I Clinical pharmacological trial Phase Il Exploratory trial gt Phase III Confirmatory trail gt Phase IV Therapeutic ue gt g clinical trial GCP b Medical field research and development approval process h acceptation i GMP GQP k GVP GPSP m Honma Yamada Ono _ _ n Hasebe Sankai phase 0 Phasel Phasell Phase lll Phase IV design change design change Againstdesign change E En 0 Yamada primam p Tsukuba challenge q The 2005 World Exposition Aichi Japan r Mobility robot Experiment specific district at Tsukuba i gt s NEDO Project for Practical applcation of personal care robots c Positioning of reference and this paper t ISO 13842 2014
194. et up sesso HR RR REIR e NI RM Md 82 Fig 4 8 Device position and configuration for gamma ray irradiation testor DOGG NGO 82 Fig 4 9 Charge of orientation of LRS eee 83 Fig 4 10 Experimental results of total dose and noise rate 86 Fig 4 11 Typical sensory data from SICK LMS511 88 Fig 4 12 Typical sensory data from SICK LM5100 89 Fig 4 13 Typical sensory data from SICK LD MRS 89 Fig 4 14 Typical sensory data from UTM 30LX A background data B D scanned the data during irradiation 90 Fig 4 15 Sunshade and Weather protection 126 92 Fig 4 16 Experimental setting of the sensors een 94 vl AR Table 3 1 Comparison of uses and features of existing mobile robot J RESISTE ETT ee ed 46 Table 3 2 Specifications Ot MATO Dersine ai 52 Table 3 3 Device specifications on MATOLI een 59 Table 3 4 Comparison of mobile platform robots 64 Table 3 5 Comparisons with other research and development mobile DIALLON TODOLUS ossi ctii iie bete eto ut eei et ies etd ato d a 64 Table 4 1 Experimental results in the previous studies A MSTC B Tohok UNTV eb KNOIS bas ll 73 Table 4 2 Experimental condition of the previous studies A MSTC B Tohoku UNIV eal aient vet tno bee od eaters 75 Tab
195. le 4 3 Classification of robots with respect to total dose and absorbed dose rale uae M RIRs 76 Table 4 4 Specification of LES for Experimental 79 Table 4 5 Total dose and absorbed dose rate for experiments 80 Table 4 6 Total dose and absorbed dose rate of each LRS 87 Table 4 7 Planned and actual absorbed dose rate 87 Table 4 8 The necessary policy for the development of disaster response device radiation resistance 96 E gt ah 1 1 2000 1 2 38 4lI 5 MOT Management of Technology l6
196. ment 1 Route 2 for experiment 2 ii p e i i m O9 Start point Route 1 RobotBattery EL P ono Time Ed as SensorBattery c S D c Rage data from e Battery level monitor Laser Range Scanner uSv Ah d Display of the 3yger M ller counter Fig 3 7 Snapshot of the GUI for teleoperation Trajectory 30 0 30 x m Fig 3 8 Map generated by experiment based on SLAM technique Fig 3 6 Route 1 59 Fig 3 9 Simulator env 60 60 40F 2Wf 0 Path estimated eps n by gyroodometry Path estimated by particle filter A40 7 7 Reference path Landmark L I I I 60 40 320 0 20 40 60 80 100 120 x m Fig 3 10 Simulation result of autonomous navigation Result 2 in Fig 3 6 3 7 Fig 3 5 20124E3H 19H 2 53H 23 Hic 20Hml 50Iml
197. minogray Radiation source A LD MRS Pl f we H B LMS100 i C LMS511 D UTM 30LX Fig 4 8 Device position and configuration for gamma ray irradiation test of 20 Gy h 83 Caa Radiation source PE Ta E he a 6 9 d 8 9 8 Radiation 15 4 l4 In i zi E i d 1 Under 6 Front 3 Left Fig 4 9 Charge of orientation of LRS 84 4 3 2 Fig 4 10 1 FRI 2 ELO 2725538 REL D o o 50
198. nd data B scanned data during irradiation t 0 sec t 1105 sec Sensor 0 1000 2000 3000 4000 5000 x mm A Fig 4 13 Typical sensory data from SICK LD MRS A background data B scanned the data during irradiation Red Green Blue Purple lines are four layers 90 t 0 sec 1000 y mm 2000 3000 4000 5000 i 4000 3000 1000 0 x mm A 2000 1000 2000 3000 3000 t 1371 sec 2000 1000 sensor 0 1000 2000 3000 C Scan date 4000 A Before irradiate 5000 4000 3000 2000 1000 0 1000 2000 3000 4000 x mm C 4000 t 3000 A sec B Scan date 1000 0 x mm B 3000 2000 1000 2000 3000 4000 t 594 sec 9 9 e a a P 80 9 9 9 a o9 aw oC 9 ow 4 xw ws 9 9 9 P o ow a Xo c o o o n x 500 90 3000 2000 1000 0 1000 2000 3000 x mm D 4000 Fig 4 14 Typical sensory data from UTM 30LX A background data B D scanned the data during irradiation 91 4 3 4 1 EE
199. o OFS IAIV Hig 2 12 III Fig 2 12 wW 95kg 80kg II EL b Fig 2 120 No 2 95kg 4km h No 1 c Fig 2 12 No 3
200. on and development considering radiation resistant design 4 2 2 C Fig 4 5 3 COTS DER ZR CN BR HR NY SEER Ze TEE COTS 78 4 3 4 LRS SICK LMS511 LMS100 LD MRS UTM 30LX 1 Table 4 4
201. ong term mPossible Abilities e Autonomous monitoring post 1 Handy mobility vehicle for 1 mBasic Features 3 Navigation for workers e Following to workers Monitoring safety for workers mBasic Features 4 e Multi agent system Cooperating with GIS mHardware Equipment Dust and water proof e Wide area wireless communication e Shooting system for advertisement 1 Tele operated water cannon track Cooperating with industry for bussiness use Fig 3 2 Development scheme of a mobile robot platform MATOI for environmental monitoring Navigation Tele operation Sending Pictures amp Videos Monitoring Radiation Measurement Obstacle IF CS Obstacle Avoidance a Basic functions developed in Phase 2 Fig 3 3 Basic functions of a mobile robot platform MATOI Following Monitoring Safety Multi agent System b Basic functions developed in Phase 3 ol M p zs S E BS S Radi ati ones Counter Bumper sensor P a Fig 3 4 A prototype of a mobile robot platform MATOI 3 4 Fig 3 4 3 4 1 HERE MATOI
202. pment mobile platform robots 65 3 8 MATOI MATOI RT BBcL MATOI FUMA FUMA BlackShip MATOI ds ls
203. tal results of total dose and noise rate Table 4 6 Total dose and absorbed dose rate of each LRS Total Dose Broke After Absorbed o Dose Rate Gy h 153 144 153 6 Category3 256 153 6 Category3 358 291 153 6 Category3 Table 4 7 Planned and actual absorbed dose rate Absorbed dose rate Cate gor 2 Total dose Experimental Y Gy condition Gy h Category Category2 100Gy Category3 Catesory4 1000Gy 200 298 3 ST 83 t O sec cp cg cc 2c c4 mA Sensor ux vu Se ee ES e boc om Lo n c e c Loon ne L4 L0 o oc o ce Jes oon e Lo d c 0L c Ln 74099 3000 2000 1000 0 1000 2000 3000 4000 x mm A t 176 sec SenSOT noise Outside 5000 4000 3000 2000 1000 0 1000 2000 3000 4000 x mm B t 296 sec 00 00 3000 2000 1000 0 1000 2000 3000 4000 x mm C Fig 4 11 Typical sensory data from SICK LMS511 A background data B C scanned data during irradiation observed 89 t 193 sec t O sec Sensor 5000 3000 4000 4000 3000 2000 1000 0 1000 2000 3000 4000 x mm 4000 3000 3000 1000 0 10 2000 x mm B A Fig 4 12 Typical sensory data from SICK LMS100 A backgrou
204. tion planning of an autonomous mobile robot considering regions with 94 95 96 97 98 99 100 101 115 velocity constraint Proc of The 2010 IEEE RSJ International Conference on Intelligent Robots and Systems IROS2010 pp 3269 3274 2010 RRA ATUS RT 1 WG 27 3D1 03 2009 S Thrun W Burgard D Fox Probabilistic robotics The MIT Press 2005 Austin Eliazar Ronald Parr DP SLAM Fast Robust Simultaneous Localization and Mapping Without Predetermined Landmarks Proc of International Joint Conference on Artificial Intelligence Acapulco Mexico August 9 15 2003 pp 1135 1142 2003 Kazuyuki Kon Hiroki Igarashi Noritaka Sato Tetsushi Kamegawa Development of a Practical Mobile Robot Platform for NBC Disasters and Its Field Test Proc of The 12th IEEE International Symposium on Safety Security and Rescue Robotics SSRR2012 S6A 2012 11
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