Leakage Position Estimation of Cooling Water Using a Stereo Camera for Fukushima Daiichi Nuclear Power Plant
1
Department of Precision Engineering, The University of Tokyo, Tokyo 113-8656, Japan
2
Institute of Engineering Innovation, The University of Tokyo, Tokyo 113-8656, Japan
*
Author to whom correspondence should be addressed.
†
These authors contributed equally to this work.
Academic Editor: Roberto Sacchi
Appl. Sci. 2021, 11(17), 7796; https://doi.org/10.3390/app11177796
Received: 24 July 2021
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Revised: 18 August 2021
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Accepted: 22 August 2021
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Published: 24 August 2021
(This article belongs to the Section Robotics and Automation)
In this study, a new method of estimating the leakage positions of cooling water using a stereo camera for the Fukushima Daiichi Nuclear Power Plant (FDNPP) is proposed. A stereo camera mounted on an inspection system with a rotating base was inserted into the pedestal below the reactor pressure vessel (RPV), and the waterdrops from the leakage position were captured using a stereo camera. We estimated the leakage positions by triangulating the waterdrop trajectory lines in the stereo image. The main contribution of this study is the extraction and matching of the waterdrop trajectories in a stereo image in the FDNPP. The radiation noise is intense inside the pedestal because of the presence of fuel debris. Therefore, we propose a method that is robust against radiation noise. We assume that the waterdrops drip vertically in indoor environments without wind, such as in the FDNPP. Hence, the orientation of the stereo camera can be adjusted by the rotating base such that the vertical lines in the three-dimensional space are also projected as vertical lines in the image planes. Thereafter, the columns of pixels in the images are treated as image features and used to extract and match the waterdrop trajectories. We demonstrated the effectiveness of our leakage position estimation method in a simulated environment of the FDNPP with gamma-ray image noise.
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Keywords:
leakage position estimation; Fukushima Daiichi Nuclear Power Plant; decommissioning; stereo camera
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Externally hosted supplementary file 1
Doi: 10.5281/zenodo.5235955
Link: https://drive.google.com/drive/folders/11A_bxKxLl5pt04pVg3M_m2giJNoZCaUx?usp=sharing
Description: The videos that we used for evaluation is available at https://drive.google.com/drive/folders/11A_bxKxLl5pt04pVg3M_m2giJNoZCaUx?usp=sharing. Also, the same videos are uploaded Zenodo (https://doi.org/10.5281/zenodo.5235955) for accessibility.
MDPI and ACS Style
Xu, H.; Komatsu, R.; Woo, H.; Yamashita, A.; Asama, H. Leakage Position Estimation of Cooling Water Using a Stereo Camera for Fukushima Daiichi Nuclear Power Plant. Appl. Sci. 2021, 11, 7796. https://doi.org/10.3390/app11177796
AMA Style
Xu H, Komatsu R, Woo H, Yamashita A, Asama H. Leakage Position Estimation of Cooling Water Using a Stereo Camera for Fukushima Daiichi Nuclear Power Plant. Applied Sciences. 2021; 11(17):7796. https://doi.org/10.3390/app11177796
Chicago/Turabian StyleXu, Hao, Ren Komatsu, Hanwool Woo, Atsushi Yamashita, and Hajime Asama. 2021. "Leakage Position Estimation of Cooling Water Using a Stereo Camera for Fukushima Daiichi Nuclear Power Plant" Applied Sciences 11, no. 17: 7796. https://doi.org/10.3390/app11177796
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