Development of Leak Location Identification Technology for Containment Vessels"

"Development of Leak Location Identification Technology for Containment Vessels"

Hitachi GE-Nuclear Energy Co., Ltd. TOSHIBA CORPORATION Mitsubi shi H eavy I nd ust ri es, Ltd . 1. Purpose of Research & Development １

To take out core fuel in a state in which the boundary functions of the reactor pressure vessel (RPV) and the primary containment vessel (PCV) are lost, we must repair the

PCV to reconstruct the boundary and to fill DSP SFP the PCV with water. Observation device mounted with a camera (remote)ｶﾒﾗ搭載観察装置（遠隔） The vicinity of the PCV is under high RPV radiation dose and has narrow spaces. Observationｶﾒﾗ搭載観察装置 device mounted with a PCV Moreover, the PCV lower part (suppression camera chamber) is flooded. The technology that identifies the damaged areas under such Torusﾄｰﾗｽ室 environments has not yet been established. room

We must develop such equipment and the check and investigative techniques under a Primaryygg containment vessel leakage location investigation hig h ra dia tion dosage env ironmen t, w ithin conceptual diagram narrow spaces, and in underwater environments. 2. Details of Research & Development ２

1. Study and equipment design for check and investigative techniques - Study the technique used to identify the leakage locations of the containment vessel and reac tor bu ilding, and des ign the equ ipmen t.

2. Fabrication and improvement of the check and investigative equipment - Fabricate equipment to identify the leakage locations of the containment vessel and reactor building, perform the actual equipment-applicability evaluation (field validation), and advance improvement if needed.

Operating schedule

First stage Second stage Item/year 2014 2011 2012 2013 (First half)

1．Check and investigative techniques Study and equipment design

2． Check and investigative equipment Fabrication and improvement Torus Room Wall Surface and S/C Investigation Robot: Application Area ３

PCV PCV

PCV through-hole (penetration)

S/C CtCatwa lk ﾍﾞﾝﾄ管

Vacuum breaker (500) First PCV floor Bore S/C hole Vent pipe- S/C D/W joint 0) 00 Torus room

entire area (1２0 Torus room access Reactor Building: Sectional drawing Vent pipe-D/W outside jitjoint - Avoid obstacles by moving underwater and by traveling on the S/C, and gain access to the wall of torus room and manhole of S/C. - Detect a slight amount of water leakage, and identify the leakage location under clouded water. Dry Well Vent Pipe Joint Investigation Robot: Application Area ４

DllDry well Concrete wall

Vent pipe (Steel with an outer diameter of about 2 m )

Investigation area Photo shooting direction

Enlarged

Clearance ggpap

Vent pipe Moving apparatus Under a high radiation dose, the moving apparatus can travel on the outside surface of the steel pipes with 2,000 mm-diameter (vent pipes), and it can approach the area of investigation from the clearance gap (most narrow gap: 110 mm) between the concrete walls and the vent pipes.

Measuring device The measuring device can be mounted on the above-mentioned Concrete wall traveling apparatus and has a high-resolution CCD for visible light, infrared rays, and ultraviolet rays, in order to determine minute defects, damage, and leakage. It should be verified that its electronic equipment operates normally under a high-dosage radiation environment.

- Accessible to the investigation area through the clearance gaps between the vent pipes and concrete walls - Measuring technique to detect the leakage of water or gas and to identify the leakage locations Dry Well Outside Narrow Space Investigation Robot: Application Area ５

PCV

PCV through- hlhole X-12 (penetration) penetration

S/C Catwalk

X-12 Vent MS tunnel penetration pipe room MS tunnel room PCV First X-12 floor penetration

Open a door and enter S/C Torus the small room with the room Reactor building: penetration. X-12 Sectional drawing penetration Dry Well Outside Narrow Space Investigation Robot: Application Area ６

X-12

150°

135° (217) (45)

400A

Application target area: Upper surface

- Accessibl e t o th e appli cati on t arget area whil e avoidi ng th e surroundi ng ob st acl es - Detect a slight amount of gas leakage of the area and identify the leakage location under the aerial conditions. Dry Well Outside Narrow Space Investigation Robot: Application Area ７

X-12

（2000））） ht above the floor 00 gg 33 （ Hei Operating platform （

Ladder

Application target area: Front face

- Accessible to the application target area in a high place while avoiding the surrounding obstacles - Accessible to the application target area while avoiding the surrounding obstacles - Detecting a slight amount of leakage in the area and identifying the leakage location under the aerial conditions Development of Containment Vessel Leakage Identification Technology and the Required Specifications for the Equipment ８

Operating Operating Object equipment Radiation resistance environment temperature Torus room wall surface Atmosphere: 3 (Sv/h) and or more In air/underwater 80ºC or less S/C upper surface Accumulation: 100 investigation robot Gy or more* Atmosphere: 3 (Sv/h) S/C lower outside or more surface Underwater 80ºC or less Accumulation: 100 investigation robot Gy or more* Atmosphere: 3 (Sv/h) Vent pipe-D/W or more In air/underwater 80ºC or less joint investigation robot Accumulation: 100 Gy or more* Atmosphere: 3 (Sv/h) D/W outside open or more portion In air 80ºC or less Accumulation: 100 investigation robot Gy or more* Atmosphere: 3 (Sv/h) D/W outside narrow or more space In air 80ºC or less Accumulation: 100 investigation robot Gy or more*

* Consider the possibility of component replacement. Development of Containment Vessel Leakage Identification Technology and the Required Technology ９

Objjqpect equipment Sppyqecially required technolo gy

Torus room wall  Avoid obstacles by moving underwater and traveling on the S/C, and surface access the wall of torus room and manhole of S/C. and  Measuring technique to detect a slight amount of water leakage, and S/C upper sur face identifying the leakage location under clouded water investigation robot  Avoid obstacles by moving underwater, and access the underside of the S/C lower outside S/C. surface  Measuring technique to detect a slight amount of water leakage, and investigation robot identifying the leakage location under clouded water  Accessible to the investigation area through clearance gaps between vent Vent pipe-D/W pipes and concrete walls joint investigation robot  Measuring technique to detect the leakage of water or gas and identifying leakage locations  Accessible to the application target area while avoiding the surrounding D/W outside open obstacles portion  Measuring technique to detect a slight amount of gas leakage and investigation robot identifying the leakage location under an aerial condition  Accessible to the application target area while avoiding the surrounding D/W outside narrow obstacles space  Measuring technique to detect a slight amount of gas leakage under an investigation robot aerial condition and identify the leakage location of the through-hole Definition of Technical Component Terms

Measuring WkiWorking device mechanism

Support Existing equipment pass- through slot Control device

Communication equipment

Traveling mechanism Note: An example of equipment configuration is shown, but the scenario is not limited to this scenario alone. Reactor building frame Hitachi-GE/ Toshiba / Mitsubishi Heavy Industries February 24, 2012 Technical Catalogue/Vendor List (Development of Leak Location Identification Technology for Primary Containment Vessels [PCVs]) Required Technical description Classification Vendor holding the technology Remarks technology (needs) (l t) BAB-HITACHI INDUSTRIAL Co. Hitachi-GE Nuclear Energy, Ltd. KOWA CORPORATION Urakami Research & Development Co., Ltd. SeaBotix, Inc. VideoRay LLC · Equipment that can Q.I Inc. swim underwater in a BL AUTOTEC, Ltd. torus room to investigate the wall condition IHI Inspection & Instrumentation Co., Ltd. · Equipment that can TOPY Industries Ltd. enter the inside of the IHI AEROSPACE Co., Ltd. torus room from the Traveling outside to investigate Mitsubishi Electric TOKKI Systems Corporation mechanism vacuum breakers and iRobot Corporation hatches Inuktun Services Ltd. · This mechanism includes control devices AAI Japan Co. Ltd. and communication Adept Technology, Inc. devices for remote control. Toshiba Corporation CONTEC CO., LTD. Wireless unit Advantech Co., Ltd. Wireless unit HIBOT CORP. Control device maxon motor Control device Torus room wall surface and Futaba Corporation S/C upper surface Asahi Onkyo Corporation investigation robot HBC Radiomachic Japan Especially required Communication Included in the traveling - technology: equipment mechanism Included in the traveling  Avoid obstacles by Control device - mechanism moving under water Mitsubishi Heavy Industries, Ltd. and traveling on the S/C, and provide YASKAWA Electric Corporation access to the wall of · Equipment to check the REVAST CO., LTD. torus room and manhole of S/C. leak state of a wall OC Robotics surface underwater inside Framatome  Technique to detect the torus room a slight amount of · Equipment that, after Kraft TeleRobotics, Inc. water leakage and to entrance to the torus Cybernetix identify the leakage room, can avoid location under obstacles and that can Sugatsune Kogyo Co., Ltd. Working clouded water approach the wall surface ELGO JAPAN INC. mechanism and hatches to enable the Actua Systems Inc. operation of investigative equipment GeoSystems · Equipment to investigate AAI Japan Co. Ltd. the damaged condition Barrett Technology Inc. and leakage degree of the hatches and valves in Neuronics the torus room Yamaha Corporation Toshiba Corporation TOSHIBA MACHINE CO., LTD. Hitachi-GE/ Toshiba / Mitsubishi Heavy Industries February 24, 2012 Technical Catalogue/Vendor List (Development of Leak Location Identification Technology for Primary Containment Vessels [PCVs]) Required Technical description Classification Vendor holding the technology Remarks technology (needs) (l t) DIAKONT/MILS SYSTEMS CO., LTD NUCRON Co., LTD · The equipment shall be able to monitor remote CENTRONIC Raditec work for a long duration Thermo Fisher Scientific K.K. under a high dosage Olympus Corporation environment, as well as to acquire a high-dose state Sound Metrics Corporation Measuring device as still/moving images. BlueView Technologies, Inc. · Measuring device that AD Science Co. can check the condition of object penetration NISCO portions under clouded Toshiba Corporation Torus room wall surface water TOSHIBA TELI CORPORATION and S/C upper surface Albert investigation robot Working device - - JR East Consultants Company, OYO Corporation, · Boring equipment to YBM Co., Ltd. Support equipment approach underground from the 1st floor TOHO CHIKAKOKI CO., LTD.

HOKUYO AUTOMATIC CO., LTD.

· Obstacle detection SICK.K.K. Others · Radiation shield mesa Canesta Ask Sanshin Engineering Corp.,Ltd Hitachi-GE/ Toshiba / Mitsubishi Heavy Industries February 24, 2012 Technical Catalogue/Vendor List (Development of Leak Location Identification Technology for Primary Containment Vessels [PCVs]) Required Technical description Classification Vendor holding the technology Remarks technology (needs) (l t) BAB-HITACHI INDUSTRIAL Co. Hitachi-GE Nuclear Energy, Ltd. KOWA CORPORATION Urakami Research & Development Co., Ltd. SeaBotix, Inc. · Equipment that can swim underwater in the VideoRay LLC torus room to investigate Q.I Inc. the wall condition · Equipment that can iXs Research Corporation enter the inside of the IHI Inspection & Instrumentation Co., Ltd. torus room from the BL AUTOTEC, Ltd. outside to investigate S/C lower portions TOPY Industries Ltd. · Wired or wireless small IHI AEROSPACE Co., Ltd. devices that can speedily Traveling Mitsubishi Electric TOKKI Systems Corporation and broadly move mechanism underwater iRobot Corporation · Electronic equipment Inuktun Services Ltd. that operates normally AAI Japan Co. Ltd. even under a high dosage environment Adept Technology, Inc. · This mechanism Toshiba Corporation includes control devices IHI Corporation and communication devices for remote CONTEC CO., LTD. Wireless unit control. Advantech Co., Ltd. Wireless unit HIBOT CORP. Control device S/C lower outside maxon motor Control device surface investigation robot Futaba Corporation Especially required Asahi Onkyo Corporation technology: HBC Radiomachic Japan  Avoid obstacles by Communication Included in the traveling moving under water, － and provide access to equipment mechanism Included in the traveling the underside of the Control device － S/C. mechanism  Technique to detect Mitsubishi Heavy Industries, Ltd. a slight amount of YASKAWA Electric Corporation water leakage and to identify the leakage REVAST CO., LTD. location under OC Robotics clouded water Framatome Kraft TeleRobotics, Inc. · Equipment that can Cybernetix access to the S/C lower portions in the torus room Sugatsune Kogyo Co., Ltd. Working while avoiding obstacles, ELGO JAPAN INC. mechanism in order to check the S/C Actua Systems Inc. lower portions with investigative equipment GeoSystems AAI Japan Co. Ltd. Barrett Technology Neuronics Toshiba Corporation TOSHIBA MACHINE CO., LTD. Yamaha Corporation Hitachi-GE/ Toshiba / Mitsubishi Heavy Industries February 24, 2012 Technical Catalogue/Vendor List (Development of Leak Location Identification Technology for Primary Containment Vessels [PCVs]) Required Technical description Classification Vendor holding the technology Remarks technology (needs) (l t) · The equipment shall be DIAKONT/MILS SYSTEMS CO., able to monitor remote LTD NISCO work for a long duration under a high-dosage NUCRON Co., LTD environment, as well as to CENTRONIC Raditec acquire the high-dose Thermo Fisher Scientific K.K. state as still/moving images. Olympus Corporation · The measuring device Sound Metrics Corporation has a high-resolution BlueView Technologies, Inc. Measuring device CCD for visible light, infrared rays, and AD Science Co. ultraviolet rays, in order to Toshiba Corporation determine minute defects and damage. It should be TOSHIBA TELI CORPORATION verified that the electronic Albert S/C lower outside equipment operates surface normally under a high- investigation robot dosage environment. · Measuring device that can check the condition fbjt tti Working device - JR East Consultants Company, · Boring equipment to OYO Corporation, Support equipment approach underground YBM Co., Ltd. from the 1st floor TOHO CHIKAKOKI CO., LTD. HOKUYO AUTOMATIC CO., LTD.

· Obstacle detection SICK.K.K. Others · Radiation shield mesa Canesta Ask Sanshin Engineering Corp.,Ltd Hitachi-GE/ Toshiba / Mitsubishi Heavy Industries February 24, 2012 Technical Catalogue/Vendor List (Development of Leak Location Identification Technology for Primary Containment Vessels [PCVs]) Required Technical description Classification Vendor holding the technology Remarks technology (needs) (l t) BAB-HITACHI INDUSTRIAL Co. Hitachi-GE Nuclear Energy, Ltd. KOWA CORPORATION Urakami Research & Development Co., Ltd. SeaBotix, Inc. VideoRay LLC Q.I Inc. iXs Research Corporation · Equipment that can enter the inside of the IHI Inspection & Instrumentation Co., Ltd. torus room from the BL AUTOTEC, Ltd. outside and access to TOPY Industries Ltd. joints with vent pipes and PCV to investigate their IHI AEROSPACE Co., Ltd. Traveling areas Mitsubishi Electric TOKKI Systems Corporation mechanism · This mechanism iRobot Corporation includes control devices and communication Inuktun Services Ltd. devices for remote AAI Japan Co. Ltd. control. Adept Technology, Inc. Toshiba Corporation CONTEC CO., LTD. Wireless unit Advantech Co., Ltd. Wireless unit HIBOT CORP. Control device maxon motor Control device Vent pipe-D/W Futaba Corporation joint investigation robot Asahi Onkyo Corporation HBC Radiomachic Japan Communication Included in the traveling - Especially required equipment mechanism technology: Included in the traveling  Accessibility to the Control device - area of investigation mechanism through a clearance Mitsubishi Heavy Industries, Ltd. gaps between vent pipes and concrete YASKAWA Electric Corporation walls REVAST CO., LTD. Technique to detect the leakage of water OC Robotics or gas and to identify Framatome leakage locations Kraft TeleRobotics, Inc. · Equipment that can Cybernetix access the S/C lower portions in the torus room Sugatsune Kogyo Co., Ltd. Working while avoiding obstacles, ELGO JAPAN INC. mechanism in order to check the S/C Actua Systems Inc. lower portions with investigative equipment GeoSystems AAI Japan Co. Ltd. Barrett Technology Neuronics Yamaha Corporation Toshiba Corporation TOSHIBA MACHINE CO., LTD. Hitachi-GE/ Toshiba / Mitsubishi Heavy Industries February 24, 2012 Technical Catalogue/Vendor List (Development of Leak Location Identification Technology for Primary Containment Vessels [PCVs]) Required Technical description Classification Vendor holding the technology Remarks technology (needs) (l t) · The equipment shall be DIAKONT/MILS SYSTEMS CO., able to monitor remote work LTD for a long duration under a NISCO high-dosage environment, NUCRON Co., LTD as well as to acquire the CENTRONIC Raditec high-dose state as still/moving images. Thermo Fisher Scientific K.K. · The measuring device can Olympus Corporation be mounted on the above- mentioned traveling Sound Metrics Corporation devices, and has a high- BlueView Technologies, Inc. resolution CCD for visible Measuring device light, infrared rays, and AD Science Co. ultraviolet rays, in order to Toshiba Corporation determine minute defects, damage, and leakage. It TOSHIBA TELI CORPORATION should be verified that the Albert electronic equipment Vent pipe-D/W operates normally under a joint investigation robot high dose. · Measuring device that can check the condition of object penetration portions under clouded water

Working device - - JR East Consultants Company, · Boring equipment to OYO Corporation, Support equipment approach underground YBM Co., Ltd. from the 1st floor TOHO CHIKAKOKI CO., LTD. HOKUYO AUTOMATIC CO., LTD.

Mitsubishi Electric TOKKI Systems Corporation Inuktun Services Ltd. AAI Japan Co. Ltd. Adept Technology, Inc. D/W outside open Futaba Corporation portions Asahi Onkyo Corporation investigation robot HBC Radiomachic Japan Communication Included in the traveling - Especially required equipment mechanism Included in the traveling technology: Control device -  Accessibility to the mechanism target area while Mitsubishi Heavy Industries, Ltd. avoiding the YASKAWA Electric Corporation surrounding obstacles  Technique to detect REVAST CO., LTD. a slight amount of gas OC Robotics leakage and to identify the leakage Framatome location under aerial Cybernetix condition Kraft TeleRobotics, Inc. · After approaching the KUKA Roboter GmbH penetrations by the Working traveling mechanism, the Sugatsune Kogyo Co., Ltd. mechanism equipment can operate a ELGO JAPAN INC. measuring device on the Actua Systems Inc. penetrations concerned. GeoSystems AAI Japan Co. Ltd. Barrett Technology Neuronics Yamaha Corporation Toshiba Corporation TOSHIBA MACHINE CO., LTD. Hitachi-GE/ Toshiba / Mitsubishi Heavy Industries February 24, 2012 Technical Catalogue/Vendor List (Development of Leak Location Identification Technology for Primary Containment Vessels [PCVs]) Required Technical description Classification Vendor holding the technology Remarks technology (needs) (l t) DIAKONT/MILS SYSTEMS CO., LTD · The equipment shall be NUCRON Co., LTD able to monitor remote CENTRONIC Raditec work for a long duration under a high-dosage Thermo Fisher Scientific K.K. environment, as well as to Olympus Corporation acquire a high-dose state Measuring device MITSUBISHI CABLE INDUSTRIES, as still/moving images. LTD · Measuring device that MIRION TECHNOLOGIES can detect the leakage of Q.I Inc. penetrating portions MHI Solution Technologies CO., LTD. under aerial conditions AD Science Co. NISCO Working device - - D/W outside open Fujikura Ltd. Cable portions investigation robot · Components usable HAYAKAWA RUBBER CO.,LTD Seal material Radiation-resistant under a radioactive MORESCO Corporation Lubricant parts environment Victrex plc. PEEK material Yoshizawa-ld Co. Shielding til · Lifter with which Shiro industry Co. investigation equipment Takami Manufacturing Co., Ltd. Support equipment reaches the penetration at a high place above the floor HOKUYO AUTOMATIC CO., LTD.

Mitsubishi Electric TOKKI Systems Corporation Inuktun Services Ltd. AAI Japan Co. Ltd. Adept Technology, Inc. Futaba Corporation D/W outside narrow Asahi Onkyo Corporation spaces HBC Radiomachic Japan investigation robot Communication Included in the traveling - equipment mechanism

Especially required Included in the traveling Control device - technology: mechanism  Accessibility to areas of application Mitsubishi Heavy Industries, Ltd. while avoiding the YASKAWA Electric Corporation surrounding obstacles  Measuring device REVAST CO., LTD. that can detect the OC Robotics leakage of penetrating Framatome portions under aerial conditions Cybernetix  Technique to detect Kraft TeleRobotics, Inc. a slight amount of gas · After approaching the KUKA Roboter GmbH leakage and to identify penetrations using the the leakage location Working traveling mechanism, the Sugatsune Kogyo Co., Ltd. under aerial conditions mechanism equipment can operate a ELGO JAPAN INC. measuring device on the Actua Systems Inc. penetrations concerned. GeoSystems AAI Japan Co. Ltd. Barrett Technology Neuronics Yamaha Corporation Toshiba Corporation TOSHIBA MACHINE CO., LTD. Hitachi-GE/ Toshiba / Mitsubishi Heavy Industries February 24, 2012 Technical Catalogue/Vendor List (Development of Leak Location Identification Technology for Primary Containment Vessels [PCVs]) Required Technical description Classification Vendor holding the technology Remarks technology (needs) (l t) · The equipment shall be DIAKONT/MILS SYSTEMS CO., able to monitor remote LTD NUCRON Co., LTD work for a long duration under a high-dosage CENTRONIC Raditec environment, as well as to Thermo Fisher Scientific K.K. acquire a high-dose state Measuring device Olympus Corporation as still/moving images. · Measuring device that AD Science Co. can detect the leakage of MILS SYSTEMS CO., LTD. penetrating portions under aerial conditions D/W outside narrow spaces Working device - - investigation robot · Lifter with which Shiro industry Co. investigation equipment Takami Manufacturing Co., Ltd. Support equipment reaches the penetration at a high place above the floor HOKUYO AUTOMATIC CO., LTD.

· Obstacle detection SICK.K.K. Others · Radiation shield mesa Canesta Ask Sanshin Engineering Corp.,Ltd Technical Catalogue Classification Traveling mechanism (including the handling device and working device) Title Nuclear power disaster prevention robot (SWAN) Proponent Hitachi, Ltd. 1. Technical details (features, specifications, and performance) (1) The variable-shape-type crawler and several specific sensors enable the traveling of passages, stairways, steps, and dams in narrow buildings. Dimensions: Width: 620 mm, height: 1,700 mm, length: 960 mm, weight: 331 kg

2. Past application example (including past application examples at domestic plants, foreign plants, and in other industries) Noo appapplication ca o to o acactual ua plants a s;; we e peperformed o ed a function u c o confirmation co a o test es uunder de a ssimulated u a ed environment when developing this nuclear power disaster prevention robot. 3. Reasons to be considered applicable to Fukushima Daiichi Nuclear Power Station, along with technical issues Applicable issue Applicability Remarks and reasons (quantitatively) Usability under a radioactive The cumulative dose of the weakest YES environment electronic element is several dozen Sv. Door opening is possible with a special and Opening/closing of doors YES exclusive tool. The arm length is not sufficient. Access to objects No Support equipment such as another lifter is (Height above floor: 3.3 m) necessary. Correspondence to the disclosure of Correspondence to the disclosure of YES technical information and remodeling information and remodeling is possible. Dispatch is possible because developers Dispatch of operation engineers YES are still at work and thus available.

4. Technology to be developed (example) Development of extended arms that can access high places, or Development of support equipment such as lifters 5. Remarks Technical Catalogue Classification Traveling mechanism (including the handling device and working device) Title Swimming-type ROV Proponent Hitachi-GE Nuclear Energy Co., Ltd. 1. Technical details (features, use, and performance) Six thrusters allow motions for right and left translation, turning, and lift and fall. As the equipment does not have shaft-sealing parts, such as the driving shafts of thrusters and the rotating shaft of the camera, the life-span is extended. The CCD camera has an operating range of a 360-degree-horizontal direction (pan) rotation and a 0-90 degree top and bottom direction (tilt) rotation. It is possible to perform VT from various directions in the narrow bottom section, without changing the posture of the equipment itself. 表. 遊泳型ＲＯＶの主な仕様 Vertical垂直 Table: Main specifications of the swimming-type ROV スラスタ thruster Item項目 Specifications 仕様 250mm 120mm Dimensi寸法 o W120mm×H352mm×L250mm Weight気中重量 in air About 約 6kg6 kg Vertical 推進用 352mm 垂直thruster Two推進用スラスタ thrusters for prop 2ulsion 基、スラスタ Propulsion スラスタ Propulsion推進機構 Four thrusters for right and left translation, turning, and lift thruster and fall左右並進・旋回・昇降スラスタ 4 基

CCDCCD camera, カメラ，照明用 LED for lightning LED Camera カメラパン：360Pan ﾟ

Tilt:チルト：0～90 0-90 degrees (horizontally)ﾟ(水平)

Panパン Environmen耐環境性 Radiation 耐放射線性、耐水圧構造（0.3MPa） resistant, high water

Cameraカメラユニット Tiltチルト

Overview of the swimming-type ROV

2. Past application example (including past application examples in domestic plants, foreign plants, and in other industries) Actually applied to nuclear power plants

3. Reasons to be considered applicable to Fukushima Daiichi Nuclear Power Station, along with technical issues Applicable issue Applicability Remarks and reasons (quantitatively) Usability under a radioactive environment Yes Actually applied. Max. about 300 Gy Submergence to a water depth of 12 m Yes High water pressure-resistant structure (0.3 MPa) Application to narrow spaces (500 mm Yes Outer diameter: 250 x 120 mm Correspondence to the disclosure of Yes Customization according to the intended purpose is possible. technical information and remodeling Dispatch of operation engineers Yes Dispatch to Fukushima Daiichi Nuclear Power Station is possible.

4. Technology to be developed (example)