Development of Containment Vessels Repair Method (PDF:371KB)

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1. Purpose of Research & Development ①

If the boundary functions of Reactor Pressure Vessel (RPV) and Primary Containment Vessel (PCV) are lost, we must repair PCV to reconstruct the boundary, and fill PCV inside and RPV with water to take out core fuel.

The vicinity of PCV is under high dose and has narrow spaces. Moreover, PCV lower part (suppression chamber) is flooded. The technology to repair the damaged area under such environments has not been established.

We must develop the equipment and the technique to repair PCV under the high dose, narrow spaces and underwater environments. 2. Details of Research & Development ② 1. Development of Repair method ・Survey existing technologies required to repair the leakage of the containment vessel under the environment such as high dose, narrow and underwater / air, and develop optimal repair method.

2. Development of Repair equipment ・Develop the elemental technologies and remote control technology necessary for repair containment in the environment, such as water / air, narrow, high-dose, based on the developed repair method, design and fabricate the repair equipments in combination with existing technology, and conduct mock-up testing.

3. Evaluation of Applicability for actual plant and improvements of equipment ・Apply repair equipment to the actual plant and make sure that the equipment can repair in the environment, such as water / air, narrow and high dose. Operating Schedule Outside Drywell repair Robot: Application Area ③ －Electrical Penetration－

Concrete Wall PCV Shell Cable Photo shooting direction Flange

Expand

Object Part of Repair

Terminal Box Maximun 1100×600×400mm Terminal box Concrete wall

【Especially required technology】 ①Technology to stop the leakage of water from the objects of complex shapes ②Water sealing technology with the durability of 20 years under high-dose ③Technology to stop the leakage of water in narrow work place by remote control Outside5. 使用場所（例） Drywell Repair Robot: Application Area－Equipment hatch－ ④

PCV Shell

Flange

Object Part of Repair Reactor Building Inside PCV Photo shooting direction

Flange Expand

Scaffolding

【 Especially required technology 】 ①Technology to stop the leakage of water from the large- diameter flange (about φ3m) ②Waterproofing technology with the durability of 20 years under high-dose ③ Technology to stop the leakage of water in narrow work PCV Shell place by remote control Suppression Chamber repair Robot, Torus Room Wall Repair Robot and Perforating Robot: Application Area ⑤

Application Area フランジ Suppression chamber

approach through the perforated floor

Expansion

Repair leakage (work in water)

Suppression chamber Torus room wall 格納容器壁【Especially required technology】【 Especially required technology 】 ①Technology to perforate the steel plate (20mm ①Technology to stop the leakage of water in turbid thick) and concrete floor (500mm thick) in the water by remote control remote ②Water sealing technology with the durability of 20 ②Technology to perforate exactly by remote years under high-dose control in the space where many pipes, frames are exist Development of Containment Vessels Repair Method Required specifications for the Equipment ⑥

Object equipment Operating environment Operating temperature Radiation resistance

Atmosphere: 3 (Sv/h) or Outside Drywell Repair more In air 80℃ or less Robot Accumulation: 100 Gy or more*

Suppression chamber Atmosphere: 3 (Sv/h) or Repair Robot more Torus Room Wall Repair In air / Underwater 80℃ or less Accumulation: 100 Gy or Robot more*

Atmosphere: 3 (Sv/h) or more Perforating Robot In air / Underwater 80℃ or less Accumulation: 100 Gy or more*

*：Consider the possibility of component replacement. Development of Containment Vessels Repair Method Required Technology ⑦ Object equipment Especially required Technology Outside drywell ①Technology to stop the leakage of water from the repair robot objects of complex shapes ②Technology to stop the leakage of water from the large-diameter flange (about φ3m) ③Water sealing technology with the durability of 20 years under high-dose ④Technology to stop the leakage of water in narrow work place by remote control Perforating robot ①Technology to perforate the steel plate (20mm thick) and concrete floor (500mm thick) in the remote ②Technology to perforate exactly by remote control in the space where many pipes, frames are exist Suppression ①Technology to stop the leakage of water in turbid chamber repair robot water by remote control Torus room wall ②Water sealing technology with the durability of 20 repair robot years under high-dose TOSHIBA/Hitachi-GE/Mitsubishi Heavy Industries Feb. 24, 2012

Technical catalog Vendors list（Development of Containment Vessels Repair Method）

Required Technical description Classification Technology holding vendor Remark technology (needs) Q.I Inc. iXs Research Corp. IHI Inspection & Instrumentation Co., Ltd. TOPY Industries Ltd. IHI AEROSPACE Co., Ltd. Mitsubishi Electric TOKKI Systems Corporation iRobot Inuktun AAI Japan Co. Ltd. Adept Technology BAB-HITACHI INDUSTRIAL Co. Hitachi-GE Nuclear Energy, Ltd. KOWA CORPORATION ・Equipment that can approach to Urakami Research & Development Co., Ltd. the penetration and hatch outside D/W avoiding the obstacles SeaBotix Outside D/W ・Equipment that can approach to repair robot VideoRay the hatch in narrow area (MS (flange, hatch, tunnnel room etc.) avoiding the BL AUTOTEC, Ltd. penetration etc.) Travelling obstacles mechanism Futaba Corporation 【Especially ・Equipment that can remote radio required control travelling mechanism and Asahi Onkyo Corporation technology】 working mechanism HBC Radiomachic Japan ①Technology ・Control device to operate to stop the travelling mechanism and working ROHM Co., Ltd. leakage of water from the device OMRON Corporation objects of Mushin Systems complex shapes CONTEC CO., LTD. ②Technology Japan Radio Co., Ltd. to stop the leakage of Xeline co.,ltd. water from the large-diameter Panasonic Corporation flange (about ADVANTEC Co.,LTD. φ3m) ③Water Techno CO., LTD. sealing KEYENCE CORPORATION. technology with the DENSO CORPORATION durability of 20 years under HIBOT CORP. high-dose maxon motor ④Technology to stop the catarog TOSHIBA CORPORATION sample leakage of attachment 1 water in narrow Communication work place by Included in travelling mechanism － remote control device Control device Included in travelling mechanism － TOSHIBA/Hitachi-GE/Mitsubishi Heavy Industries Feb. 24, 2012

Technical catalog Vendors list（Development of Containment Vessels Repair Method）

Required Technical description Classification Technology holding vendor Remark technology (needs) Sugatsune Kogyo Co., Ltd. ELGO JAPAN INC., Actua Systems Geo Systems MITSUBISHI HEAVY INDUSTRIES, LTD. AAI Japan Co. Ltd. Barrett Technology Equipment that can avoid obstacles and bring working Neuronics Working mechanism device to the penetration after Yamaha Motor Co., Ltd. approach to the penetration by YASKAWA ELECTRIC CORPORATION travelling mechanism REVAST CO., LTD. OC Robotics Framatome Kuraft Telerobotics Cybernetix TOSHIBA CORPORATION TOSHIBA MACHINE CO.,LTD DIAKONT/MILS SYSTEMS CO.,LTD. NUCRON Co., LTD CENTRONIC Raditec Outside D/W Equipment that can monitor the Thermo Fisher Scientific K.K. repair robot operation by remote and teke OLYMPUS CORPORATION (flange, hatch, Measuring device pictures for long time under high penetration etc.) dose Sound Metrics （Radiation-resistant camera） BlueView Technologies TOSHIBA TELI CORPORATION Nisco Co., Ltd. AHLBERG ELECTRONICS AB SysCom Equipment that can stop water HEISHIN Ltd. Working device leakage by welding or injection BAB-HITACHI INDUSTRIAL Co. MEIJI AIR COMPRESSOR MFG.CO.,LTD. ・Equipment that can monitor operation overall widely Shiro Industry Co. ・Support equipment that can lay cable Support equipment long distance if it is wired equipment Takami Manufacturing Co., Ltd. ・Lifter with which repair equipment reaches the penetration at the high TOSHIBA CORPORATION place above the floor Pingrout Materian that can stop the Waterseal materials, leakage of water from hole or MAT Corporation Repair materials crack of Containment Vessel Ask Sanshin Engineering Corp.,Ltd HOKUYO AUTOMATIC CO., LTD. SICK.K.K. ・Obstacle detection Others mesa ・Radiation shielding Canesta Ask Sanshin Engineering Corp.,Ltd TOSHIBA/Hitachi-GE/Mitsubishi Heavy Industries Feb. 24, 2012

Technical catalog Vendors list（Development of Containment Vessels Repair Method）

Required Technical description Classification Technology holding vendor Remark technology (needs) Q.I Inc. iXs Research Corp. IHI Inspection & Instrumentation Co., Ltd. ATEX co., ltd. CHIKUSUI CANYCOM, INC. Komatsu Ltd. YANMAR Co., Ltd. KOBELCO CONSTRUCTION MACHINARY CO., LTD. IHI Construction Machinery Limited BAB-HITACHI INDUSTRIAL Co. KOWA CORPORATION Urakami Research & Development Co., Ltd. SeaBotix VideoRay ・Small equipment that can move rapidly in narrow space and is BL AUTOTEC, Ltd. controlled wired or wireless Futaba Corporation ・Electronic devices shall operate correctly under high dose. Asahi Onkyo Corporation Travering ・Equipment that can remote radio Mechanism HBC Radiomachic Japan control travelling mechanism and Perforationg working mechanism ROHM Co., Ltd. robot ・Control device to operate OMRON Corporation travelling mechanism and working 【Especially device Mushin Systems required technology】 CONTEC CO., LTD. ①Technology Japan Radio Co., Ltd. to perforate the steel plate Xeline co.,ltd. (20mm thick) Panasonic Corporation and concrete floor (500mm ADVANTEC Co.,LTD. thick) in the remote Techno CO., LTD. ②Technology KEYENCE CORPORATION. to perforate exactly by DENSO CORPORATION remote control HIBOT CORP. in the space where many maxon motor pipes, frames are exist MITSUBISHI HEAVY INDUSTRIES, LTD. YASKAWA ELECTRIC CORPORATION catarog TOSHIBA CORPORATION sample attachment 1 Communication Included in travelling mechanism － device Control device Included in travelling mechanism － TOSHIBA/Hitachi-GE/Mitsubishi Heavy Industries Feb. 24, 2012

Technical catalog Vendors list（Development of Containment Vessels Repair Method）

Required Technical description Classification Technology holding vendor Remark technology (needs) Spraying Systems MIYANAGA Co., Ltd. KOIKE SANSO KOGYO CO., LTD. Takashima & Co., Ltd. DAI-ICHI CUTTER KOGYO K.K. FLOW

・Marking Shibuya Company, Ltd. Working device ・Perforation of concrete slab ・Perforation of PCV steel plate CONSEC CORPORATION DIAMOND HILTY

Perforating Husqvarna robot JR East Consultants Company, OYO Corporation, YBM Co.,Ltd. TOHO CHIKAKOKI Co.,Ltd. HOKUYO AUTOMATIC CO., LTD. SICK.K.K. mesa Canesta ・Obstacle detection Others ・Radiation shielding Ask Sanshin Engineering Corp.,Ltd ・Cooling water supplying Shibuya Company, Ltd. CONSEC CORPORATION HILTY Husqvarna TOSHIBA/Hitachi-GE/Mitsubishi Heavy Industries Feb. 24, 2012

Technical catalog Vendors list（Development of Containment Vessels Repair Method）

Required Technical description Classification Technology holding vendor Remark technology (needs) Q.I Inc. iXs Research Corp. IHI Inspection & Instrumentation Co., Ltd. TOPY Industries Ltd. IHI AEROSPACE Co., Ltd. Mitsubishi Electric TOKKI Systems Corporation iRobot Inuktun AAI Japan Co. Ltd. Adept Technology BAB-HITACHI INDUSTRIAL Co. KOWA CORPORATION Urakami Research & Development Co., Ltd. SeaBotix ・Small equipment that can move VideoRay rapidly in narrow space and is BL AUTOTEC, Ltd. controlled wired or wireless ・Electronic devices shall operate Futaba Corporation correctly under high dose. Travering Asahi Onkyo Corporation ・Equipment that can remote radio Mechanism Suppression control travelling mechanism and HBC Radiomachic Japan chamber repair working mechanism ROHM Co., Ltd. robot ・Control device to operate 【Especially travelling mechanism and working OMRON Corporation required device Technology】 Mushin Systems ①Technology CONTEC CO., LTD. to stop the leakage of Japan Radio Co., Ltd. water in turbid Xeline co.,ltd. water by remote Panasonic Corporation control ②Water ADVANTEC Co.,LTD. sealing Techno CO., LTD. technology with the KEYENCE CORPORATION. durability of DENSO CORPORATION 20 years under high- HIBOT CORP. dose maxon motor MITSUBISHI HEAVY INDUSTRIES, LTD. YASKAWA ELECTRIC CORPORATION catarog TOSHIBA CORPORATION sample attachment 1 Communication Included in travelling mechanism － device Control device Included in travelling mechanism － TOSHIBA/Hitachi-GE/Mitsubishi Heavy Industries Feb. 24, 2012

Technical catalog Vendors list（Development of Containment Vessels Repair Method）

Required Technical description Classification Technology holding vendor Remark technology (needs) Sugatsune Kogyo Co., Ltd. ELGO JAPAN INC., Actua Systems Geo Systems MITSUBISHI HEAVY INDUSTRIES, LTD. AAI Japan Co. Ltd. Barrett Technology Neuronics Yamaha Motor Co., Ltd. Equipment that can move working Working mechanism REVAST CO., LTD. device in place in high dose OC Robotics Framatome Kuraft Telerobotics Cybernetix DIAKONT/MILS SYSTEMS CO.,LTD. NUCRON Co., LTD CENTRONIC Raditec TOSHIBA CORPORATION TOSHIBA MACHINE CO.,LTD Thermo Fisher Scientific K.K. Suppression chamber repair OLYMPUS CORPORATION robot Sound Metrics BlueView Technologies ・Equipment that can monitor the operation by remote and teke SysCom Measuring device pictures for long time under high HEISHIN Ltd. dose BAB-HITACHI INDUSTRIAL Co. （Radiation-resistant camera） MEIJI AIR COMPRESSOR MFG.CO.,LTD. TOSHIBA TELI CORPORATION Nisco Co., Ltd. AHLBERG ELECTRONICS AB IHI Corporation SysCom Equipment that can stop water Working device HEISHIN Ltd. leakage by welding or injection BAB-HITACHI INDUSTRIAL Co. MEIJI AIR COMPRESSOR MFG.CO.,LTD. Kaiyo Doboku Co.,Ltd PENTA-OCEAN CONSTRUCTION CO., LTD. Waterseal materials, Materian that can stop the Hazama Corporation Repair materials leakage of water from hole or and Filling materials crack of Containment Vessel Pingrout MAT Corporation Ask Sanshin Engineering Corp.,Ltd TOSHIBA/Hitachi-GE/Mitsubishi Heavy Industries Feb. 24, 2012

Technical catalog Vendors list（Development of Containment Vessels Repair Method）

Required Technical description Classification Technology holding vendor Remark technology (needs) HOKUYO AUTOMATIC CO., LTD. SICK.K.K. Suppression ・Obstacle detection chamber repair Others mesa ・Radiation shielding robot Canesta Ask Sanshin Engineering Corp.,Ltd TOSHIBA/Hitachi-GE/Mitsubishi Heavy Industries Feb. 24, 2012

Technical catalog Vendors list（Development of Containment Vessels Repair Method）

・Small equipment that can move KOWA CORPORATION rapidly in water and is controlled Urakami Research & Development Co., Ltd. wired or wireless ・Equipment to convey the unit SeaBotix that inject water seal materials to VideoRay torus room from outside of torus room BL AUTOTEC, Ltd. Travering ・Electronic devices shall operate Futaba Corporation Mechanism correctly under high dose. Torus room Asahi Onkyo Corporation ・Equipment that can remote radio repair robot control travelling mechanism and HBC Radiomachic Japan 【Especially working mechanism ROHM Co., Ltd. required ・Control device to operate Technology】 travelling mechanism and working OMRON Corporation ①Technology device to stop the Mushin Systems leakage of CONTEC CO., LTD. water in turbid water by Japan Radio Co., Ltd. remote control Xeline co.,ltd. ②Water Panasonic Corporation sealing technology ADVANTEC Co.,LTD. with the Techno CO., LTD. durability of 20 years KEYENCE CORPORATION. under high- dose DENSO CORPORATION HIBOT CORP. maxon motor TOSHIBA CORPORATION Communication Included in travelling mechanism － device Control device Included in travelling mechanism － TOSHIBA/Hitachi-GE/Mitsubishi Heavy Industries Feb. 24, 2012

Technical catalog Vendors list（Development of Containment Vessels Repair Method）

Materian that can stop the Pingrout Waterseal materials leakage of water from torus room MAT Corporation wall Ask Sanshin Engineering Corp.,Ltd HOKUYO AUTOMATIC CO., LTD. SICK.K.K. ・Obstacle detection Others ・Radiation shielding mesa Canesta Ask Sanshin Engineering Corp.,Ltd Technical catalog Classification Travelling Mechanism Title Gamma Crawler Proponent TOSHIBA CORPORATION 1. Technical details (feature, specifications and performance) Traveling mechanism with 2 crawler independently driven ・Dimensions：910×440×290 mm （Excluding protrusion）・Weight：60kg。・Travelling level difference：130 mm （Performance）・Travelling stairs degree：41 degree （Performance）・Allowable weight：150 kg（Adjustable for intended purpose）・Cable winding：100 m（Wireless LAN available）・Interface：Joystick

・Options：Cameras for travelling（2）, Camera with LED lighting, Example mounting Gamma Camera Pan/Tilt function for inspection camera, Multi joint manipulator

2. Experience（including the experience in domestic plants, foreign plants, and other industries） This equipment has been used for inspection at the indoor or outdoor in Fukushima Dai-ichi Nuclear Power Station since May 2011.

3. Reasons to be considered applicable to Fukushima Dai-ichi Nuclear Power Station, and technical issues Applicable issues Applicability Remark and Reason (quantitatively) Use under radiation environment Yes This equipment has been used successfully for 1 hour in radiation 1Sv/h. Use in a high temperature No This equipment has been used successfully 40℃ or environment （60℃） less. Provision in the first half of fiscal Yes Standard delivery time is 1.5 months Correspondence to the Yes Customization according to the intended purpose is disclosure of technical possible. information and the remodeling Dispatch of operation engineers Yes Dispatch to Fukushima Dai-ichi Nuclear Power Station is possible.

4. Technology to be developed （example）

5. Remarks