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Missions of the International Research Institute for Nuclear - - PowerPoint PPT Presentation

Sep 02, 2023 468 likes •689 views

IEEE IROS2013 Technical Committee on Robotics and Automation for Nuclear Facilities Missions of the International Research Institute for Nuclear Decommissioning 2013 NOV 3 International Research Institute for Nuclear Decommissioning Hajimu

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IEEE IROS2013 Technical Committee on Robotics and Automation for Nuclear Facilities

2013 NOV 3 International Research Institute for Nuclear Decommissioning

Hajimu Yamana

Missions of the International Research Institute for Nuclear Decommissioning

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International Research Institute for Nuclear Decommissioning (IRID in brief)

Establishment

・ 2013.8.1 Approved by Minister of Economic, Trade and Industry, Mr.Motegi, upon Research & Development Consortium Act of Japan. ・2013.8.8 1st General meeting was held to start the consortium. Organizational scheme was agreed, and actual activities kick-off.

Basic Role

・ With perspective of enhancing technological basis for nuclear decommissioning for the future, fully commit to technology R&D that helps decommissioning project of Fukushima Daiichi NPS.

Process of the foundation

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Contents of operation

R&D for nuclear decommissioning Advancing international/domestic alliance for decommissioning Human resource development for nuclear R&D

Founding members (17)

Japan Atomic Energy Agency (JAEA) National Institute of Advanced Industrial Science and Technology (AIST) Toshiba Corporation Hitachi-GE Nuclear Energy, Ltd. Mitsubishi Heavy Industries, Ltd. Hokkaido Electric Power Company Tohoku Electric Power Company Tokyo Electric Power Company Chubu Electric Power Company Hokuriku Electric Power Company Kansai Electric Power Company Chugoku Electric Power Company Shikoku Electric Power Company Kyushu Electric Power Company The Japan Atomic Power Company J-POWER Japan Nuclear Fuel Limited (JNFL)

Outline of IRID

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Integration of the engineering for decommissioning

Council for the Decommissioning of TEPCO's Fukushima Daiichi Nuclear Power Station (Chaired by Minister Motegi of METI) Electric Utilities Plant Manufacturers

  • Optimize decommissioning strategy
  • Analysis of practical needs and seeds
  • Coordination of technology
  • International & domestic advices
  • Exploration of potential technology
  • Enhance human resource
  • Alliance with universities etc.

Advices from domestic/international organizations Joint study with partners

R&D execution bodies (member companies)

3 manufacturers 11 Utility companies with nuclear power JNFL JAEA AIST Mid & Long-term Road Map R&D program Future decommissioning projects

Integrated Management of R&Ds for decommissioning

IRID

TEPCO

Engineering Sections at Head Office Fukushima Daiichi Front

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Complete submergence scenario as the reference roadmap

Mid & Long-term roadmap

About 40 years or more will be needed for the decommissioning of Fukushima Daiichi NPP, and it will be a big challenge in terms of technology and cost.

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BWR Mark-I

Operation Floor Spent Fuel Pool Suppression Chamber RPV Nuclear Fuels Control Rod Driving Mechanism Steam line

Reactor Pressure Vessel(RPV) Reactor building

Primary Containment Vessel (PCV)

Source : World Nuclear Association (2012), Fukushima Accident 2011. Press Release.

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↑ ↓ 燃 料 部 ↑ ↓ 燃 料 部

  • Approx. 72 hours after scram
  • Approx. 168 hours after scram

Melt-down at Unit-3

Active fuel area Active fuel area

Source: Open information by TEPCO Accident report by TEPCO

給水系 CS系

CS

Recycled water

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Material and radioactivity in the core

Molten corium observed in TMI Inventory of FP radioactivity in Unit-3

1.0E+03 1.0E+04 1.0E+05 1.0E+06 1.0E+07 1.0E+08 1.0E+09 1.0E+10 1.E-02 1.E-01 1.E+00 1.E+01 1.E+02 Radioactivity (GBq/Core) Time after SCRAM (y) Cs137 Ba137m Sr90 Y90 Pm147 Kr85 Cs134 Eu154 Eu155 Sb125 Ru106 Rh106 Sm151 H3 Te125m Ce144 Pr144 Cd113m Tc99 Eu152 Pr144m

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Temperatures of representative points as of August 22 11:00

Latest status, Unit-1, 2, 3, and 4

注水 構台

Unit-1 Unit-2 Unit-3 Unit-4 Unit-1 Unit-2 Unit-3 Unit-4 RPV bottom 33.0 44.0 42.7

  • PCV inside

34.0 44.1 40.6

  • SF pool

30.5 29.9 28.7 37.0

  • C

Original source: Council for the decommissioning

  • f TEPCO’s Fukushima Daiichi NPS

Stand

Building cover Spent fuel pool Containme nt vessel Reactor building Reactor pressure vessel Fuel debris Retained water

Water feed

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Observed ambient conditions in the PCV

Measured point

Unit-1 Unit-2 Unit-3

Depth

inside PCV 2.8m from bottom 60cm from bottom No measurement Inside S/R room OP4000 mm OP3300 mm OP3400 mm

Temperature

RPV bottom

  • ca. 33℃
  • ca. 45℃
  • ca. 45℃

inside PCV

  • ca. 35℃
  • ca. 45℃
  • ca. 42℃

Water in S/R room

  • ca. 20-40℃
  • ca. 15-25℃
  • No measurement

Dose rate

inside PCV

  • ca. 11 Sv/h
  • ca. 73 Sv/h

No measurement inside S/R room ～10,000/ mSv/h ～140 mSv/h ～360mSv/h inside Reactor Building

  • Max. 5150 mSv/h
  • Max. 880mSv/h
  • Max. 203 mSv/h
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R&D projects of IRID (1)

  • 1. Identification of leakage points of

PCV

  • 2. Remote decontamination of

reactor building

  • 3. Inspection of inside PCV
  • 4. Integrity assessment of PCV and

RPV

  • 5. Severe accident progress

assessment

  • 6. Repair of PCV
  • 7. Debris re-criticality study
  • 8. Debris characterization study

Source: Open information by TEPCO Accident report by TEPCO

給水系 CS系

CS

Recycled water

1 2 3 5 6 8 7 4

  • A. Developments to set up fuel debris retrieval
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  • C. R&D for treatment & disposal of

radioactive wastes

  • 1. Treatment of secondary radioactive

wastes of water treatment

  • 2. Treatment and disposal of radioactive

wastes

  • B. R&D to retrieve spent fuels in

SF pool

  • 1. Long-term integrity of spent fuels

recovered from SF pool

  • 2. Treatment of damaged spent fuels

R&D projects of IRID (2)

Spent fuels stored in a pond Installed facility for the recovery

  • f spent fuels from Unit-4
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Contaminated ground water issue (solicitation by IRID)

Pump up contaminated water from trench Soil improvement, facing, Pump up ground water Sea-side impermeable wall Land-side impermeable wall Sub-drain Ground water by-passing U-2 U-1 U-3 U-4

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Preliminary inspection of the pedestal at Unit-2

Pedestal entrance A picture taken at the entrance of pedestal

Dose Sv/h Temperature ① 24 41 oC ② 30 45 oC ③ 36 45 oC

Pedestal

Original source: Council for the decommissioning

  • f TEPCO’sFukushima Daiichi NPS
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Robot technology applied in Fukushima Daiichi NPS

 Decontamination , shielding  Mission  Visual , dose rate and meteorological survey  Material sampling  Fuel debris retrieval  Leakage point identification and repair  Obstacle removal  Robots applied in Fukushima Daiichi NPS from 2011

T-Hawk 2011 Apr. 3 Quince Jun. 2 JAEA-3 Packbot Apr. Warrior Jun. Sep. Survey Runner Apr. Quadruped Walking Robot Dec. FRIGO-MA 2013 Apr. Hi-access survey robot Jun. ASTACO-SoRA

  • Jul. ~ Aug.

Magnetic surface crawler Sep. 1st use Main purpose Visual survey and dose measurement Obstacle removal Upstairs survey Torus Room survey Small room survey High and narrow space survey Dose measurement (Gamma camera) Torus Room survey Heavy obstacle removal Water level of S/C inside measurement Robot name 17 13 1 2 6 1 2 1 1 Visual survey from bird-eye view

Usage count

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Result summary provided by the application

T-Hawk Packbot Warrior Quince Survey Runner FRIGO-MA Visual survey from bird-eye view Upstairs survey Visual survey and dose rate measurement Obstacle removal Torus room survey

3u R/B

(2011.4.15)

2u 5F Operation floor(2012.2.27) 3u 2F to 3F

(2011.7.26) Gamma camera

3u 1F Large-object carry-in entrance (2012.6.11-15) 3u 1F Large-object carry-in entrance

(2011.11.3)

2u Torus room

(2012.4.18)

1u 1F Personal airlock room Visual surveyed (2013.4.9)

Small room survey

Visual surveyed and dose rate was measured

100mSv/h

(50cm upper from the floor)

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Result summary provided by the application

Quadruped Walking Robot ASTACO-SoRA Hi-access survey robot Torus room survey Heavy obstacle removal

3u 1F Large-object carry-in entrance Cleaned up so as Decontamination machine can be carried in (2013.7.25-8.23) 2u Bellows cover and Edge of the vent pipe sleeve No water leakage was found

(2012.12.11-2013.3.15)

Ceiling space Side wall 4.0m 3.5m 2.5m 10mSv/h 9mSv/h 7mSv/h

High and narrow space survey

2u 1F Upper area No particular damage was found (2013.6.18) catwalk vent pipe suppression chamber bellows cover manhole

Quadruped Walking Robot Flat Vehicle

Flat Vehicle Exchangeable tip tools

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Robot technology be planed and under development

Decontamination robots are under developed and planed to be applied in 2014

All around Vent pipe and Suppression chamber (S/C) survey

High and narrow space survey

High pressure water type Torus room under water survey Narrow space of Dry well

  • utside

High space on S/C cat walk Dry-ice blast type Water blast and absorption type

Leakage point identification

Inspects for leaks by detecting tracers using ultrasonic Inspects torus wall penetrations for damage using a camera Indirect visual inspection for leaks

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Robot technology required for decommissioning process

 Travelling  Swimming under water  Stairs going up and down  Passing through narrow place  Work  Crawling on the curved surface  Reach high place  Data gathering with video , dose rate and meteorological measurement  Decontamination  Grasping, Cutting, Bringing object by the hand mechanism  The robot needs to complete the mission safely in following severe environment  Dark place  No power supply nearby  Material sampling  Radioactive environment  Poor wireless communication  Dusty and steamy environment  The robot will be equipped with following functions as needed for a individual mission

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Summary and IRID’s mission

  • 1. Integrated engineering for the

decommissioning of Fukushima Daiichi NPP

  • 2. International and opened

approach

  • 3. Technical challenges for the

critical paths of the execution of accelerated decommissioning

  • 4. Re-examination of the

decommissioning strategy and plan, including alternative scenario

  • 5. Human resource development by

expanding the community over the country

Remote Technology

Robot Manipulator (powered) Machine-assisting Decontamination Inspection Repair Retrieval Disassembly Severe accident analysis Reactor physical study Radiochemical study Waste treatment and disposal Safeguard Safety up Speed up Cost down

IRID’s missions

Operation