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Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology

Received: 26 October 2021     Accepted: 23 November 2021     Published: 2 December 2021
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Abstract

A robot with a flexible arm that is controlled with a remotely operated water-pressure mechanism has been developed for dismantling objects that are heavily contaminated by radioactive materials during decommissioning of nuclear power plants. The objective of this research is to develop a process planning support system and method that can improve the accuracy of estimating the time required by the robot to complete its dismantling activity, support recovery from delays, and determine the feasibility of conducting a dismantling process in the reactor building. Since the flexible arm has a more complex mechanism and shapes those that of multi-axis robots, unique movable arm structures were modeled with a tool for three-dimensional (3D) computer graphics (CG) technology. The 3D CG model was used to make valid operation sequences for planning the motion of the robot. With the help of a prototype system, motion planning can perform to calculate the duration needed for the robot to complete its operation. The calculated duration is then used for updating the planned duration of a specific activity in a dismantling schedule. To plan the robot behaviors for complex dismantling processes, a simplified planning method with few virtual controllers based on a spline inverse kinematics (IK) with a non-uniform rational B-spline (NURBS) curve for an arm comprised of pistons and cylinders pressurized by water was studied. A prototype system for planning the behaviors of the robot was evaluated, and it was confirmed that the movement trajectory of the robot and the three-dimensional isometric display could be visualized using the mesh model generated from point-cloud data used to make the environment model of the robot. It was also confirmed that the operations involved in a specific activity of the robot could be completed within the duration determined in the simulation.

Published in International Journal of Mechanical Engineering and Applications (Volume 9, Issue 6)
DOI 10.11648/j.ijmea.20210906.12
Page(s) 90-97
Creative Commons

This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.

Copyright

Copyright © The Author(s), 2021. Published by Science Publishing Group

Keywords

Decommissioning, Computer Graphics, Forward Kinematics, Inverse Kinematics, Non-Uniform Rational B-Spline (NURBS) Curve

References
[1] Schmittem, M. (2016). Nuclear decommissioning in Japan: Opportunities for European companies. EU–Japan Centre for Industrial Cooperation.
[2] Grossi, P., Segabinaze, R., Tello, C., and Daniška, V. (2013). Cost estimation for decommissioning of research reactors. 2013 International Nuclear Atlantic Conference. ISBN 978-85-99141-05-2.
[3] Szőke, I., Louka, M., Bryntesen, T., Edvardsen, S. and Bratteli, J. (2015). Comprehensive support for nuclear decommissioning based on 3D simulation and advanced user interface technologies. Journal of Nuclear Science and Technology, 2015, 52, 371–387.
[4] Ohga, Y., Fukuda, M., Shibata, K., Kawakami, T. and Matsuzaki, T. (2005). A system for the calculation of radiation field for maintenance support in nuclear power plants. Radiation Protection Dosimetry. 116, 592-596.
[5] Lee, J., Kim, G., Kim, I., Hyun, D., Jeong, K., Choi, B., and Moon, J. (2016). Establishment of the framework to visualize the space dose rates on the dismantling simulation system based on a digital manufacturing platform. Annals of Nuclear Energy, 95, 161-167.
[6] Kim, I., Choi, B., Hyun, D., Moon, J., Lee, J., Jeong, K. and Kang, S. (2016). A framework for a flexible cutting-process simulation of a nuclear facility decommission. Annals of Nuclear Energy, 2016, 97, 204-207.
[7] Nonaka, Y., Yamamoto, E., Oya, K., Enomoto, A. and Seki, H. (2016). Development of IT-driven power plant engineering work support systems. Hitachi Review, 65, 963-968.
[8] Seki, H., Imamura, M., and Nagase, H. (2020). Evaluating Precise Quantity of Decommissioning Waste by Cutting Virtual 3D Models of Large Equipment. Nuclear Science, 5, 36-43.
[9] Okada, S., Hirano, K., Kobayashi, R., and Kometani, Y. (2020). Development and Application of Robotics for Decommissioning of Fukushima Daiichi Nuclear Power Plant. Hitachi Review, 69, 562–563.
[10] Thuruthel, T., Ansari, Y., Falotico, E., and Laschi, C. (2018). Control strategies for soft robotic manipulators: A survey. Soft robotics, 5, 149-163.
[11] Andaluz, V., Chicaiza, F., Gallardo, C., Quevedo, W., Varela, J., Sánchez, J., and Arteaga, O. (2016). Unity3D-MatLab simulator in real time for robotics applications. International Conference on Augmented Reality, Virtual Reality and Computer Graphics, 9768, 246-263.
[12] Besset, P., and Taylor, C. (2014). Inverse kinematics for a redundant robotic manipulator used for nuclear decommissioning. UKACC International Conference on Control (CONTROL), IEEE, 56-61.
[13] Borboni A., Bussola R., Faglia R., Magnani P., Menegolo A. (2008). Movement optimization of a redundant serial robot for high-quality pipe cutting. J Mech Design, 130 (8): 0823011 1-6.
[14] Pin, F., Love, L., and Jung, D. (2004). Automated kinematic equations generation and constrained motion planning resolution for modular and reconfigurable robots. In Proceedings of the 227th ACS National Meeting.
[15] Shoji, K. (2017). Possibility of applying large-scale point cloud/mixed reality technology in decommissioning of nuclear facilities. Dekomisshoningu Giho, 55, 8-21.
[16] Li, T., Wang, J., Liu, H., and Liu, L. (2017). Efficient mesh denoising via robust normal filtering and alternate vertex updating. Frontiers of Information Technology and Electronic Engineering, 18, 1828-1842.
[17] Unity Technologies. (2020). Optimizing graphics performance, https://docs.unity3d.com/Manual/OptimizingGraphicsPerformance.html.
[18] Ramanagopal, M., Nguyen, A., and Ny, J. (2017). A motion planning strategy for the active vision-based mapping of ground-level structures. IEEE Transactions on Automation Science and Engineering, 15, 356-368.
[19] Shi, X., Fang, H., and Guo, L. (2016). Multi-objective optimal trajectory planning of manipulators based on quintic NURBS. IEEE International Conference on Mechatronics and Automation, IEEE, 759-765.
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[21] NVIDIA, Inc., NVIDIA PhysX Software System, https://www.nvidia.com/en-us/drivers/physx/physx-9-19-0218-driver/.
Cite This Article
  • APA Style

    Hiroshi Seki, Katsunori Ueno, Katsuhiko Hirano. (2021). Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology. International Journal of Mechanical Engineering and Applications, 9(6), 90-97. https://doi.org/10.11648/j.ijmea.20210906.12

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    ACS Style

    Hiroshi Seki; Katsunori Ueno; Katsuhiko Hirano. Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology. Int. J. Mech. Eng. Appl. 2021, 9(6), 90-97. doi: 10.11648/j.ijmea.20210906.12

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    AMA Style

    Hiroshi Seki, Katsunori Ueno, Katsuhiko Hirano. Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology. Int J Mech Eng Appl. 2021;9(6):90-97. doi: 10.11648/j.ijmea.20210906.12

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  • @article{10.11648/j.ijmea.20210906.12,
      author = {Hiroshi Seki and Katsunori Ueno and Katsuhiko Hirano},
      title = {Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology},
      journal = {International Journal of Mechanical Engineering and Applications},
      volume = {9},
      number = {6},
      pages = {90-97},
      doi = {10.11648/j.ijmea.20210906.12},
      url = {https://doi.org/10.11648/j.ijmea.20210906.12},
      eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ijmea.20210906.12},
      abstract = {A robot with a flexible arm that is controlled with a remotely operated water-pressure mechanism has been developed for dismantling objects that are heavily contaminated by radioactive materials during decommissioning of nuclear power plants. The objective of this research is to develop a process planning support system and method that can improve the accuracy of estimating the time required by the robot to complete its dismantling activity, support recovery from delays, and determine the feasibility of conducting a dismantling process in the reactor building. Since the flexible arm has a more complex mechanism and shapes those that of multi-axis robots, unique movable arm structures were modeled with a tool for three-dimensional (3D) computer graphics (CG) technology. The 3D CG model was used to make valid operation sequences for planning the motion of the robot. With the help of a prototype system, motion planning can perform to calculate the duration needed for the robot to complete its operation. The calculated duration is then used for updating the planned duration of a specific activity in a dismantling schedule. To plan the robot behaviors for complex dismantling processes, a simplified planning method with few virtual controllers based on a spline inverse kinematics (IK) with a non-uniform rational B-spline (NURBS) curve for an arm comprised of pistons and cylinders pressurized by water was studied. A prototype system for planning the behaviors of the robot was evaluated, and it was confirmed that the movement trajectory of the robot and the three-dimensional isometric display could be visualized using the mesh model generated from point-cloud data used to make the environment model of the robot. It was also confirmed that the operations involved in a specific activity of the robot could be completed within the duration determined in the simulation.},
     year = {2021}
    }
    

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  • TY  - JOUR
    T1  - Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology
    AU  - Hiroshi Seki
    AU  - Katsunori Ueno
    AU  - Katsuhiko Hirano
    Y1  - 2021/12/02
    PY  - 2021
    N1  - https://doi.org/10.11648/j.ijmea.20210906.12
    DO  - 10.11648/j.ijmea.20210906.12
    T2  - International Journal of Mechanical Engineering and Applications
    JF  - International Journal of Mechanical Engineering and Applications
    JO  - International Journal of Mechanical Engineering and Applications
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    PB  - Science Publishing Group
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    UR  - https://doi.org/10.11648/j.ijmea.20210906.12
    AB  - A robot with a flexible arm that is controlled with a remotely operated water-pressure mechanism has been developed for dismantling objects that are heavily contaminated by radioactive materials during decommissioning of nuclear power plants. The objective of this research is to develop a process planning support system and method that can improve the accuracy of estimating the time required by the robot to complete its dismantling activity, support recovery from delays, and determine the feasibility of conducting a dismantling process in the reactor building. Since the flexible arm has a more complex mechanism and shapes those that of multi-axis robots, unique movable arm structures were modeled with a tool for three-dimensional (3D) computer graphics (CG) technology. The 3D CG model was used to make valid operation sequences for planning the motion of the robot. With the help of a prototype system, motion planning can perform to calculate the duration needed for the robot to complete its operation. The calculated duration is then used for updating the planned duration of a specific activity in a dismantling schedule. To plan the robot behaviors for complex dismantling processes, a simplified planning method with few virtual controllers based on a spline inverse kinematics (IK) with a non-uniform rational B-spline (NURBS) curve for an arm comprised of pistons and cylinders pressurized by water was studied. A prototype system for planning the behaviors of the robot was evaluated, and it was confirmed that the movement trajectory of the robot and the three-dimensional isometric display could be visualized using the mesh model generated from point-cloud data used to make the environment model of the robot. It was also confirmed that the operations involved in a specific activity of the robot could be completed within the duration determined in the simulation.
    VL  - 9
    IS  - 6
    ER  - 

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Author Information
  • Research and Development Group, Hitachi, Ltd., Hitachi-shi, Japan

  • Nuclear Engineering and Product Division, Hitachi-GE Nuclear Energy, Ltd., Hitachi-shi, Japan

  • Nuclear Engineering and Product Division, Hitachi-GE Nuclear Energy, Ltd., Hitachi-shi, Japan

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