Autonomous Radiation Survey Inside Contaminated Buildings at Fukushima Daiichi with the Riser UAV - 18299
Nuclear decommissioning is constrained and defined by radiation and radioactive contamination. Where radiation is high and its distribution is unknown simply gathering the data needed for project planning can become a challenge. Fukushima Daiichi epitomises this challenge. The complex sequence of events at the plant following the March 2011 earthquake and tsunami has resulted in extensive physical damage and an essentially unpredictable distribution of contamination. TEPCO have applied a range of manual and robotics techniques to map the status of the plant, but many significant areas have remained no-go zones due to a combination of high radiation, physical hazards and obstacles. Further, even in areas where manual survey is feasible, there is strong desire to minimise human exposure to radiation by deploying robots where possible. Riser is a fully autonomous UAV equipped with an infrastructure-free 3D navigation and mapping system, inspection cameras and a CZT spectrometric measurement capability. The system has been custom designed specifically to meet the needs of the nuclear inspection. Riser is capable of accessing areas with dose rates of hundreds of milli-sievert per hour and producing 3D models and radiation surveys with accurately located data points. The data from Riser can subsequently be fused using Createc's N-Visage engine to produce three-dimensional contamination maps which can be used for predictive modelling of future D and D activity. Riser has been deployed at Fukushima Daiichi since March 2017. We present examples of data and analysis outputs, as well as general learning about deploying autonomous robots at a nuclear site. (authors)