Development of Robot “PMORPH” for Investigation inside Unit 1 Primary Containment Vessel (PCV) (Investigation outside Pedestal Basement: B2 Investigation) [Developed by IRID and Hitachi GE Nuclear Energy] (February 3, 2017)
The “PMORPH”, developed by IRID and Hitachi-GE Nuclear Energy, was presented to the media on February 3. The device, equipped with a dosimeter and underwater camera, will be used to investigate outside the Unit 1 pedestal basement in the PCV, in which fuel debris may have spread to, towards decommissioning TEPCO’s Fukushima Daiichi Nuclear Power Station (NPS).
In order to identify the condition of fuel debris visually and through dosimeter measurement, the robot enables to measure how fuel debris have spread in the basement using a sensor unit that incorporates a radiation-resistant camera, LED and dosimeter. In addition to a camera used for travelling on grating and when lowering or raising the sensor unit, the investigation device features a combined total of five cameras and also includes a winch used for lowering / raising the sensor unit.
(Investigation to be conducted)
It is planned that “PMORPH” will investigate the spread of submerged fuel debris by using newly-installed dosimeter and underwater camera. This investigation will see PMORPH changing its shape to avoid PCV internal structures while travelling the first floor grating. It will lower the sensor unit at five points on the grating through to the basement floor approximately 3.5 meters below.
■ Overview of “PMORH” investigation robot
Main body dimension： Length 699mm x width 72mm x height 93mm
(When travelling on the guide pipe)
When travelling on grating： Length 316mm x width 286mm x height 93mm
Sensor unit dimension： Width 20mm x height 40mm
Cable: Length 3.5m
Weight: Approximately 10kg
Specification: Camera x 5, dosimeter x 1
Radiation resistance: Over 1000 Sv. (approx.)
Operation: Remote-controlled with cable
*Please click here to see an overview of “‘PMORPH’ investigation robot inside the Unit 1 PCV”
*Please click here to see video of “PMORPH”
(Facebook video page)
Inquiries regarding this topic may be directed to IRID viaE-mail