FAPIG
THE FIRST ATOMIC POWER INDUSTRY GROUP
2001−３/平成12年度　第３号
No.157
目　　次
■ 海外事情
チェルノブイリ訪問記 (3)
見上　寿
アメリカ訪問記 (10)
原　邦男

■ 報　　告
放射性廃棄物処理における最近の動き (18)
能見光彦

■ 紹　　介
移動ロボットの自己位置同定と位置補正 (28)
高木　昭 / 森　俊二 / b谷純一
東京理科大学中赤外自由電子レーザー装置の現状 (36)
河合正之 / 横山　稔 / 小田史彦 / 小池英仁
傍島正朗 / 能丸圭司 / 三浦秀徳 / 黒田晴雄

■ グループ情報
FAPIGにおける原子力PA活動について (44)
溝口忠雄

FAPIGの機構 (51)

● Fresh Information（日商岩井，清水建設） (27, 35)

表紙デザイン：中村加奈女

CONTENTS

■ Overseas Information
A Visit to Chernobyl (3)
H. Mikami
A Visit to North America (10)
K. Hara

■ Report
New Treatment Methods of Radioactive Wastes (18)
M. Nohmi

■ Introduction
A Self-Positioning System for a Mobile Robot (28)
A. Takagi / S. Mori / J. Takaya
Current Condition of the Free Electron Laser Device
at the Sience University of Tokyo (36)
M. Kawai / M. Yokoyama / F. Oda / H. Koike
M. Sobajima / K. Noumaru / H. Miura / H. Kuroda

■ FAPIG Activities
FAPIG's Activities for Public Acceptance of Nuclear Energy (44)
T. Mizoguchi

● Fresh Information (NISSHO IWAI, SHIMIZU) (27, 35)

Cover Design：Kaname Nakamura

Mitsuhiko Nohmi
New Treatment Methods of Radioactive Wastes
FAPIG No. 157 pp. 18〜26 (2001)

Techniques of Radioactive waste treatment continues to make advances in year by year. First of all we would explain the new plant constructed by Studsvik of America in Tenn. U.S.A. This plant consist of pylolysis and hydro-reforming process. These combination technique are capable for incineration and decompose the inflamable material such as ion-exchange resin. ZWILAG is the central control facility of Radioactive wastes in Switzerland. This facility has wastes storage halls and incineration plant which operated by plasma torch. This system is the first plant in the world. Radon Science Research Center of Russia has been developed many kinds of technique in radwaste treatment. Powdered metal fuel is very unique material for incineration of ionexchange resin. Magnetic stirrer is applied for cement solidification. Ebara designed special equipment for nuclear accident such as movable radioactive measurement car and radioactive liquid waste treatment installed on car are explained.

KEYWORDS：radioactive waste, THOR process, ZWILAG, high-level waste, Ionexchange-resin, cement-solidification, powdered-fuel, Emergency equipment (radioactive measurement car and Radioactive liquid treatment)

Akira Takagi, Shunji Mori, Junichi Takaya
A Self-Positioning System for a Mobile Robot
FAPIG No. 157 pp. 28〜34 (2001)

This paper presents a mobile robot system for inspection of the floor condition. The positioning system can identify the location and the orientation of the robot with one circular mark that is hung on the ceiling. The location and the orientation of the robot can be identified by one image taken by a CCD camera that is installed on the top of the robot. When an error between the current position and the desired one is found, the robot can eliminate the error quickly with omnidirectional wheel mechanisms. Caster shape wheels are used for the omnidirectional mobile base of the robot.

KEYWORDS：mobile robot, inspection robot, positioning system, location identification,
error elimination, omnidirectional wheel mechanism

Masayuki Kawai, Minoru Yokoyama, Fumihiko Oda, Hidehito Koike, Masaaki Sobajima, Keiji Noumaru, Hidenori Miura,
Haruo Kuroda
Current Condition of the Free Electron Laser Device at the Sience University of Tokyo
FAPIG No. 157 pp. 36〜43 (2001)

The middle infra-red free electron laser (MIR-FEL) device using an RFGUN and an accelerating tube was developed newly to establish the infra-red free electron laser research center of Science University of Tokyo (FEL-SUT). The FEL experiments using the device were started in January, 2000. First lasing was observed on July 6, 2000. In this report, we report the constitution of the device and the status of the conditioning operation.

KEYWORDS：MIR-FEL, RFGUN, accelerating tube, FEL-SUT, first lasing, conditioning operation