Abstract: A nuclear fuel identification code reader has an optical sensor for detecting a nuclear fuel identification code marked on a fuel assembly and an ultrasonic wave sensor for detecting the nuclear fuel identification code. It further has first means for recognizing the nuclear fuel identification code based on information derived from the optical sensor and second means for recognizing the nuclear fuel identification code based on information derived from the ultrasonic wave sensor. When the nuclear fuel identification code cannot be recognized by the first means, the detection by the ultrasonic wave sensor and the recognition of the nuclear fuel identification code by the second means are effected. The nuclear fuel identification code can be recognized in a short time with a high accuracy.

Abstract: A nuclear fuel assembly having first and second nuclear fuel identification codes marked on the fuel assembly. The first nuclear fuel identification code is of a different expression than the second nuclear fuel identification code and is arranged adjacent thereto.

Abstract: A nuclear fuel identification code reader has an optical sensor for detecting a first nuclear fuel identification code marked on a fuel assembly and an ultrasonic wave sensor for detecting a second nuclear fuel identification code marked on the fuel assembly. It further has first means for recognizing the nuclear fuel identification code based on information derived from the optical sensor and second means for recognizing the nuclear fuel identification code based on information derived from the ultrasonic wave sensor. When the nuclear fuel identification code cannot be recognized by the first means, the detection by the ultrasonic wave sensor and the recognition of the nuclear fuel identification code by the second means are effected. The nuclear fuel identification code can be recognized in a short time with a high accuracy.

Abstract: Remote manipulation method and system of the master-slave type in which an operation procedure plan is prepared for defining each of a sequence of pieces of work as being performed by manual operation or automatic operation at least on the basis of information on the level of skill of a human operator and the sequence of pieces of work is performed in accordance with the plan, whereby work can be done efficiently with human operator's skill taken into consideration.

Abstract: A method and an apparatus for controlling a reactor refuelling machine including a plurality of grippers comprised of a plurality of telescopic bars which are telescopically actuatable independently of each other and at least one gripping member mounted to each telescopic bar. A decision is made as to whether the movement of a particular gripper in the Z direction is constrained by a status of the movement of a different gripper. The parallel operation is performed when the movement of the particular gripper in the Z direction is not constrained and when constrained, the particular gripper is placed in condition for waiting.

Abstract: A method of and apparatus for determining a position of a working original point at which working characteristics of a multi-joint manipulator are at optimum. According to the method and apparatus, a working point at which a hand mounted on the multi-joint manipulator works and a workspace needed for the work are assigned. Subsequently, a set of positions of the working original point of the multi-joint manipulator at which the hand may reach the workspace is calculated. Also, values of evaluation functions representative of preference of the working characteristics of the multi-joint manipulator are calculated with respect to the respective positions of the set. Then, the values of the evaluation functions are compared with each other, thereby selecting the position of the working original point at which the working characteristics are at optimum.

Abstract: Equipment to measure flaws in an object using an eddy current. According to this equipment, attention is given to a relation between the amplitude of signal detected when the eddy current probe is scanning and the position of the eddy current probe, and the size of flaw is measured based upon the fact that scan distance of probe in which flaw detection signals of greater than a predetermined threshold value are obtained, is subject to change depending upon the depth of penetration of eddy current.

Abstract: Method and apparatus for estimating the location of an unknown sound source in a structure to be monitored, wherein sounds from at least three known sound sources are detected by a plurality of detectors. At least one of peak value data and signal arrival time data derived from the outputs of the detectors are classified for each of the known sound sources and stored in a storage. Pattern differences from each of the known sound sources to a number of predetermined positions respectively, are calculated to prepare for each of the known sound sources a correspondence table indicating relationships between the calculated pattern difference and the real distances from the known sound source positions to the predetermined positions, the correspondence table being stored in a storage. The pattern differences for each of the known sound source positions are calculated on the basis of the sound signal data derived through detection of a sound from an unknown sound source and the data stored in the storage.

Abstract: Method and apparatus for evaluating location of an unknown sound generated in a structure such as a pressure vessel. A plurality of sound detectors are mounted on the structure for detecting sounds generated in the structure. On the basis of sound information of the unknown sound source derived from the outputs of the detectors, the location where the unknown sound is produced is determined. To this end, reference sounds are first generated at a plurality of known reference sound source positions, wherein information of the reference sounds derived from the outputs of the detectors are stored in a storage unit. Equi-pattern-distance curves each of which is in an equal pattern distance between a supposed unknown sound source and each of the reference sound sources are calculated on the basis of the reference sound information. The equi-pattern-distance curves are further corrected in accordance with the reference sound information.