A nozzle position control for the road surface decontaminating System
The Great East Japan Earthquake that occurred on March 11, 2011 resulted in the explosion of the TEPCO Fukushima 1st Nuclear Power Plant and the global dispersion of a large quantity of radioactive substances. A high radiation dose was particularly recorded in Fukushima prefecture several weeks after the accident, although the level is presently sufficiently low. However, considering that the adverse effects of low but extended exposure to radiation are yet to be negated, there is the urgent need for further decontamination. In our study, we focused on the efficient decontamination of radioactive substances in residential areas, for which we propose a high-pressure water jet system for washing road surfaces. The system differs from conventional systems of its type that were initially designed for use in the immediate environment of the nuclear reactors of the TEPCO Fukushima 1st Nuclear Power Plant. The proposed system consists of multiple washing, transporter, and server robots. The washing robots decontaminate the road surface using high-pressure water jets and are transported between washed and unwashed areas by the transporter robots. The server robots supply the water used for washing and absorb the polluted water together with ground dust. In this paper, we describe the concept of the system and present the results of decontamination experiments. Particular attention is given to the washing robot and its mechanism and control method. The results of the integration of the washing robot in an experimental system confirmed the feasibility of the proposed system.
Washing operation of a road surface washing mechanism for decontaminating radioactive substances
The Great East Japan Earthquake that occurred on March 11, 2011 resulted in the explosion of the TEPCO Fukushima 1st Nuclear Power Plant and the global dispersion of a large quantity of radioactive substances. A high radiation dose was particularly recorded in Fukushima prefecture several weeks after the accident, although the level is presently sufficiently low. However, considering that the adverse effects of low but extended exposure to radiation are yet to be negated, there is the urgent need for further decontamination. In our study, we focused on the efficient decontamination of radioactive substances in residential areas, for which we propose a high-pressure water jet system for washing road surfaces. The system differs from conventional systems of its type that were initially designed for use in the immediate environment of the nuclear reactors of the TEPCO Fukushima 1st Nuclear Power Plant. The proposed system consists of multiple washing, transporter, and server robots. The washing robots decontaminate the road surface using high-pressure water jets and are transported between washed and unwashed areas by the transporter robots. The server robots supply the water used for washing and absorb the polluted water together with ground dust. In this paper, we describe the concept of the system and present the results of decontamination experiments. Particular attention is given to the washing robot and its mechanism and control method. The results of the integration of the washing robot in an experimental system confirmed the feasibility of the proposed system.
Indian Fig Cactus (Opuntia Ficus-Indica (L.) Miller) in the Americas: an Uncertain History
Abstract: 
 Opuntia ficus-indica (L.) Miller is a globally important cactus species with a long history of human use. In addition to the importance of O. ficus-indica as a food for humans and livestock, it also has long served a role in the production of cochineal, a once important textile dye. This cactus also is intimately interwoven into the story of Cactoblastis cactorum (Berg) (South American cactus moth), one of the best-known examples of biological weed control. In this regard, O. ficus-indica has been a target weed as well as an unintended host in C. cactorum invasion. Although the distribution and human-assisted movement of this cactus throughout much of the world is well documented, surprisingly little has been written about its history and movement within the Americas. Literature associated with Opuntia and their phytophagous pests in North and South America was examined in an attempt to determine the history of O. ficus-indica in the Americas. Available information suggests with some certainty that O. ficus-indica originated in present-day Mexico, but the timing of its introduction to South America is much less clear. Taxonomic difficulties associated with distinguishing among Opuntia species and the long pre-Columbian history of exchange between South American and Mesoamerican cultures are two primary complicating factors associated with dating the dispersal of this species to South America. Additionally, previous evidence in support of a pre-Columbian introduction to South America relied on questionable identification of insect-based textile dyes. These uncertainties are significant because clearer knowledge of the history of O. ficus-indica introduction to South America could provide a more complete biological and ecological context to efforts at managing this species in its native and introduced ranges, particularly with respect to the threat posed by C. cactorum in North American and Argentinean plantations.