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.
A Small Reaction Manipulator for Maneuvering a GPR Sensing Head
Publisher Summary This chapter proposes a small reaction manipulator for detecting anti-personnel mines. The small reaction manipulator realizes rapid and precise motion control, which are useful for the improvement of sensor head maneuver ability. In particular, ground penetrating radar (GPR) requires precise position control to obtain underground information. In order to realize precise and rapid motion control of a sensor head, it is necessary to restrict oscillations caused by end-effector motion. Such mechanical oscillations are produced by fluctuations of kinetic momentum. In order to reduce oscillations, it is necessary to keep kinetic momentum constant. For this purpose the chapter uses counter weights mounted on a small reaction manipulator. By controlling the counter weights, the small reaction manipulator could precisely position the GPR at high-speed without oscillation. The chapter presents some experimental results from the evaluation of the proposed manipulator.