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.
放射性物質除去を目的とした路面洗浄ロボットシステム;放射性物質除去を目的とした路面洗浄ロボットシステム;Road Surface Washing System 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 expo-sure 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.
Assessment of Ground Regeneration around Borehole Heat Exchangers between Heating Seasons in Cold Climates: A Case Study in Bialystok (NE, Poland)
Based on the experimental studies, the process of ground regeneration around the borehole loaded with brine-water heat pumps working exclusively for heating purposes in the period of four consecutive heating seasons in a cold climate was presented. The research was conducted in north-eastern Poland. The aim of the work is to verify the phenomenon of thermal ground regeneration in the period between heating seasons on the basis of the recorded data and to check whether the ground is able to regenerate itself and at what rate. It was noticed that the ground does not fully regenerate, especially during heating seasons with lower temperatures. In the analyzed period, from 22 September 2016 to 12 October 2020, the ground probably cooled irreversibly by 1.5 °C. In order to illustrate and evaluate the speed of changes in the ground, the one’s profile with an undisturbed temperature field was presented for each month of the year. The presented results can be a very important source of information for the analysis of geothermal conditions occurring in the ground. They can be used to verify mathematical models and conduct long-term simulations that allow us to see the complexity of the processes taking place in the ground.