放射性物質除去を目的とした池沼底質吸引除去システム

―複数ワイヤ懸架による吸引ヘッドの位置決め可否判定に基づいたワイヤ固定位置の解析―

抄録

Due to an accident of TEPCO Fukushima 1st nuclear power plant, radioactive substances pollute a wide area of Fukushima prefecture. Since the government carries on decontamination of radioactive substances, radiation dose on almost all of residential area brought down less than safety border. Ponds and lakes, which include natural ponds or lakes, reservoirs and so on, however, contain radioactive substances deposited on their bottom, yet. In this study, for acceleration of decontamination, a mud vacuum system for decontamination of radioactive substances deposited on bottom of ponds is proposed. The system vacuums mud utilizing vacuum head, which is suspended by multiple wires. To position the head, system controls length of each wire. Since the wire does not push the object, strict analysis of the workspace is required. In this paper, based on Vector-Closure, the workspace is analyzed. By using genetic algorithm, winding position of all wires, which realizes positioning on whole surface of the bottom, is designed.