제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Mobile Robot for Nuclear Power Plant Applications

  • Kim, Chang-Hoi (Nuclear Robotics Lab., Korea Atomic Energy Research Institute) ;
  • Seo, Yong-Chil (Nuclear Robotics Lab., Korea Atomic Energy Research Institute) ;
  • Cho, Jai-Wan (Nuclear Robotics Lab., Korea Atomic Energy Research Institute) ;
  • Choi, Young-Soo (Nuclear Robotics Lab., Korea Atomic Energy Research Institute) ;
  • Kim, Seung-Ho (Nuclear Robotics Lab., Korea Atomic Energy Research Institute)
  • Published : 2003.10.22
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Abstract

Tele-operation and remote monitoring techniques are essential and important technologies for performing the inspection and repair tasks effectively in nuclear power plants. This paper presents the application of a mobile robot for the remote monitoring and inspection of the Calandria faces, where human access is limited because of the high-level radioactive environments during full power operation. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, can be extended up to 8 m vertically. This robot was also equipped a visible CCD/thermal infrared inspection head module and a stereo camera module for the enhancement of visual inspection.

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