Transactions of the Korean Society of Pressure Vessels and Piping (한국압력기기공학회 논문집)

Korean Society of Pressure Vessels and Piping (한국압력기기공학회)
권호 표지
DOI QR코드

DOI QR Code

A Mobile Robot Based on Slip Compensating Algorithm for Cleaning of Stud Holes at Reactor Vessel in NPP

  • Received : 2020.05.15
  • Accepted : 2020.06.17
  • Published : 2020.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

The APR1400 reactor stud holes can be stuck due to high temperatures, high pressure, prolonged engagement, and load changes according to pressure changes in the reactor. Threaded surfaces of a stud hole should be cleaned for the sealing of pressure in reactor vessel by removing any foreign materials which may exist in the stud holes. Human workers can access to the stud hole for the cleaning of stud holes manually, but the radiation exposure of human workers is increased. Robot is an effective way to work in hazardous area. So we introduced robot for the cleaning of stud holes. Localization of mobile robots is generally based on odometry, but with increased mileage, position errors can be accumulated. In order to eliminate cumulative error and to ensure stability of its driving, laser sensors and new control algorithm were utilized. The distance between the robot and the wall was measured by laser sensors, and the control algorithm was implemented so as to travel the desired trajectory by using the measured values from sensors. The performance of driving and hole sensing were verified through field application, and mobile robot was confirmed to be applicable to the APR 1400 NPP.

Keywords

References

  1. Lamon, P. and Siegwart R., 2003, "3D Odometry for Rough Terrain towards Real 3D Navigation: Towards Real 3D Navigation," Proc. of the IEEE Robot Autom.
  2. Borenstein, J. and Feng, L., 1996, "Gyrodometry: A New Method for Combining Data from Gyros and Odometry in Mobile Robots," Proc. of the IEEE Robot Autom., pp. 423-428.
  3. Yi, J., Zhang, J., Song, D., Jayasuriya, S., 2007, "IMU Based Localization and Slip Estimation for Skid Steered Mobile Robots," Proc. of the IEEE Int IROS, pp. 2845-2850.
  4. Iossaqui, J. G., Camino, J. F., Zampieri, D. E., 2011, "A Nonlinear Control Design for Tracked Robots with Longitudinal Slip," Proc. of IFAC, Volumes, 44(1), pp. 5932-5937.
  5. Ojeda, L., Cruz, D., Reina, G., Borenstein, J., 2006, "Current Based Slippage Detection and Odometry Correction for Mobile Robots and Planetary Rovers," IEEE Trans. on Robotics, Volumes, 22(2), 366-378. https://doi.org/10.1109/TRO.2005.862480
  6. Sutoh, M., Iijima, Y., Sakakieda, Y., Wakabayashi, S., 2018, "Motion Modeling and Localization of Skid Steering Wheeled Rover on Loose Terrain," Int. J Robot Autom., Volumes, 3(4), 4031-4037.
  7. Lamon, P., & Siegwart, R., 2004, "Inertial and 3D Odometry Fusion in Rough Terrain towards Real 3D Navigation," Proc. of the IEEE IROS, pp. 1716-1721.
  8. Endo, D., Okada, Y., Nagatani, K., Yoshida, K., 2007, "Path Following Control for Tracked Vehicles Based on Slip Compensating Odometry," Proc. of the IEEE IROS, pp. 2871-2876.
  9. Lee, K.M., Lim, D.K., Kim, H.G., Suh, B.S., 2005, "A Wall Following Method of Mobile Robot for Mapping," Proc. of the KIEE, pp.102-105
  10. Choi, I. K., Kim, B. S., Lee, E. H., Jung, D. M., Hong, S.H., 1993, "The Method of Following Wall with the Motorized Wheelchair for the Disabled," Proc. of the KOSOMBE, pp. 44-47
  11. Kim, S. J., Lee, J. W., Lee, C. G., 2002, "Driving Environment Recognition and a Simple Wall Following Algorithm for AGV Using Sonar Sensor," Proc. of the KIEE, pp. 2337-2340.
  12. Yoon, J. W., Hong, S. K., 2000, "Following a Wall by an Mobile Robot with Sonar Sensors and Infrared Sensors," Int J Control Autom, pp.1201-1204
  13. Prayudhi, L. H., Widyotriatmo, A., Hong, K. S., 2015, "Wall Following Control Algorithm for a Car-like Wheeled Mobile Robot with Differential Wheels Drive," Int J Control Autom, pp.779-783.