• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.1 no.1
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• pp.55-64
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• 2003

In this study, the maintenance process by the servo manipulator has been developed for the parts of the equipment, which we unable to reach out by the Master-Slave Manipulator(MSM) in a hot cell. To do this, a virtual mock-up is implemented using the iか prototyping technology. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass have been analyzed. In addition, the path planning of the servo manipulator using the collision detection function of the virtual mock-up has been established. From these, the maintenance process for the parts of the equipment, which are located at the outside of the MSM's workspace using the servo manipulator has been proposed and verified through the graphic simulation. It is revealed that the proposed remote maintenance process of the equipment can effectively be used in the real hot cell operation. It is also believed that the implemented virtual mock-up of the hot cell can effectively be applied in analyzing the various hot cell operation and enhancing the reliability and safety in a hot cell remote handling for the spent fuel management.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.631-634
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• 2001

In this study, the graphic simulation system of multi joint manipulator is developed to analyze and optimize the remote handling processes for the spent fuel assembly. This system consists of a 3-D graphical modeling system, a device assembling system, and a motion simulation system. To analyze and optimize the processes involved in multi-joint manipulator operation such as NFBC transportation process and bottom nozzle removal process, the virtual work place is implemented using a computer graphic technology. This virtual workcell is exactly same as that of the real environment. This graphic simulation system of the multi-joint manipulator can be effectively used for designing the main processes and maintenance processes of the spent fuel management.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.639-642
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• 2000

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.743-746
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• 1997

The Master-Slave manipulator is the generally used remote handling equipment in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual workcell is implemented in the graphical environment which is the same as the real environment. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.760-763
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• 2001

In this study, the graphical design system is developed and the digital mock-up is implemented for designing the spent fuel handling and disassembling processes. This system is used throughout the design stages from the conceptual design to the motion analysis. By using this system, all the processes involved in the spent fuel handling and disassembling precesses are analyzed and optimized. Also, this system is used in developing the on-line graphic simulator to enhance the reliability and safety of the spent fuel handling process by providing the remote monitoring function of the process. The graphical design system and the digital mock-up system can be effectively used for designing the process equipment, as well as the optimization of the main processes and maintenance processes of the spent fuel management.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.431-437
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• 2003

The graphic simulator has been used to analyze the problems that can occur during transporting and handling radioactive materials, and to derive necessary devices that can transport and handle spent fuel powder without scattering in a hot cell. The graphic simulator has advantages over the real scale physical mockup with respect to cost and schedule. The process equipment and maintenance devices can be verified in advance with less cost and reduced schedule. The derived results are being reflected in the design of equipment for demonstration and are being verified during demonstration.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.848-851
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• 1997

A graphic simulation program is developed to assimilate the remote dismantling process of research nuclear reactors. This program makes extensive use of a commercial robot graphic instruction program. Firstly, a realistic graphic model of research reactors are built along with various dismantling equipments. Using the graphic instruction languages provided by IGRIP, then, a graphic process simulation program is developed that operates interactively with the user. Consequently, it is made possible for a process designer to visualize an arbitrary dismantling sequence and interactively modify the process. It is expected that the developed system will be utilized as an effective operator aid in both design and execution phases of remote dismantling of research reactor.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.337-344
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• 2003

In this study, the maintenance process by the servo manipulator for the parts of the equipment that cannot be reached by MSM in the hot cell was developed. To do this, the virtual mock up is implemented using virtual prototyping technology. And, Using this mock-up, the workspace of the manipulators In the hot cell and the operator's view through the wall-mounted lead glass are analyzed. And the path planning of the servo manipulator using the collision detection of the virtual mockup is established. Also, the maintenance process for the parts of the equipment that are located out area of the MSM's workspace by the servo manipulator is proposed and verified through the graphic simulation. The proposed remote maintenance process of the equipment can be effectively used in the real hot cell operation. Also, the implemented virtual mock-up of the hot cell can be effectively used in analyzing the various hot cell operation and in enhancing the reliability and safety of the spent fuel management.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1991.10a
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• pp.96-101
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• 1991

프리스트레스트 콘크리트 교량은 콘크리트와 PS 강재의 역학적 장점들을 십분 활용하여 경제적인 단면 구성이 가능한 반면, 서로 다른 두 재료의 복합적인 특성들 즉, 콘크리트의 크리이프 (creep), 건조수축 (shrinkage)과 PS 강재의 이완 (relaxation) 등과 같이 시간에 따라 변화하는 인자들로 인하여 복잡한 구조적 거동을 보여 해석상 어려움이 따른다. 이와같은 복합거동은 시공순서와 시공방법에 의해 시공중의 구조계와 지지조건 등이 변화하는 경우에는 더욱 복잡한 양상을 띄게 된다. 뿐만 아니라 박스 거더와 같은 박벽요소에서는 일반적인 보요소(beam element)로는 나타낼 수 없는 ？(warping)을 무시할 수 없으므로 ？ 자유도를 구현할 수 있는 특수한 기능의 구조해석용 프로그램의 개발이 절실히 요망된다. 그리고 시공단계별로 출력되는 많은 양의 수치결과들을 설계와 시공실무자에 지향된 형태로 조합, 변형시켜 그래픽 화면상에 나타내는 후처리 프로그램(Post-processor) 기능도 구조해석용 프로그램의 개발 못지않게 중요하다. 본 연구의 목적은 삼성종합건설과 서울대 토목공학과가 공동으로 ？(warping) 자유도를 포함한 7개의 자유도를 갖는 3차원 보요소를 사용하여 PS 콘크리트의 재료적 특성인 크리이프와 건조수축, 그리고 강재의 이완(relaxation)을 포함한 프리스트레싱력의 손실을 고려할 수 있고 시공 단계별 구조계의 변화 및 지지조건들의 다양한 변화를 효율적으로 모사할 수 있는 프로그램의 개발에 있다.