• 월간 기계설비
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• 12호통권209호
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• pp.34-43
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• 2007

환경부는 산하 수처리선진화사업단에서 수돗물 수질개선대책의 일환으로 연구개발한 옥내급수관 진단, 세척 및 갱생기술을 적용, 서울시와 공동으로 시범사업을 실시한다고 밝혔다. 이 사업은 서울 둔촌동 주공아파트 2개동 80세대를 대상으로 약 1억2000만원의 예산을 들여 지난 8월 말부터 시행, 수돗물 녹물발생 방지를 위한 갱생기술의 완성도를 검증·확인한다는 것. 기존 옥내급수관 갱생기술은 평균 관직경 15mm인 소형관에 대한 정밀시공이 어려워 녹이 재발하는 경우가 많았다. 하지만 이번에 개발된 기술은 수도관 내부의 녹 제거 및 관 내부 표면이 균일토록 코팅할 뿐 아니라 시공 후 마이크로 로봇을 이용, 관 내부 촬영 및 절연도 체크를 통해 코팅 완성도를 확인, 녹 재발 가능성을 미연에 방지한다. 이번 기술이 검증되면 환경부는 선박배관, 빌딩, 냉각수배관, 소화용배관, 산업용배관 등에도 확대 적용하고 해외진출을 통해 물산업 육성 아이템으로 발전시킬 계획이다. 한편 환경부는 지난 2005년 수도법을 개정, 건축연면적 6만$m^2$이상 다중이용건축물과 연면적5,000$m^2$이상 국.공립 공공시설은 준공 5년 후부터 매년 수질검사를 실시, 결과에 따라 수도관을 세척·갱생 또는 교체토록 올해 1월부터 의무화 하고 있다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.816-821
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• 2004

The outlet feeder pipe thinning in a PHWR (Pressured Heavy Water Reactor) is caused by high pressure steam flow inside the pipe, which is a well known degradation mechanism called FAC (Flow Assisted Corrosion). In order to monitor the degradation, the thickness of the outlet bends closed to the exit of the pressure tube should be measured and analyzed at every official overhaul. This paper develops an automatic feeder pipe inspection system that can minimize the irradiation dose by automating the measurement process. The robot can move by itself on the feeder pipe by using an inch worm mechanism, which is constructed by two gripper bodies that can fix their body on the pipe and one extendable and retractable body connected the two gripper bodies to move forward and backward.

• 한국공작기계학회논문집
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• 제15권2호
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• pp.87-92
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• 2006

This paper supplements shortcoming of radioactivity check by detecting defect of SWP weld zone using ultrasonic wave. Manufacture 2 stage robot detection systems that can follow weld bead of SWP by method to detect weld defects of SWP that shape of weld bead is complex for this as quantitative. Also, through signal processing ultrasonic wave defect signal system of GUI environment that can grasp easily existence availability of defect because do videotex compose. Ultrasonic wave signal of weld defects develops artificial intelligence style sightseeing system to enhance pattern recognition of weld defects and the classification rate using neural net. Classification of weld defects that do fan Planar defect and that do volume defect of by classify.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.125-132
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• 2008

This paper describes a mobile inspection robot with an automatic pipe tracking system for a feeder pipe inspection in a PHWR. The robot is composed of two inch worm mechanisms. One is for a longitudinal motion along a pipe, and the other is for a rotational motion in a circumferential direction to access all of the outer surfaces of a pipe. The proposed mechanism has a stable gripping capability and is easy to install. An automatic pipe tracking system is proposed based on machine vision techniques to make the mobile robot follow an exact outer circumference of a curved feeder pipe as closely as possible, which is one of the requirements of a thickness measurement system for a feeder pipe. The proposed sensing technique is analyzed to attain its feasibility and to develop a calibration method for an accurate measurement. A mobile robot and control system are developed, and the automatic pipe tracking system is tested in a mockup of a feeder pipe.