• Nuclear industry
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• v.13 no.1 s.119
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• pp.33-43
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• 1993

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.25-30
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• 2000

Residual stresses induced in U-bending and tube-to-tubesheet joining processes of PWR's steam generator row-1 tube were measured by X-ray method and Hole-Drilling Method(HDM). The stresses resulting from the Internal pressure and the temperature gradient in the steam generator were also estimated theoretically. In U-bent lesions, the residual stresses at extrados were induced with compressive stress(-), and its maximum value reached -319 MPa in axial direction at ${\psi}=0^{\circ}$ in position. Maximum tensile residual stress of 170MPa was found to be at the flank side at Position of${\psi}=90^{\circ}$, i.e., at apex region. In tube-to-tubesheet fouling methods, the residual stresses induced by the explosive joint method were found to be lower than that by the mechanical roll method. The gradient of residual stress along the expanded tube was highest at the. transition region, and the residual stress in circumferential direction was found to be higher than the residual stress in axial direction. Hoop stress due to an internal pressure between primary and secondary side was analyzed to be 76 MPa and thermal stress was 45 MPa.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.1
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• pp.33-38
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• 2013

The general purposed control system for driving a motion of many different typed robot end-effector, which consists of a controller based on ARM Cotex M3-11017 MCU and an application software for generating a motion of end-effector, was developed. Experimental results show that a positioning error is nearly negligible and a repeatability error is 0.04%. Accordingly the developed control system can be applied practically to actuate a robot end-effector for inspection and maintenance of steam generator heat pipe in nuclear power plant.