• 대한인간공학회지
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• 제36권5호
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• pp.559-568
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• 2017

Objective: The aim of this study is to investigate the effective managerial factors influencing dose reduction of the nozzle dam installation and removal tasks ranking within top 3 in viewpoint of average collective dose of nuclear power plant maintenance job. Background: International Commission on Radiation Protection (ICRP) recommended to reduce unnecessary dose and to minimize the necessary dose on the participants of maintenance job in radiation fields. Method: Seven sessions of nozzle dam installation and removal task logs yielded a multiple regression model with collective dose as a dependent variable and work time, number of participants, space doses before and after shield as independent variables. From the sessions in which a significant reduction in collective dose occurred, the effective managerial factors were elicited. Results: Work time was the most important factor contributing to collective dose reduction of nozzle dam installation and removal task. Introduction of new technology in nozzle dam design or maintenance job is the most important factor for work time reduction. Conclusion: With extended task logs and big data processing technique, the more accurate prediction model illustrating the relationship between collective dose reduction and effective managerial factors would be developed. Application: The effective managerial factors will be useful to reduce collective dose of decommissioning tasks as well as regular preventive maintenance tasks for a nuclear power plant.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• Nuclear Engineering and Technology
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• 제27권3호
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• pp.327-335
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• 1995

원자로의 가동중지 중이나. 재장전시 중기 발생기의 세관검사 및 보수작업을 병행하면 원전의 운전정지보수기 간을 현저하게 단축할 수 있다. 이때 원자로가 설치되어 있는 수조의 냉가수가 중기발생기내로 유입되는 것을 막는 장비로써 노즐댐이 있다. 노즐댐의 설치는 고방사선환경과 제한된 공간에서 작업을 해야 하는 특수성 때문에 작업자들이 기피하는 현상을 보인다. 현재 쓰이고 있는 무거운 노즐댐은 노즐댐설치 및 제거작업에 장애가 되는 가장 큰 요인이다. 본 논문에서는 노즐댐의 재질선정과 구조설계를 병행하여 현재 쓰이고 있는 노즐댐보다 가벼우면서도 굽힘강성 대 무게비와 비 강도가 증가된 노즐댐을 설계하였으며, 탄소섬유강화 복합재료로 경량노즐댐을 제작 완료하였다.

• Elastomers and Composites
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• 제55권3호
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• pp.222-228
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• 2020

Rubber materials, used in nuclear power plants, need high heat-oxidation resistance to curing or cracking under a heat aging environment. This is because they are applied to environments with high temperature, high humidity, and radiation exposure. Nuclear radiation causes additional hardening or degradation, therefore, rubber materials need radiation resistance that satisfies the general and any accidental conditions produced in the power plant. Therefore, in this study, we developed a rubber material with excellent heat and radiation resistance for the diaphragm seal of a nuclear steam generator nozzle dam. The rubber material greatly improved the reliability of the steam generator nozzle dam. In addition, 30 inch and 42 inch diaphragm seals were manufactured using the developed rubber material. A nozzle dam was installed in a nuclear power plant and tested under the same conditions as a steam generator to evaluate safety and reliability. In the future, the performance and safety of diaphragm seals developed through field tests of nuclear power plants will be evaluated and applied to currently operating and new nuclear power plants.

• 대한방사선방어학회:학술대회논문집
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• 대한방사선방어학회 2009년도 춘계 학술발표
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• pp.278-279
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.133-136
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• 1996

The nozzle dam task is essentially needed to maintain and repair nuclear power plants. For this task, an 8-dof redundant robot is studied with a local path-planning method[l] which is effective to find the optimal joint path in the constrained environment. In this paper, the method[l] is improved practically with the weight matrix and efficient algorithm to find working set. The effectiveness of the proposed method is demonstrated by simulation and animation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.821-824
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• 1993

In hazardous conditions, where entry of human operators is restricted, such as high radiation regions in nuclear facilities, a lot of remote inspections and remote handling tasks must be performed. In this study, the stereo imaging system has been developed and the remote handling technique, has been studied to enhance the efficiency of tele-operation. The nozzle dam handling robot is one of the most important robots applied to nuclear facility. The robot will be equipped with the developed stereo imaging system. The stereo imaging system will outstandingly improve the tele installing/removal tasks for nozzle dam.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1996년도 춘계학술발표회논문집(1)
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• pp.571-576
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• 1996

Currently most nuclear power plants(NPPs) are adopted the mid-loop operation to minimize the overhaul period and save the operating cost. For mid-loop operation it is essential to install nozzle dam between RCS pipe and steam generator(SG). Because SG remains more highly contaminated with radioactive material than any other parts of the NPPs, the repairmen are very reluctant to carry out installing nozzle dam inside the SG. Until now, unfortunately, it appears that no practically applicable device was developed to provide the longstanding demand. Also the accidents have been reported by licenser event report during this operation mode due to loss of residual heat removal(RHR). The purpose of this paper is to conduct remotely blocking and disintegration of nozzle of a SG which has the highest radiation exposure during the maintenance in NPPs. The remote nozzle blocking device of a SG includes three bladders, hubs, air controller provisions to supply and contact air pressure into the bladders. This remote nozzle block device will give the larger operation margin to prevent the loss of RHR and minimize the radiation exposure dose to the repairman and shorten the overhaul periods.

• 대한기계학회논문집A
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• 제20권12호
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• pp.3871-3882
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• 1996

In this paper, a closed-form formulation for inverse kinematics of robot manipulators with kinematic redundancy under the constrained environment has been derived using the Kuhn-Tucker condition, the extended Lagrange multiplier method and the working set method. The proposed algorithm satisfies the necessaryand sufficient conditions for optimization subject to equality and inequality constraints. In addition, computationally efficient kinematic control methods have been proposed using differential kinemetics and gradient projection mehtod. The effectiveness of the proposed methods has been demonstrated with a 4-dof planar robot, and then a 7-dof spatial robot as a practical application to the nozzle dam task in the Nuclear Power Plant.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1996년도 춘계학술발표회논문집(2)
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• pp.657-662
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• 1996

Venting capability to prevent excess pressurization caused by loss of Residual Heat Removal System (RHRS) during mid-loop operation hat been evaluated analytically and the peak Reactor Coolant System (RCS) pressure was compared with the results of the MIDLOOP computer code. Even though analytical method if relatively simple, the results are in a good agreement with those of the computer code. For both methods, the peak pressures have not, exceeded the nozzle dam design pressure, if the vent paths such as pressurizer safety valves or a pressurizer manway are available in a closed RCS configuration with the nozzle dam installed.