• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.2
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• pp.231-234
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• 2009

Recently, to the development of a highly information-oriented society to a large increase in dependence on power, Accordingly, it is need that active development and spread of preservation technology on accident prevention in operation electrical equipment. However, to lack of the use on maintenance technology of power equipment and to increase of power usage is growing deterioration of power equipment, this is a cause on casualties, property damage and the occurrence of disasters is a growing. GIS equipments which are operated from domestic except the equipment which manages from the big business are depend on a most visual inspection, and do inspection method or measuring instrument etc. a condition which is not supplied widely. Currently, many to measure instrument used in domestic is very expensive or foreign, it will be able to substitute this, the development necessity of the diagnosis technique and the measuring instrument is demanded.

• Nuclear Engineering and Technology
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• v.46 no.3
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• Korean Journal of Construction Engineering and Management
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• v.12 no.1
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• pp.73-84
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• 2011

This study represents construction progress management model based on quality inspection process in addition to cost-schedule integration. Quality inspection process cycle, resource estimate as progress measurement parameter, hierarchical structure of schedule, and inspection lots linking quality inspection to resource estimate are addressed as four main information areas. The authors established several process models to give a structure and correlations among information elements on each of these areas. Applying the process models proposed, an information system was implemented and utilized for nuclear power plant construction. It reveals that the system achieves accurate and objective progress information in near real time with significantly reduced time and effort as well as administrative efficiencies from making quality inspection process online.

• Journal of Korea Multimedia Society
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• v.25 no.6
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• pp.833-843
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• 2022

Based on the problems of untimely Expressway fire rescue and backward traditional fire rescue methods, an emergency fire fighting and inspection robot riding on expressway guardrail is designed. The overall mechanical structure design of emergency fire fighting and inspection robot riding on expressway guardrail is completed by using three-dimensional design software. The target fire detection is realized by using the target detection algorithm of Yolov5; By selecting a variety of sensors and using the control method of multi algorithm fusion, the basic function of robot on duty early warning is realized, and it has the ability of intelligent fire extinguishing. The BMS battery charging and discharging system is used to detect the real-time power of the robot. The design of the expressway emergency fire fighting and inspection robot provides a new technical means for the development of emergency fire fighting equipment, and improves the reliability and efficiency of expressway emergency fire fighting.

• 한국정보통신설비학회:학술대회논문집
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• 2006.08a
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• pp.241-245
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• 2006

In the examination of Steam Generator (SG) tube in Nuclear Power Plant (NPP) Eddy Current Testing (ECT) probes play an Important role in detecting the defects. Bobbin probe and Rotating Pancake Coil (RPC) probe is usually used for the inspection of SG tube. Bobbin probe is good at high speed inspection, but ability of detection of circumferential defect is very weak. On the contrary RPC probe, which moves for inspection in the direction of axial and circumferential simultaneously, has very slow inspection speed, but it was excellent detection capability fur small cracks, which is hardly detected by bobbin probe. Many examinations of SG tube examination of NPP are achieved during short period. Therefore, solution about this must develop probe of new form for examination performance and examination time shortening of other probe. In this paper, analyzed technological present condition of Bob-bin probe and RPC probe been using in Nondestructive Testing (NDT) for SG tube defect detection and Appeared about background theory and view of developed probe newly.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.133.6-133
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• 2001

Reactor vessel is one of the most important equipment of Nuclear Power Plant (NPP) with regard to the nuclear safety. Thus reactor vessel must be examined periodically by certified experts. Currently, ultra-sonic(UT) non-destructive inspection is executed on reactor vessel. Two different techniques are used in this inspection. One is using the movable manipulator fixed with the support-guide placed on the vessel, and the other is using mobile robot moving in the vessel. Movable manipulator machine is very heavy, hard to handle, and very expensive. Mobile robot equipment is small and convenient but has a weak point on positional precision. To solve these problems we developed a reactor inspection system based on laser-driven mobile robot. This paper describes the main concept and structure of integrated inspection units and the feature of implemented units.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.2036-2037
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• 2008

An Emergency Diesel Generator (EDG) manufactured by a French company Wartsila SACM, is a tandem type engine, consisted of two 10 cylindered diesel engines on each side. Manual provided by the manufacturer states that engine bearing requires inspection every 15 years. However, it is difficult for an inspector to access through a manhole located in the lower compartment of engine. Furthermore, during a routine or scheduled maintenance, it is not possible to disassemble main engine bearing and crank shaft, and perform inspection. Two methodologies are suggested here to resolve the problem. One method is to lift the engine and partially perform the maintenance service, and the other method is to disassemble the engine completely and to perform maintenance service by the manufacturer. Pros and cons of two methodologies were thoroughly compared.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.578-578
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• 2002

Thermal infrared imaging is a highly promising technology for condition monitoring and predictive maintenance of electronic, electrical and mechanical elements in nuclear power plants. However, conventional low-cost infrared imaging systems suffer from poor spatial resolution compared to commercial CCD cameras. This paper describes an approach to enhance inspection performances for calandria reactor area of Wolsung nuclear power plant through the technique of superimposing thermal infrared image into real CCD image. In the occurrence of thermal abnormalities on observation points and areas of calandria reactor area, unusual hot image taken from thermal infrared camera is mapped upon real CCD image. The performance of the technique has been evaluated in the experiment carried out at Wolsung nuclear power plant in the overhaul period. The results show that localizations of thermal abnormalities on calandria reactor face can be estimated accurately.

• Proceedings of the Korea Society for Energy Engineering kosee Conference
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• 1999.05a
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• pp.171-176
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• 1999

Nondestructive inspection and accompanying life analysis based on fracture mechanics were the major conventional methods for evaluating remaining life of critical high temperature components in power plants. By using these conventional methods, it has been difficult to perform in-service inspection for life prediction. Also, quantitative damage evaluation due to unexpected abrupt changes in operating temperature was almost impossible. Thus, many efforts have been made for evaluating remaining life during operation of the plants and predicting real-time life usage values based on the shape of structures, operating history, and material properties. In this study, a core software for on-line life monitoring system which carries out real-time life evaluation of a critical component in power boiler(high temperature steam headers) is developed. The software is capable of evaluating creep and fatigue life usage from the real-time stress data calculated by using temperature/stress transfer Green functions derived for the specific headers and by counting transient cycles. The major benefits of the developed software lie in determining future operating schedule, inspection interval, and replacement plan by monitoring real-time life usage based on prior operating history.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.2
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• pp.194-198
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• 2012

This paper describes flying inspection apparatus for 22.9kV distribution line. This apparatus is composed of multi-copter(more than 4 propellers), camcorder and remote controller. The existing inspections, such as hot-line inspection job and optical inspection method and distribution Line Checking Robot, have many restrictions. A electric working vehicle and hot-line job license are essential in hot-line inspection job. Besides its high cost, it can't be applied to the electric pole over 18m and road-blocked area. Optical method can't inspect upper side of electric facilities mounted on the electric pole. Robot method can't be applied to the corroded overhead earth wire and nothing of overhead earth wire. To solve the problems, in Korea Electric Power Co., we have applied flying inspection apparatus to the 22.9kV distribution line. The results of trial application show that this paper is practical and effective for the inspection technical method in 22.9kV distribution line