• 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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• 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 Nuclear Society Conference
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• 1996.11a
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• pp.177-182
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• 1996

Remote nuclear cask handling device (RNCHD)는 사용후 핵연료cask의 원격 조작에 있어서 안전성과 성능을 향상을 목적으로 한다. RNCHD의 한부분인 grapple은 사용후 핵연료cask의 이동 및 수송 또는 용기뚜껑의 개폐를 위하여 cask의 벽에 대각선으로 돌출되어있는 두 개의 trunnion에 삽입되어야한다. 그러나 trunnion으로의 grapple 삽입은 용기중심과 grapple 장치 중심사이의 위치와 방향편차 때문에 어렵게된다. 인공신경망은 grapple에 설치된 광전센서를 사용하여 용기의 중심으로 부터 grapple 장치의 상대적 위치를 계측하기위해 사용된다. 인공신경망 학습은 광전센서값과 grapple의 상대적 위치와 방향사이의 함수적 관계를 추론하기 위해 수행된다. 이렇게 측정된 RNCHD의 중심위치는 grapple의 자세를 맞추기 위한 제어입력값으로 제공된다. 인공신경망 학습을 위한 데이터는 grapple 장치와 trunnion을 모사한 1/2 스케일의 실험장치를 사용함으로써 얻어진다. 학습된 인공신경망은 학습에 사용 안된 센서입력값, 즉 새로운 grapple의 위치에 대해서도 정확성을 가지고 grapple 장치의 위치와 방위를 측정할 수 있었다.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.232-235
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• 2008

The mission of the EO(electro-optical) based low earth orbit satellite is provision of the high-resolution images required for GIS(Geographical Information Systems) establishment and the applications for environmental, agriculture and ocean monitoring. AEISS(Advanced Earth Imaging Sensor System) which is the main payload on the satellite consists of EOS(electro-optical subsystem) and PDTS(Payload Data Transmission Sub-system). IDHU(Image Data Handling Unit) which is one of the major unit in PDTS is capable of compression, storage, encryption and encoding. In this paper, the payload system of the EO based satellite is briefly introduced and the influence of the compression on AEISS is analyzed.

• International Journal of High-Rise Buildings
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• v.2 no.4
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• pp.341-344
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• 2013

During a building fire, smoke can flow through elevator shafts threatening life on floors remote from the fire. Many buildings have pressurized elevators intended to prevent such smoke flow. The computer program, CONTAM, can be used to analyze the performance of pressurization smoke control systems. The design of pressurized elevators can be challenging for the following reasons: (1) often the building envelope is not capable of effectively handling the large airflow resulting from elevator pressurization, (2) open elevator doors on the ground floor tend to increase the flow from the elevator shaft at the ground floor, and (3) open exterior doors on the ground floor can cause excessive pressure differences across the elevator shaft at the ground floor. To meet these challenges, the following systems have been developed: (1) exterior vent (EV) system, (2) floor exhaust (FE) system, and ground floor lobby (GFL) system.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.105-110
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• 1998

This paper proposes a graphical user interface for industrial robot systems. Previous user interfaces for industrial robot systems were based on the text. In order to enable operators to handle robots more efficiently, a set of graphical tools is provided. The graphical tools contain a control panel for operating robots and compiling robot programs, a graphical teaching panel for handling virtual robots and a graphical monitoring panel for checking robot status. Furthermore, the proposed GUI can be used to operate remote robots because it has network utilities. This system consists of the virtual mode and the real mode. The user can handle a 3D virtual solid model of the robot in the virtual mode and an actual robot in the real mode.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.445-450
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• 1998

In this paper, a robust nonlinear prediction-type controller (RNPC) is developed for the continuous time nonlinear system whose control objective is composed of system output and its desired value. The basic control law of RNPC is derived such that the future response of the system is first predicted by appropriate functional expansions and the control law minimizing the difference between the predicted and desired responses is then calculated. RNPC which involves two controls, i.e., the auxiliary and robust controls into the basic control, shows the stable closed loop dynamics of nonlinear system of any relative degree and provides the robustness to the nonlinear system with parameter/modeling uncertainty. Simulation tests for the position control of a two-link rigid body manipulator confirm the performance improvement and the robustness of RNPC.

• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.314-316
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• 1994

The operation of RC(Rod Consolidation) technology carry out highly radiation environment. It requires remote operation and automation for efficient handling and for minimizing radiation exposure to the operator. So we investigated up and down position control of shock absorber device in RC system. To verify the research experimentally, a RC system was set up and PI control method was applied. Fuzzy control method was also tested to further improve control behavior.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.73.1-73
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• 2001

To utilize the uranium resources contained in the spent nuclear fuel generated from the nuclear power plants, the remote handling and dismantling technology is required. The dismantling process of the sport fuel is the most common process involved in the spent fuel recycling, the rod consolidation and the disposal processes. Since the machine used in the dismantling process are located and operated in isolated space, so called a hot cell, the reliability of machines is very important. To enhance the reliability of the process, in this research, the graphical monitoring system is developed for the fuel dismantling process. The graphic model of each machine is composed of many parts and every parts of the graphic model are given their own kinematics. Using the kinematics and simulating the graphic model in the virtual environment, the validity of the conceptual design can be verified before ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.155.2-155
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• 2001

A heavy duty power manipulator consisting of high reduction ratio joints is usually used in heavy duty tasks. When the heavy duty power manipulator is used as the slave manipulator in the teleoperated bilateral control system, the position control performance of the slave manipulator and the system stability tend to deteriorate due to the windup phenomenon caused by actuator saturation. KAERI has developed a teleoperated bilateral control system for the study of the remote handling of a spent fuel mockup bundle, which has an enhanced bilateral control algorithm improving the position tracking performance of the slave manipulator while compensating for the windup phenomenon. In this paper, the developed bilateral control system ...