• 한국정밀공학회지
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• 제33권9호
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• pp.723-730
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• 2016

This paper presents a cable-driven hydraulic actuator named Cable Rod Hydraulic Actuator (CRHA). The cable actuating system is attractive for designing a compact joint in robotic applications since it can be installed remotely from the joint. Recently, cable rods have been used in pneumatic area for inertia reduction. However, designing cable rods in hydraulics is challenging because it is difficult to achieve flexibility and endurance simultaneously under high pressure conditions. In this paper, the cable rod, which consists of a cable and jacket, is proposed to meet both requirements. To design the CRHA, we determined the design parameters, such as cylinder size, and selected the cable rod's material by friction and leakage test. Finally, comparisons experiments about step and frequency responses with conventional hydraulic actuators were performed to assess feasibility for robotic joints, and the results show that the proposed system has good bandwidth and fast response as robotic joints.

• 드라이브 ㆍ 컨트롤
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• 제13권2호
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• pp.1-9
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• 2016

In this paper, an elementary force fighting problem was investigated. The problem is encountered when a double-rod type EHA(electro-hydrostatic actuator) is combined with a single-rod type EHA to build a redundant actuator system with synchronized motion. When the rod-side chambers of the two different types of EHAs have the same effective piston areas and are simultaneously pressurized by an external load, the two EHAs behave identically, sharing the external load equally. However, when the piston head-side chamber of the single rod type EHA, having a larger effective area than the rod-side chamber, is pressurized by the external load, an abnormal force fighting between the two EHAs occurs, unless their pump speeds are properly decoupled. In this study, the output drive forces of each EHA were obtained from the cylinder pressure signals and applied to the position control for each EHA to maintain the balance between their pump speeds. Adding minor force difference feedback loops to the position control, the force fighting phenomena could be eliminated and steady state synchronization errors were reduced. The power consumption of the pumps also could be remarkably reduced, avoiding unnecessarily high load pressures to the pumps.

• Nuclear Engineering and Technology
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• 제53권11호
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• pp.3704-3710
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• 2021

The characteristics of the external radiation on the surface of the casks for spent nuclear fuel (SNF) storage by dry method are investigated for the case when the spatial distribution of SNF in the basket changes due to the destruction of the fuel rod claddings. The surface areas are determined, where the changes in fluxes of neutrons, produced by ²⁴⁴Cm actinide, and γ-quanta, produced by long-lived isotopes, are maximum in the result of the decrease in the height of the SNF area. Concrete (VSC-24) and metal (SC-21) casks are considered as examples. The procedure of periodic measurement of the dose rate of neutrons or γ-quanta at the specified points of the cask surface is proposed for identifying the fuel rod cladding destruction. Under normal operation, the decrease in the dose rate produced by neutrons as the function of SNF storage duration is determined by the half-life of ²⁴⁴Cm, and for γ-quanta - by the half-lives of long-lived SNF isotopes. Consequently, a stepwise change in the dose rate of neutrons or γ-quanta, detected by the measurements, as compared to the previous one, would indicate the destruction of the fuel rod claddings.

• Nuclear Engineering and Technology
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• 제50권7호
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• pp.1154-1159
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• 2018

Precise prediction of the radiation interaction position in scintillators plays an important role in medical and industrial imaging systems. In this research, the incident position of the gamma rays was predicted precisely in a plastic rod scintillator by using attenuation technique and multilayer perceptron (MLP) neural network, for the first time. Also, this procedure was performed using nonlinear regression (NLR) method. The experimental setup is comprised of a plastic rod scintillator (BC400) coupled with two PMTs at two sides, a $^{60}Co$ gamma source and two counters that record count rates. Using two proposed techniques (ANN and NLR), the radiation interaction position was predicted in a plastic rod scintillator with a mean relative error percentage less than 4.6% and 14.6%, respectively. The mean absolute error was measured less than 2.5 and 5.5. The correlation coefficient was calculated 0.998 and 0.984, respectively. Also, the ANN technique was confirmed by leave-one-out (LOO) method with 1% error. These results presented the superiority of the ANN method in comparison with NLR and the other methods. The technique and set up used are simpler and faster than other the previous position sensitive detectors. Thus, the time, cost and shielding and electronics requirements are minimized and optimized.

• Nuclear Engineering and Technology
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• 제53권11호
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• pp.3653-3664
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• 2021

In PWR three-dimensional transient coupling calculation software CORCA-K, the nodal Green's function method and diagonal implicit Runge Kutta method are used to solve the spatiotemporal neutron dynamic diffusion equation, and the single-phase closed channel model and one-dimensional cylindrical heat conduction transient model are used to calculate the coolant temperature and fuel temperature. The LMW, NEACRP and PWR MOX/UO₂ benchmarks and FangJiaShan (FJS) nuclear power plant (NPP) transient control rod move cases are used to verify the CORCA-K. The effects of burnup, fuel effective temperature and ejection rate on the control rod ejection process of PWR are analyzed. The conclusions are as follows: (1) core relative power and fuel Doppler temperature are in good agreement with the results of benchmark and ADPRES, and the deviation between with the reference results is within 3.0% in LMW and NEACRP benchmarks; 2) the variation trend of FJS NPP core transient parameters is consistent with the results of SMART and ADPRES. And the core relative power is in better agreement with the SMART when weighting coefficient is 0.7. Compared with SMART, the maximum deviation is -5.08% in the rod ejection condition and while -5.09% in the control rod complex movement condition.

• Nuclear Engineering and Technology
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• 제55권9호
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• pp.3301-3312
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• 2023

This study incorporates a high-fidelity transient analysis solver based on multigroup CMFD in the MOC code STREAM. Transport modeling with heterogeneous geometries of the reactor core increases computational cost in terms of memory and time, whereas the multigroup CMFD reduces the computational cost. The reactor condition does not change at every time step, which is a vital point for the utilization of CMFD. CMFD correction factors are updated from the transport solution whenever the reactor core condition changes, and the simulation continues until the end. The transport solution is adjusted once CMFD achieves the solution. The flux-weighted method is used for rod decusping to update the partially inserted control rod cell material, which maintains the solution's stability. A smaller time-step size is needed to obtain an accurate solution, which increases the computational cost. The adaptive step-size control algorithm is robust for controlling the time step size. This algorithm is based on local errors and has the potential capability to accept or reject the solution. Several numerical problems are selected to analyze the performance and numerical accuracy of parallel computing, rod decusping, and adaptive time step control. Lastly, a typical pressurized LWR was chosen to study the rod-ejection accident.

• Nuclear Engineering and Technology
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• 제55권5호
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• pp.1775-1782
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• 2023

Several reactor physics commissioning experiments were conducted to obtain the neutronic parameters at the beginning of the G.A. Siwabessy Multi-purpose Reactor (RSG-GAS) operation. These parameters are essential for the reactor to safety operate. Leveraging the experimental data, this study evaluated the calculated core reactivity, control rod reactivity worth, integral control rod reactivity curve, and fuel reactivity. Calculations were carried out with Serpent 2 code using the latest neutron cross-section data ENDF/B-VIII.0. The criticality calculations were carried out for the RSG-GAS first core up to the third core configuration, which has been done experimentally during these commissioning periods. The excess reactivity for the second and third cores showed a difference of 510.97 pcm and 253.23 pcm to the experiment data. The calculated integral reactivity of the control rod has an error of less than 1.0% compared to the experimental data. The calculated fuel reactivity value is consistent with the measured data, with a maximum error of 2.12%. Therefore, it can be concluded that the RSG-GAS reactor core model is in good agreement to reproduce excess reactivity, control rod worth, and fuel element reactivity.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2002년도 가을 학술발표회 논문집
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• pp.313-318
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• 2002

The use of carbon fiber rods is a promising technology of increasing flexural and shear strength of deficient reinforced concrete members. The purpose of this experimental study is to investigate the fatigue behavior and strengthening effects of the strengthened bridge deck with isotropic and othortropic carbon fiber rod. This study shows a fatigue loading, compliance and S-N Curve between strengthened isotropically and othortropically. Then estimate the effective fatigue behavior of RC slab using composite rods that are inserted in high special purposed polymer mortar.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.794-798
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• 1995

We performed analysis for crank shaft and connecting rod in driving device of Cold Heading Machine. The results of this study is following ; 1. The nominal pressure is happened at 8mm under bottom dead center. And then the theoretical angel of crank (.theta.) and connecting rod (.phi.) are .theta. = 25 .deg. 1' and .phi.= 6 .deg. 1' but the analysis angel are .theta. = 25 .deg. and .phi.= 7 .deg. 2. The load is loaded at theta. = 51 .deg. in crank angle. 3. The maximum stress of connecting rod is about290MPa. It is exited inner stress range in consideration of safety factor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.266-271
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• 1989

In eliminating the nonliner charateristics such as piston displacement drift and difference in speeds of the reciprocating motion due to their nonsymetrical structure of single rod cylinder, modelling was carried out by additional outside disturbance, suggest the position control of single rod cylinder servosystem using VSS and compared with PD control of fixed structure system.