• Preventive Nutrition and Food Science
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• v.9 no.2
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• pp.138-143
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• 2004

Soybean curd residues (SCR) obtained from hot and cold manufacturing processes were fermented by indigenous microorganisms, Lactobacillus rhamnosus LS and Bacillus firmus NA-l for 15 h at 37$^{\circ}C$. The pH, acidity, viable cell counts, and tyrosine content were evaluated in samples with variations in sugar, starter and type of SCR. The raw Doowon SCR (D-SCR, cold-processed) fermented by indigenous microorganism had a 0.9% acidity and 6.7 ${\times}$ 10$^{7}$ CFU/g viable cell counts, compared with the 0.11 % acidity and 6.7 ${\times}$ 10$^{6}$ CFU/g viable cell counts of raw fermented Pulmuwon SCR (P-SCR, hot-processed). After fermentation of raw P-SCR with 1 % glucose and 1 % L. rhamnosus LS starter, the viable cell counts, tyrosine content and acidity were 4.7 ${\times}$ 10$^{8}$ CFU/g, 16.3 mg% and 0.9%, respectively. In addition, the raw P-SCR fermented with Bacillus firmus NA-l as co-starter had a 0.45% acidity, 2.4 ${\times}$ 10$^{8}$ CFU/g lactic acid bacteria, and 3.3 ${\times}$ 10$^{6}$ CFU/g Bacillus sp. In particular, the tyrosine content was increased 5 fold. The drying of fermented SCR was completed by hot-air drying (5$0^{\circ}C$) within 12 h; the dried P-SCR and D-SCR had 1.8 ${\times}$ 10$^{7}$ CFU/g and 5.3 ${\times}$ 10$^{6}$ CFU/g viable cell counts, respectively. The concentrate of methanol extract from fermented D-SCR inhibited the initial cell growth of E. coli, Staphylococcus aureus and Pseudomonas aeruginosa in liquid culture.

• Proceedings of the Korean Society of Plant Pathology Conference
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• 1999.10a
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• pp.40.1-40
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• 1999

• Proceedings of the Botanical Society of Korea Conference
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• 2001.04a
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• pp.6-6
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• 2001

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2514-2518
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• 2003

The KAERI Spent Fuel Remote Technology Development (SFRTD) Department is developing the remote maintenance and repair equipment, which is used in a hot cell in an intense radiation field, as part of a project to develop the Advanced spent fuel Conditioning Process (ACP). Although several mechanical master-slave manipulators (MSMs) is mounted on the hot cell wall, their reach will be limited and cannot access areas for all the ACP equipment maintenance. A Bridge Transported ServoManipulator (BTSM) has been designed to overcome the limitation of access areas that is a drawback of MSMs for the ACP equipment maintenance. The BTSM system consists of four components: a transporter with telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. The BTSM system has been designed by Solid Edge that is a 3D computer-aided design (CAD) software, except for the remote control system. The master manipulator and the slave manipulator are kinematically similar in design, except for the handle and the tong, respectively. The manipulators have 6 degrees of freedom (DOF) plus the jaws motion. The transporter has traveling, traverse, and hoisting motion to position the slave manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2226-2230
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• 2005

The Advanced Spent Fuel Conditioning Process (ACP), which is a pre-disposal treatment process for spent fuel is being developed at the Korea Atomic Energy Research Institute (KAERI). The ACP equipment is operated in an intense radiation field as well as in a high temperature. Thus, the equipment is designed in consideration of the remote handling and maintenance. This paper describes a Bridge Transported Bilateral Force-Reflecting Servo-Manipulator (BTSM) system, which is being developed to overcome the limitation of access that is a drawback of the mechanical Master-Slave Manipulators (MSMs), which are mounted on the ACP hot cell wall for the operation and the maintenance of the ACP equipment. The BTSM system was manufactured and temporally installed at the mockup to test its performance. The manufactured BTSM system will be installed at the ACP hot cell on June 2005 after the accomplishment of the performance test. The BTSM system consists of four components: a transporter with a telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. This system will highly increase the volume of coverage for the operation and maintenance of the ACP equipment.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2006.05a
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• pp.141-144
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• 2006

In this study, we developed a decladding device which separates 250 mm length of simulated nuclear spent fuel rod into the pallets and the pieces of the hulls after inserting the rod cut into the module with several pairs of blades. To improve the performance of the equipment, we considered some mechanisms to prevent the rod cut from being exposed or bounced into the hot-cell, to reduce the operation time, and to insert the rods automatically. It is expected that the newly developed system will contribute to prevent radioactive pollution in the hot-cell, reduce the operation time, and to increase the safety of the operators. As a result of the performance test for some mockup fuel rod cuts in the ACP(Advanced Spent Fuel Control Process) facility, it was verified that the decladding device could be applied to the actual fuel rod cut. And it will be able to use for a scale-up facility in the future.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1651-1654
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• 2003

The process equipment for handling high level radioactive materials, such as spent nuclear fuel, is operated within a sealed facility, called a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired by remotely operated manipulator. In this study, to carry out the sale and effective maintenance of the process equipment installed in the hot cell by a servo type manipulator, a collision free motion planning method of the manipulator using virtual prototyping technology is suggested. To do this, the parts are modelled in 3-D graphics, assembled, and kinematics are assigned and the virtual workcell is implemented in the graphical environment which is the same as the real environment. The method proposed in this paper is to find the optimal path of the manipulator using the function of the collision detection in the graphic simulator. The proposed path planning method and this graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhancing the reliability of the spent fuel management.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.369-370
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• 2006

During demonstrations of a process conditioning spent nuclear fuels, it is necessary to transport and handle Spent fuel road cuts from Post Irradiation Examination facility to Slitting device in The hot cell. the spent fuel pellets which are highly radioactive materials are separated with its clad and are fed into the next conditioning process. For this, a spent fuel rod, 3.5 m long, is cut by 25 cm long which is suitable length for the decladding process. These rod-cuts are packed into the capsule and are moved to the ACPF(Advanced spent nuclear fuel Conditioning Process Facility). In the ACPF, Once the capsule is unloaded in the ACPF, Capsule is taken out one-by-one and installed on the decladding device. In these processes, the crushed spent fuel pellet can be scattered inside the facilities and thus it contaminate the hot cell. In this paper, we developed the specially designed transportation and storage device for spent nuclear fuel capsules.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.345-350
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• 2003

The development of a prototype for a Bridge Transported Servo Manipulator (BTSM) system operating in a hot cell is introduced. Mechanical master-slave manipulators (MSMs) which are mounted on the hot cell wall cannot access all the areas for the equipment maintenance due to their reach limitation. The BTSM has been developed to overcome the limitation of access that is a drawback of the MSMs for the equipment maintenance. Wire driven mechanisms have been adopted to increase the handling capacity to weight. This system can be a useful reference for designing other devices in the nuclear industry.

• Nuclear Engineering and Technology
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• v.33 no.2
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• pp.175-183
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• 2001

Various welding processes are now available for end cap closure of nuclear fuel element such as TG(Tungsten Inert Gas) welding, magnetic resistance welding and laser welding. Even though the resistance and TIG welding processes are widely used for manufacturing commercial fuel elements, they can not be recommended for the remote seal welding of a fuel element at a hot cell facility due to the complexity of electrode alignment, difficulity in the replacement of parts in the remote manner and a large heat input for a thin sheath. Therefore, the Nd:YAG laser system using optical fiber transmission was selected for Zircaloy-4 end cap welding inside hot cell. The laser welding apparatus was developed using a pulsed Nd:YAG laser of 500 watt average power with optical fiber transmission. The weldability of laser welding was satisfactory with respect to the microstructures and mechanical properties comparing with TIG and resistance welding. The optimum operation processes of laser welding and the optical fiber transmission system for hot cell operation in a remote manner have been developed The effects of irradiation on the properties of the laser apparatus were also being studied.