• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.179-182
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• 1997

In a training simulator for power plant, operator's action in the MCR(Main Control Room) are given to plant process and computer system model as an inputs, and the same response as in real power plant is provided in real time. Inter-process communication and synchronization are especially important among various inputs. In the plant simulator, to simulate the digital control system such as FOXBORO SPEC-200 Micro control system, modification and adaptation of control card(CCC) and its continuous display station(CDS) is necessary. This paper describes the modeling and simulation of FOXBORO SPEC-200 Micro control system applied to Younggwang nuclear power plant unit #3 & 4, and its integration process to the full-scope replica type training simulator. In a simulator, display station like CDS of FOXBORO SPEC-200 Micro control system is classified as ITI(Intelligent Type Instrument), which has a micro processor inside to process information and the corresponding alphanumeric display, and the stimulation of ITI limits the important functions in a training simulator such as backtrack, replay, freeze and IC reset. Therefore, to achieve the better performance of the simulator, modification of CDS and special firmware is developed to simulate the FOXBORO SPEC-200 Micro control system. Each control function inside control card is modeled and simulated in generic approach to accept the plant data and control parameter conveniently, and debugging algorithms are applied for massive coding developed in short period.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.849-854
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• 2003

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.622-627
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• 2003

The existing remote control system have some inherent disadvantage of direct control in the limit range. In some special cases, for example, a power apparatus, an unmanned factory, a nuclear factory, a security management system, the tele-operation is needed to control remote robot without limit space. This field is based on the Internet communication. Because the Internet is constructed all over the world. And it is possible that we control remote mobile robot in the long distance. In this paper, we developed a remote control system. This system is divided into two primary parts. These are local site and remote site. There are the moving robot and web server in the remote site and there is the robot control device in local site. The moving robot is moved by two stepper motors and the robot control device consists of SA-1100 micro controller and embedded Linux. And this controller is an embedded system. Public personal computer which is connected the Internet is used for the web server. The web server provides the mobile robot control interface program to the remote controller and captures the image for feedback information. In the whole system, a robot control device is connected with moving robot and web server through the Internet. So the operator can control the moving robot in the distance through the Internet.

• 한국안전학회지
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• 제17권3호
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• pp.123-130
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• 2002

본 논문은 사고관리방안 수행에 있어서 발생되는 인적오류의 정량적 평가방법을 개발하여 공동범람 사고관리방안의 예제문제에 적용한 연구결과를 기술하고있다. PSA에서 사용되었던 기존의 인간오류평가 방법론인 THERP, HCR, SLIM-MAUD 방법의 특징을 검토하여 장단점을 기술하였다. 본 연구에서 제시하는 인간오류평가 방법론은 신뢰도물리모델을 이용하는 새로운 HRA 분석방법이다. 불확실성 분석을 위하여 MAAP 코드와 LHS 코드가 사용되었다. 본 연구를 통하여 제안하는 방법은 매우 유연하여 중대사고관리방안과 관련한 다양한 인간오류행위에 대한 평가에 사용될 수 있음을 보여주었다.

• 시스템엔지니어링학술지
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• 제9권2호
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• pp.15-22
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• 2013

The aim of this study is to propose the design process suitable for developing the cognitive interface considering system engineering process (SEP) models. Due to the cognitive workload in an operation of HMS, some cognitive interfaces have been developed. It is somehow difficult to use the developed cognitive interface in real working environment since they often showed a conflict to stereotyped interface. So it is necessary to develop the design process suitable for the more operator-specific interface. Various SEP models were reviewed for selecting the suitable design process which might resolve the problem from design-specific interface. The suitable process for designing cognitive interface was proposed considering currently usable SEP models. The findings from the study may be helpful for systematic approach to designing cognitive interface in digitalized environment. The proposed design process would be applied for easily employing the cognitive interface in digitalized working environment such as main control room in nuclear power plant.

• 한국방사성폐기물학회:학술대회논문집
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• 한국방사성폐기물학회 2003년도 가을 학술논문집
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• pp.438-446
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• 2003

This paper presents the development of the remotely operated decontamination systems for use in a highly radioactive zone of the DUPIC Fuel Development facility of the Irradiated Material Examination Facility at the Korea Atomic Energy Research Institute. The remotely operated decontamination systems were designed to completely eliminate human interaction with hazardous radioactive contaminants. These decontamination systems are mainly classified into three systems depending on the task environment - a fabrication equipment decontamination system, a hot-cell floor decontamination system, and an isolation room floor decontamination system. A decontamination system for contaminated fabrication equipment utilizes dry ice pellet blasting method to decontaminate contaminated surface of the equipment. The decontamination systems for the hot-cell floor and isolation room floor employ a vacuum cleaning method to decontaminate the contaminated floor and collect loose dry spent nuclear fuel debris and other radioactive waste placed on the floor. The human operator from the out-of-cell performs a series of decontamination tasks remotely by manipulating decontamination systems located in-cell via a handcontroller with the aid of vision feedback information. The environmental, functional and mechanical design considerations, control system and capabilities of the remotely operated decontamination systems at a high radioactive environment are also described.

• 한국안전학회지
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• 제29권1호
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• pp.86-92
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• 2014

This paper provides an integrated view on human and system interaction in advanced and automated systems, which adopting computerized multi-functional artifacts and complicated organizations, such as nuclear power plants, chemical plants, steel and semi-conduct manufacturing system. As current systems have advanced with various automated equipments but human operators from various organizations are involved in the systems, system safety still remains uncertain. Especially, a human operator plays an important role at the time of critical conditions that can lead to catastrophic accidents. The knowledge on human error helps a risk manager as well as a designer to create and control a more credible system. Several human error theories were reviewed and adopted for forming the integrated perspective: gulf of execution and evaluation; risk homeostasis; the ironies of automation; trust in automation; design affordance; distributed cognition; situation awareness; and plan delegation theory. The integrated perspective embraces human error theories within three levels of human-system interactions such as affordance level, psychological logic level and trust level. This paper argued that risk management process should dealt with human errors by providing (1) reasoning improvement; (2) support to situation awareness of operators; and (3) continuous monitoring on harmonization of human system interaction. This approach may help people to understand risk of human-system interaction failure characteristics and their countermeasures.

• 한국인터넷방송통신학회논문지
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• 제20권6호
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• pp.167-173
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• 2020

원자력발전소와 석유화학의 노후화된 파이프 구조물을 검사를 위하여 파이프 등반 로봇에 많은 연구가 이루어졌다. 그러나 파이프 등반 로봇 연구에서는 대부분 파이프 등반 로봇의 구조 설계와 기본적인 동작 제어에 초점을 맞추고 제작되어, 작업자가 파이프 등반 로봇을 제어하기 위해서는 수동 조작으로 파이프를 등반 및 장애물 회피하기 위해 많은 어려움을 가진다. 본 논문에서는 파이프 등반 로봇의 카메라 영상을 이용하여 장애물을 인식하고 파이프 등반 로봇과 장애물 사이의 거리를 추정 및 파이프 등반 로봇이 파이프를 잡을 수 있는 위치를 결정하여 파이프 사이의 장애물을 회피 할 수 있는 알고리즘을 제안한다.

• 한국안전학회지
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• 제38권3호
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• pp.110-120
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• 2023

Following the Fukushima accident, portable equipment employed as accident mitigating systems have been installed and operated to reduce core damage and large early release frequencies. In addition, the establishment of an accident management strategy has gained importance. This study investigated the current status of portable equipment including the international portable equipment FLEX (diverse and flexible coping strategies), and domestic portable equipment multi-barrier accident coping strategy (MACST). Research on optimal utilization of MACST remains insufficient. As a preliminary study for establishing an optimal strategy, sensitivity studies were conducted to facilitate the priority of use on portable equipment, number of portable equipment, and dependency of operator actions based on a multi-unit probabilistic safety assessment model. The results revealed the conditions that reduced the multi-unit and site conditional core damage probabilities, indicating the optimal strategy of MACST. The results of this study can be used as a reference for establishing an optimal strategy that utilizes domestic safety equipment in the future.

• 핵의학기술
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• 제26권2호
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• pp.15-19
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• 2022

전립선암 환자의 전이성 질환 진단을 위해 사용되는 양전자 방출 단층촬영용 [⁶⁸Ga]PSMA-11 주사액은 자동화 생산 방법을 통해 높은 재현성과 우수한 방사화학적 수율 및 순도를 얻을 수 있으며 제조 시 작업자의 방사선 피폭을 최소화할 수 있다. 이를 위해 적용한 비 카세트 방식과 카세트 방식의 자동 합성 방법을 소개하고 비교하고자 한다. [⁶⁸Ga]PSMA-11 주사액의 자동화 생산을 위해 ⁶⁸Ge/⁶⁸Ga generator 50 mCi(iThemba LABS, Johannesburg, South Africa), 주사기 펌프 NE-1000(New Era Pump System, New York, USA)을 사용하였으며, 자동 합성 장치는 비 카세트 방식의 TRACERlab FXN pro(GE Healthcare, Liege, Belgium)와 카세트 방식의 BIKBox(BIK THERAPEUTICS Inc., Seongnam-si, Republic of Korea)를 사용하였다. 0.6 N 염산 용액 6 mL의 주사기가 장착된 실린지 펌프를 ⁶⁸Ge/⁶⁸Ga generator의 inlet-line과 연결하고 outlet-line은 자동 합성 장치와 연결한 후 자동 합성장치와 동시에 작동하였으며, 2 mL/min의 속도로 ⁶⁸Ga을 용출하였다. 초기 약 1.7 mL은 waste vial로 용출 시켰고, 그 후 2.5 mL은 반응용기로 용출하여, 방사능 농도가 높은 2.5 mL의 용액만 표지 과정에 이용하였다. 반응 용액의 pH를 HEPES buffer 용액으로 조절한 후 전구체와 95 ℃에서 15분간 반응하였으며, C18 light 카트리지를 이용, 분리·정제 하였다. 50% 에탄올/생리식염수 희석액으로 최종 화합물을 용출하고 생리식염수를 추가한 후 멸균 필터 함으로써 제조를 완료하였다. 각각의 자동 합성 장치에서 제조된 [⁶⁸Ga] PSMA-11 주사액의 품질관리를 시행하고 장단점을 비교하였다. 총 합성 시간은 각각 25±3분(비 카세트 방식), 23±3분(카세트 방식)이 소요되었으며, 방사화학적 수율은 멸균 필터 후 비 카세트 방식이 65.5±5.7%(n=45, non-decay corrected), 카세트 방식이 61.6±4.8%(n=98, non-decay corrected)였다. 비 카세트 방식은 장비 세척과 시약 준비 시간으로 인해 합성 전 준비 시간이 약 120분 소요되었고, 카세트 방식은 세척과 시약 준비 과정이 없어 합성 전 준비 시간은 약 20분 소요되었다. 비 카세트 방식 자동 합성 방법은 방사화학적 수율과 비용적 측면에서 카세트 방식 대비 높은 장점을 가지나, 제조 준비 단계에서의 편의성과 장비 유지 보수 측면에서는 카세트 방식이 장점을 가진다.