• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.367-373
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• 2016

In this paper, range measurement performance of LRF (Laser Range Finder) module and image contrast of color CCD camera are evaluated under the aerosol (high temperature steam) environments, which are simulated severe accident conditions of the LWR (Light-Water-Reactor) nuclear power plant. Data of LRF and color CCD camera are key informations, which are needed in the implementation of SLAM (Simultaneous Localization and Mapping) function for emergency response robot system to cope with urgently accidents of the nuclear power plant.

• 한국IT서비스학회:학술대회논문집
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• 2009.05a
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• pp.409-414
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• 2009

I have not seen each of the existing technology, RFID/USN technology combined with the wireless communication channel for the state of nuclear safety in real-time remote monitoring and operation system technology CARE existing radioactive accident information collected by the nuclear power and nuclear power status, 10-20 second intervals to monitor the safety network (SIDS), and nuclear power plants located on the site within 40 ㎞ radius around the 13~15 of the wind speed from the automatic weather network weather information such as rainfall and temperature every 10 minutes to collect as automatic weather network (REMDAS), Evaluation of atmospheric radiation and radiation of the bomb radiation impact assessment system to calculate the goodness (FADAS) and thicken the radiation-related information consists of real-time web technology to collect, the last robot on behalf of the human will to manage the nuclear power plant accident of the technology to prevent the concrete from the following narrative about to have.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2004.06a
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• pp.133-134
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• 2004

DUPIC (Direct Use of spent PWR fuel In CANDU) fuel cycle technology is being developed at Korea Atomic Energy Research Institute (KAERI). All the DUPIC fuel fabrication processes are remotely conducted in the completely shielded M6 hot-cell located in the Irradiated Material Examination Facility (IMEF) at KAERI. Undesirable products such as spent nuclear fuel powder debris and contaminated wastes are inevitably created during the DUPIC nuclear fuel fabrication processes.(omitted)

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.288-288
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• 2000

Reactor vessel is one of the most important equipment with regard to the safety of nuclear power plant. Thus nuclear regulation requires its periodical examination by certified inspection experts. Conventional reactor inspection machines are obsolete, hard to handle, and very expensive. To solve these problems we developed robotic reactor vessel inspection system which are small, easy to use for inspection, cost effective, and convenient in operation. This paper describes the main features of Main Control System which is one part of robotic inspection equipment we developed.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1116-1120
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• 2004

In the nuclear power plant, there are several cylindrical vessels such as reactor vessel, pressuriser and so on. The vessels are usually constructed by welding large rolled plates, forged sections or nozzle pipes together. In order to assure the integrity of the vessel, these welds should be periodically inspected using sensors such as ultrasonic transducer or visual cameras. This inspection is usually conducted under water to minimize exposure to the radioactively contaminated vessel walls. The inspections have been performed by using a conventional inspection machine with a big structural sturdy column, however, it is so huge and heavy that maintenance and handling of the machine are extremely difficult. It requires much effort to transport the system to the site and also requires continuous use of the utility's polar crane to move the manipulator into the building and then onto the vessel. Setup beside the vessel requires a large volume of work preparation area and several shifts to complete. In order to resolve these problems, we have developed an underwater mobile robot guided by the laser pointer, and performed a series of experiments both in the mockup and in the real reactor vessel. This paper introduces our robotic inspection system and the laser guidance of the mobile robot as well as the results of the functional test.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.1
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• pp.33-38
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• 2013

The general purposed control system for driving a motion of many different typed robot end-effector, which consists of a controller based on ARM Cotex M3-11017 MCU and an application software for generating a motion of end-effector, was developed. Experimental results show that a positioning error is nearly negligible and a repeatability error is 0.04%. Accordingly the developed control system can be applied practically to actuate a robot end-effector for inspection and maintenance of steam generator heat pipe in nuclear power plant.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.602-607
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• 1990

Spent nuclear fuel is very dangerous substance emitting strong ionizing radiation which is harmful to human body. The remote handling of spent nuclear fuel is essential because people cannot access this substance without protecting radiation. To handle highly radioactive material or nuclear waste, many kinds of teleoperators such as master slave manipulator, electro mechanical manipulator, servo manipulator, mobile robot was developed. The distance and dimension of target object cannot be measured easily when highly radioactive material is handled by teleoperator because one should use lead glass or TV camera and monitor to protect radiation and see target object. During experiments on the remote handling of spent nuclear fuel by electro mechanical manipulator, we often felt that a distance and dimension measurement system is necessary to handle the objects which is in the highly radioactive environment, so we developed a system which is appropriate for this purpose.

• Proceedings of the KIEE Conference
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• 2004.05b
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• pp.162-165
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• 2004

한국원자력연구소의 원자력로봇랩의 연구목표는 인간의 접근이 제한된 고방사선 지역에서 주요 기기의 감시 점검 및 유지 보수 작업을 수행 할 수 있는 원자력용 다기능 내방사선 로봇을 개발하는 것이며 이를 달성하기 위해 원격 로봇시스템 및 로봇 핵심 기술에 대한 기초 연구 및 실용화 연구에 역점을 두고 있다. 본 논문에서는 한국원자력 연구소의 원자력로롯랩에서 그 동안 연구, 개발해온 원자력산업용 로봇의 개발 현황에 대하여 소개하고자 한다.

• 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.

• Nuclear Engineering and Technology
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• v.55 no.1
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• pp.45-51
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• 2023

During the operation of a nuclear power plant (NPP), the waste reactor vessel closure head (RVCH) that is replaced owing to design or manufacturing defects is buried in a designated area or temporarily stored in a radiation shielding facility within the NPP. In such cases, storing it for extended periods proves a challenge owing to space constraints in the power plant and a safety risk associated with radiation exposure; therefore, dismantling it quickly and safely is crucial. However, not much research has been done on the dismantling of the RVCH in an operational power plant. This study proposes a dismantling process based on the radioactive contamination level measured for the Kori #1 RVCH, which is currently being discarded and stored, and examines the decontamination and cutting according to this process. In addition, the amount of secondary waste and dismantling cost are evaluated, and the dismantling effect of the reactor closure head is analyzed.