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원자로 스팀 제너레이터 홀의 수리 및 자동 검사를 위한 원격제어 로봇시스템 설계
정원용,김종규,한성현,류소평,정동연 韓國工作機械學會 2000 한국생산제조학회지 Vol.9 No.2
In this paper, we propose a new approach to the development of the automatic vision system to examine and repair the steam generator tubes at remote distance. In nuclear power plants, workers are reluctant of works in steam generator because of the high radiation environment and limited working space. It is strongly recommended that the examination and maintenance works be done by an automatic system for the protection of the operator from the radiation exposure. Digital signal processors are used in implementing real time recognition and examination of steam generator tubes in the proposed vision system. Performance of proposed digital vision system is illustrated by simulation and experiment for similar steam generator model.