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Aerial Working Environment Monitoring Robot in High Radiation Area
Hocheol Shin,Chang-Hoi Kim,Yong-Chil Seo,Eom Heung-Seop,Youngsoo Choi,Myoungho Kim 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper describes the development of a robot monitoring an aerial working environment in a high radiation area such as the Calandria face at a PHWR (pressurized heavy water reactor) of a nuclear power plant. The robot consists of three main parts: a mobile platform, a telescopic mast, and a mission tool. To access the target place across the guide rail ditch of a shielding door, the mobile platform is equipped with two front rubber wheels, two rear omni-wheels, and four flippers. The telescopic mast installed on the platform is able to lift up the mission devices to the height of 10 m. The mission devices are a radio hardened camera, a leak detecting sensor, a dosimeter detecting high radiation level, and a RAM operating device of a fuel exchange machine. In addition, a control system considering the emergency was developed.