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수중로봇 시스템의 개발과 원자로 압력용기 육안검사에의 적용
조병학(Byung-Hak Cho),변승현(Seung-Hyun Byun),신창훈(Chang-Hoon Shin),양장범(Jang-Bum Yang) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
An underwater robotic system has been developed and applied to visual inspection of reactor vessel internals. The Korea Electric Power Robot for Visual Test (KeproVt) consists of an underwater robot, a vision processor-based measuring unit, a master control station and a servo control station. The robot guided by the control station with the measuring unit can be controlled to have any motion at any position in the reactor vessel with ±1 cm positioning and ±2 degrees heading accuracies with enough precision to inspect reactor internals. A simple and fast installation process is emphasized in the developed system. The developed robotic system was successfully deployed at the Younggwang Nuclear Unit 1 for the visual inspection of reactor internals.
조병학(Byung-Hak Cho),신창훈(Chang-Hoon Shin),변승현(Seung-Hyun Byun),박준영(Joon-Young Park),양장범(Jang-Bum Yang) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
An innovative in-core neutron flux mapping system has been developed and applied successfully for service in a commercial pressurized water reactor. With the benefit of double indexing path selector (Dips<SUP>®</SUP>) mechanism, the reliability of the detector drive system has been improved five times higher than that of conventional systems, and the problems caused by the serious friction generated between the detector cable and guide tubing has been solved completely because the Dips<SUP>®</SUP> architecture allows the detector guide tubings to have larger curvature and shorter length in nature. The simple and fast maintenance is particularly emphasized in the detector drive system to secure minimum radiation exposure to the maintenance personnel by optimizing the number of components and providing easy access to the components. The programmable logic controller based digital controller with Windows<SUP>®</SUP> based operator’s console provides fully automated and user friendly operation and maintenance support means.