• 에너지공학
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• 제5권2호
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• pp.115-122
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• 1996

망초를 이용한 저온 잠열축열시스템에서 핀을 설치한 전열관에서 방열과정중의 열전달 특성을 살펴보았다. 잠열물질의 과냉각과 상분리를 방지하기위해 3.0 wt% $Na_2$B$_4$O$_{7}$10$H_2O$와 2.2 wt% acrylic acid sodium sulfate가 조핵제 및 증점제로 사용되었다. 축열조는 높이가 530 mm, 직경이 74 mm이고 열전달관은 높이가 480 mm, 직경이 13.5 mm인 이중관으로 되어있으며 열전달 유체로는 물을 사용하였다. 축열재로부터 열을 치수하는 방열과정에서 열회수율은 열전달 유체의 유입온도와 유량에 크게 의존하였다. 핀이 설치되지 않은 전열관과의 비교실험을 통하여 핀에 의한 열전달 촉진은 얇은 핀의 경우에는 열전달계수의 증가가 미미하였지만 두꺼운 핀을 사용한 경우에는 같은 조업조건에서 열전달계수가 약 60% 정도 증가하였다. 실험적으로 결정된 총괄 열전달계수는 핀이 없는 경우에는 약 150-260 w/$m^2$K이었고 두꺼운 핀을 사용한 전열관에서는 230-530 W/$m^2$K정도였다. 총괄 열전달계수의 크기와 핀에 의한 전열면적을 기준으로 한 핀의 효율은 두꺼운 핀의 경우에는 약 0.26, 얇은 핀의 경우에는 0.05 정도로 계산되었다.다.

• Nuclear Engineering and Technology
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• 제46권3호
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.