• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.388-394
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• 2003

To handle the high level radioactive materials such a spent fuel, the master-slave manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility, The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment.

• Journal of Digital Contents Society
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• v.5 no.1
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• pp.22-27
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• 2004

To handle the high level radioactive materials such a spent fuel, the master-slave manipulaters (MSM) are wide1y used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD model using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the extermal input device of spare ball displays the movement of manipulator. To connect the exterral input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result show that the developed simulation system gives much-improved human interface characteristics and shows satisfactory reponse characteristics in terms of synchronization speed. This should be useful for the development of work`s education system in the environment.

• Korean Journal of Metals and Materials
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• v.46 no.10
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• pp.646-651
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• 2008

The electrolytic reduction of spent oxide fuel involves the liberation of oxygen in a molten LiCl electrolyte, which results in a chemically aggressive environment that is too corrosive for typical structural materials. It is essential to choose the optimum material for the process equipment handling molten salt. IN713LC is one of the candidate materials proposed for application in electrolytic reduction process. In this study, yttria-stabilized zirconia (YSZ) top coat was applied to a surface of IN713LC with an aluminized metallic bond coat by an optimized plasma spray process, and were investigated the corrosion behavior at $675^{\circ}C$ for 216 hours in the molten salt $LiCl-Li_2O$ under an oxidizing atmosphere. The as-coated and tested specimens were examined by OM, SEM/EDS and XRD, respectively. The bare superalloy reveals obvious weight loss, and the corrosion layer formed on the surface of the bare superalloy was spalled due to the rapid scale growth and thermal stress. The top coatings showed a much better hot-corrosion resistance in the presence of $LiCl-Li_2O$ molten salt when compared to those of the uncoated superalloy and the aluminized bond coatings. These coatings have been found to be beneficial for increasing to the hot-corrosion resistance of the structural materials for handling high temperature lithium molten salts.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.2 no.3
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• pp.189-199
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• 2004

A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tubesets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan & tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations.

• Korean Journal of Materials Research
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• v.14 no.4
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• pp.251-259
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• 2004

In the development of the advanced spent fuel management process based on the molten salt technology, it is essential to choose the optimum material for the process equipment handling molten salt. Corrosion behavior of Ni 200 and Ni-base alloys in molten salt of LiCl-$Li_2$O under oxidation atmosphere was investigated in the temperature range of $650～800^{\circ}C$ for 24～312 hrs. The order of corrosion rate was Ni 200 > Inconel 690 > Inconel 601 > Inconel 600. Inconel 600 alloy showed the highest corrosion resistance among the examined alloys, but Ni 200 exhibited the highest corrosion rate. Corrosion products of Inconel 600 and Inconel 601 were $Cr_2$$O_3$ and $NiFe_2$$O_4$. In case of Inconel 690, a single layer of $CrO_2$$O_3$ was formed in the early stage of corrosion and an outer layer of $NiFe_2$O$_4$ and inner layer of $Cr_2$$O_3$ were formed with increase of corrosion time. Inconel 600 showed local corrosion behavior and Inconel 601, 690 showed uniform corrosion behavior.

• Korean Journal of Materials Research
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• v.14 no.11
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• pp.813-820
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• 2004

The electrolytic reduction of spent oxide fuel involves the liberation of oxygen in a molten LiCl electrolyte, which is a chemically aggressive environment that is very corrosive for typical structural materials. So, it is essential to choose the optimum material for the process equipment handling molten salt. In this study, corrosion behavior of Haynes 263, 75, and Inconel X-750, 718 in molten salt of $LiCl-Li_{2}O$ under oxidation atmosphere was investigated at $650^{\circ}C\;for\;72\sim360$ hours. At $3\;wt\%\;of\;Li_{2}O$, Haynes 263 alloy showed the highest corrosion resistance among the examined alloys, and up to $8\;wt\%\;of\;Li_{2}O$, Haynes 75 exhibited the highest corrosion resistance. Corrosion products were formed $Li(Ni,Co)O_2,\;LiNiO_2\;and\;LiTiO_2\;and\;Cr_{2}O_3$ on Haynes 263, $Cr_{2}O_3,\;NiFe_{2}O_4,\;LiNiO_2,\;Li_{2}NiFe_{2}O_4,\;Li_{2}Ni_{8}O_10$ and Ni on Haynes 75, $Cr_{2}O_3,\;(Al,Nb,Ti)O_2,\;NiFe_{2}O_4,\;and\;Li_{2}NiFe_{2}O_4$ on Inconel X-750 and $Cr_{2}O_3,\;NiFe_{2}O_4\;and\;CrNbO_4$ on Inconel 718, respectively. Haynes 263 showed local corrosion behavior and Haynes 75, Inconel X-750, 718 showed uniform corrosion behavior.

• Korean Journal of Materials Research
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• v.15 no.3
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• pp.155-160
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• 2005

The electrolytic reduction of spent oxide fuel involves the liberation of oxygen in a molten LiCl electrolyte, which results in a chemically aggressive environment that is very corrosive fir typical structural materials. So, it is essential to choose the optimum material f3r the process equipment handling molten salt. In this study, the corrosion behavior of Al-Y coated Haynes 263 in a molten salt of $LiCl-Li_2O$ under oxidation atmosphere was investigated at $650^{\circ}C$ for $72\~168$ hours. The corrosion rate of Al-Y coated Haynes 263 was low while that of bare Haynes 263 was high in a molten salt of $LiCl-Li_2O$. Al-Y coated Haynes 263 improved the corrosion resistance better than bare Haynes 263 alloy. An Al oxide layer acts as a protective film which Prohibits Penetration of oxygen. Corrosion Products were formed $Li(Ni,Co)O_2$ and $LiTiO_2$ on bare Haynes 263, but $LiAlO_2,\;Li_5Fe_5O_8\;and\;LiTiO_2$ on Al-Y coated Haynes 263.

• Korean Journal of Materials Research
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• v.16 no.9
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• pp.557-563
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• 2006

The electrolytic reduction of spent oxide fuel involves the liberation of oxygen in a molten LiCl electrolyte, which results in a chemically aggressive environment that is too corrosive for typical structural materials. So, it is essential to choose the optimum material for the process equipment handling molten salt. In this study, corrosion behavior of Inconel 713LC, MA 754, X-750 and 718 in the molten salt $LiCl-Li_2O$ under an oxidizing atmosphere was investigated at $650^{\circ}C$ for $72{\sim}216$ hours. Inconel 713LC alloy showed the highest corrosion resistance among the examined alloys. Corrosion products of Inconel 713LC were $Cr_2O_3,\;NiCr_2O_4$ and NiO, and those of Inconel MA 754 were $Cr_2O_3\;and\;Li_2Ni_8O_{10}$ while $Cr_2O_3,\;NiFe_2O_4\;and\;CrNbO_4$ were produced from Inconel 718. Also, corrosion products of Inconel X-750 were found to be $Cr_2O_3,\;NiFe_2O_4\;and\;(Cr,Nb,Ti)O_2$. Inconel 713LC showed local corrosion behavior and Inconel MA 754, 718, X-750 showed uniform corrosion behavior.

• Korean Journal of Materials Research
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• v.23 no.2
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• pp.123-127
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• 2013

The electrolytic reduction of a spent oxide fuel involves liberation of the oxygen in a molten LiCl electrolyte, which is a chemically aggressive environment that is too crosive for typical structural materials. Therefore, it is essential to choose the optimum material for the process equipment for handling a molten salt. In this study, the corrosion behavior of pyro-carbon made by CVD was investigated in a molten LiCl-$Li_2O$ salt under an oxidation atmosphere at $650^{\circ}C$ and $750^{\circ}C$ for 72 hours. Pyro-carbon showed no chemical reactions with the molten salt because of its low wettability between pyro-carbon and the molten salt. As a result of XRD analysis, pyro-carbon exposed to the molten salt showed pure graphite after corrosion tests. As a result of TGA, whereas the coated layer by CVD showed high anti-oxidation, the non-coated layer showed relatively low anti-oxidation. The stable phases in the reactions were $C_{(S)}$, $Li_2CO_{3(S)}$, $LiCl_{(l)}$, $Li_2O$ at $650^{\circ}C$ and $C_{(S)}$, $LiCl_{(l)}$, $Li_2O_{(S)}$ at $750^{\circ}C$. $Li_2CO_{(S)}$ was decomposed at $750^{\circ}C$ into $Li_2O_{(S)}$ and $CO_{2(g)}$.

• Korean Journal of Metals and Materials
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• v.46 no.9
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• pp.577-584
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• 2008

The electrolytic reduction of spent oxide fuel involves the liberation of oxygen in a molten LiCl electrolyte, which results in a chemically aggressive environment that is too corrosive for typical structural materials. So, it is essential to choose the optimum material for the process equipment handling molten salt. In this study, corrosion behavior of Inconel 713LC, Inconel MA 754, Nimonic 80A and Nimonic 90 in the molten salt $LiCl-Li_2O$ under an oxidizing atmosphere was investigated at $650^{\circ}C$ for 72~216 hrs. Inconel 713LC alloy showed the highest corrosion resistance among the examined alloys. Corrosion products of Inconel 713LC were $Cr_2O_3$, $NiCr_2O_4$ and NiO, and those of Inconel MA 754 were $Cr_2O_3$ and $Li_2Ni_8O_{10}$ while $Cr_2O_3$, $LiFeO_2$, $(Cr,Ti)_2O_3$ and $Li_2Ni_8O_{10}$ were produced from Nimonic 80A. Also, corrosion products of Nimonic 90 were found to be $Cr_2O_3$, $(Cr,Ti)_2O_3$, $LiAlO_2$ and $CoCr_2O_4$. Inconel 713LC showed local corrosion behavior and Inconel MA 754, Nimonic 80A, Nimonic 90 showed uniform corrosion behavior.