• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.346-351
• /
• 2005

The outlet feeder pipe thinning in a PHWR (Pressurized Heavy Water Reactor) is caused by high pressure steam flow inside the pipe, which is a well known degradation mechanism called FAC (Flow Assisted Corrosion). In order to monitor the degradation, the thickness of the outlet bends closed to the exit of the pressure tube should be measured and analyzed at every official overhaul. This paper develops a mobile feeder pipe inspection robot that can minimize the irradiation dose of human workers by automating the measurement process. The robot can move by itself on the feeder pipe by using an inch worm mechanism, which is constructed by two gripper bodies that can fix the robot body on the pipe, one extendable and contractable actuator, and a rotation actuator connected the two gripper bodies to move forward and backward, and to rotate in the circumferential direction

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• pp.421-423
• /
• 2005

Power transmission lines have been playing a key role as the mainstay of national industry. When a power failure occurs, it can have severe effects on national security as well as national industry and economy. In this paper, we consider an insulator failure, which is one of the main causes of such a power failure. In spite of its importance, however, a shortage of manpower in the insulator maintenance field is getting more serious due to working environments with a high voltage and a high place. For this reason, a new active maintenance technique using a robot system is required to prevent such an insulator failure. In this paper, a new robot mechanism for insulator cleaning and inspection was developed. We confirmed its effectiveness through experiments.

• Journal of Advanced Marine Engineering and Technology
• /
• v.33 no.5
• /
• pp.662-671
• /
• 2009

In this paper, a robot was developed for in-pipe cleaning and inspecting a large number of circular in-pipes of sea plants, ships, and buildings. A pressure generation mechanism was devised to inspect circular in-pipes with different diameters and to move up and down slant or perpendicular slopes in-pipes. For inspection of the dark inner side of the pipe, a light system using LED which dissipats small electricity was developed. Also, a design method was analyzed to decide the capacity of driving motor for the robot when the mass and maximum velocity of the robot are identified. The robot developed based on the design specification, was tested to verify the performance of the pressure generation mechanism. In addition, a control system was developed for the test.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.12
• /
• pp.2598-2604
• /
• 2002

Robots that can move along the narrow and rough tube are very important as the request for the inspection increases. It is necessary for the inspection robots to have a capability to move successfully at even overturned situation and have a simple mechanism to reduce the unexpected failure possibility fer the successful completion of the given mission. Through this paper, the authors propose a novel and simple mechanism using a combination cam device to generate the locomotive motion of multi-legs. This robot uses one DC motor and one combination cam shaft to generate the locomotive motion and can move rough tubes without failure even at the overturned situation. The robot also shows enough fragging force fer the connected line that is very important for a wired inspection robot. Kinematics analysis to design the specification of the robot will be followed and several applications show this robot's potential capabilities.

• Journal of the Semiconductor & Display Technology
• /
• v.17 no.2
• /
• pp.26-31
• /
• 2018

In this paper, surface defects and typical illumination mechanisms for steel plates are analyzed, and then optimum illumination mechanism is selected using discrete wavelet transform (DWT) synthetic images and discriminant measure (DM). The DWT synthetic images are generated using component images decomposed by Haar wavelet transform filter. The best synthetic image according to surface defects is determined using signal to noise ratio (SNR). The optimum illumination mechanism is selected by applying discriminant measure (DM) to the best synthetic images. The DM is applied using the tenengrad-euclidian function. The DM is evaluated as the degree of contrast using the defect boundary information. The performance of the optimum illumination mechanism is verified by quantitative data and intuitive image looks.

• Magazine of the Korea Institute for Structural Maintenance and Inspection
• /
• v.17 no.3
• /
• pp.62-66
• /
• 2013

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1696-1699
• /
• 1997

The robot mainpulator for inspection of pressurizer in the nuclear power plant has been developed, which consists of four parts : 2 arms, movable gripper, base frame, contorl console. To extract the damaged electric heating rod inside pressurizer, the gripper has been developed using wire lope and self-locking mechanism. for the examination of the structural stability of the robot manipulator, stress analysis is performed by using the ANSYS code.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.10a
• /
• pp.9-10
• /
• 2006

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2008.11a
• /
• pp.501-502
• /
• 2008

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.237-240
• /
• 1997

The design of underwater inspection robot system is presented. This robot system is designed for wall inspection in the nuclear plant facility. This paper describes the major components of the robot and its structures. This robot system is consisted of three parts : mechanical electrical and sensing pail. The main problem of designing mechanical part is to select the mechanism of driving. In this system the propeller driving mechanism is selected which can be move the robot continuously. For reducing the size of robot, we designed the CPU and motor controller board. The sensor system is consisted of two parts. One is environment monitoring part and the other is robot localization system.