• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1996년도 춘계학술발표회논문집(1)
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• pp.571-576
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• 1996

Currently most nuclear power plants(NPPs) are adopted the mid-loop operation to minimize the overhaul period and save the operating cost. For mid-loop operation it is essential to install nozzle dam between RCS pipe and steam generator(SG). Because SG remains more highly contaminated with radioactive material than any other parts of the NPPs, the repairmen are very reluctant to carry out installing nozzle dam inside the SG. Until now, unfortunately, it appears that no practically applicable device was developed to provide the longstanding demand. Also the accidents have been reported by licenser event report during this operation mode due to loss of residual heat removal(RHR). The purpose of this paper is to conduct remotely blocking and disintegration of nozzle of a SG which has the highest radiation exposure during the maintenance in NPPs. The remote nozzle blocking device of a SG includes three bladders, hubs, air controller provisions to supply and contact air pressure into the bladders. This remote nozzle block device will give the larger operation margin to prevent the loss of RHR and minimize the radiation exposure dose to the repairman and shorten the overhaul periods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.821-824
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• 1993

In hazardous conditions, where entry of human operators is restricted, such as high radiation regions in nuclear facilities, a lot of remote inspections and remote handling tasks must be performed. In this study, the stereo imaging system has been developed and the remote handling technique, has been studied to enhance the efficiency of tele-operation. The nozzle dam handling robot is one of the most important robots applied to nuclear facility. The robot will be equipped with the developed stereo imaging system. The stereo imaging system will outstandingly improve the tele installing/removal tasks for nozzle dam.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1996년도 춘계학술발표회논문집(2)
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• pp.657-662
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• 1996

Venting capability to prevent excess pressurization caused by loss of Residual Heat Removal System (RHRS) during mid-loop operation hat been evaluated analytically and the peak Reactor Coolant System (RCS) pressure was compared with the results of the MIDLOOP computer code. Even though analytical method if relatively simple, the results are in a good agreement with those of the computer code. For both methods, the peak pressures have not, exceeded the nozzle dam design pressure, if the vent paths such as pressurizer safety valves or a pressurizer manway are available in a closed RCS configuration with the nozzle dam installed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.815-820
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• 1993

Robotic technology has been grown up conspicuously by its versatility. KAERI has been involved in one of facets of robot industry to keep abreast of rapid evolving technologies In robotic field and has launched long-term R&D plan to assure the stable nuclear energy. In this paper, the latest development status of teleoperated robot system has been presented with emphasis the configuration of overall control system with 3 dimensional graphic system that provides operators with tele-presence situation. This robot system under development, composed of master-slave arm with controller and graphic simulator, is operated by a master manipulator to enable an installation and removal operation of nozzle dam system for steam generator. Evaluation and analysis has been carried out to get optimal parameters of robot system.

• Journal of Radiation Protection and Research
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• 제18권1호
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• pp.71-82
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• 1993

원자력 발전소 작업과의 피폭량은 발전소의 안전 운영에 관한 척도일 뿐 아니라, 일반 대중이 원자력 발전의 안전을 평가하는 기본 요소이다. 또한, 최근 ICRP 60에 의한 개인 피폭선량 한도의 하향조정 권고는 지속적인 피폭저감에의 노력을 요구하고 있다. 본 논문에서는 작업자의 피폭저감에 관한 대안선정시 사용할 수 있는 최적화 기법을 제시하고 실제로 원전 운영자예 의해 제안된 대안들을 검토하는데 이 기법을 적용하여 보았다. 분석과정에서 기본분석이외에 가변 경제변수를 고려한 민감도 분석을 통해 계산 결과의 불확실성을 보완하였다. 분석결과를 살펴보면, 먼저 비용-이득 분석에서는 '증기 발생기 Nozzle Dam 및 Torquing Machine'이 총 이득면에서 가장 우수한 것으로 평가되었고, 다속성 효용 분석의 경우 'Co-No Seal 조임장치'가 가장 높은 효용을 가진 것으로 나타나 약간의 차이를 보이고 있다. 따라서, 최적화 기법의 적용시에는 두 가지이상의 정량적 기법을 보완적으로 사용하고, 정성적 인자도 충분히 고려하는 것이 필요하다.