• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1244-1248
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. The center coordinates extraction procedures are as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

• 비파괴검사학회지
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• 제33권1호
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• pp.26-33
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• 2013

원자로 BMI 노즐은 원자력발전 설비의 운영을 위한 핵심요소 중 하나이며 하부헤드에 설치되어 있다. 상부헤드에 비해 비교적 저온영역에 있지만 최근 외국사례에 비추어 볼 때 PWSCC의 발생 가능성이 크기 때문에 가동중 비파괴검사가 반드시 필요하다. 그러나 BMI 노즐은 원자로 하부에 있기 때문에 고방사선 구역이며 원자로 내부는 붕산수로 채워져 있기 때문에 접근이 매우 어렵다. 본 연구에서 BMI 노즐 검사를 위하여 TOFD를 이용한 탐촉자를 개발하였고, 자동화검사를 위해 내방수 기능을 가진 스캐너를 개발하였다. 또한, BMI 노즐과 동일한 재질 및 형상으로 인공결함시험편을 제작하여 자동화 비파괴검사 시스템의 성능검증을 수행하였다.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2005년도 춘계학술발표회
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• pp.1187-1188
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• 2005

• 비파괴검사학회지
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• 제34권4호
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• pp.311-317
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• 2014

가압경수로형 원자력발전소 소유자 그룹은 ASME Sec. XI 코드의 배관 샘플링검사법 대안으로 리스크 정보를 활용한 가동중검사 프로그램(RI-ISI)을 개발 및 적용하였다. RI-ISI 프로그램은 파손 메커니즘이 있는 고위험도 배관에 검사를 집중함으로써 발전소의 전반적인 안정성을 향상시켰다. 또한, RI-ISI 프로그램은 비파괴검사 물량, 검사자 방사선 피폭, 검사 시간 등을 줄일 수 있다. 배관 RI-ISI 방법은 한국 표준형 원자력 발전소 3개호기에 적용되고 있으며 다른 발전소도 개발중에 있다. 이 논문에서는 프라마톰형(프랑스형) 원전에 대한 RI-ISI 방법을 연구하고 그 결과를 나타내었다. 프라마톰형 원전에 대한 RI-ISI 적용은 발전소 안전성을 향상시키고 유지시키며 계량화할 수 없는 이익을 준다는 결론에 도달하였다.

• Nuclear Engineering and Technology
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• 제54권4호
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• pp.1374-1381
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• 2022

Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A^* algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2005년도 춘계학술발표회
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• pp.1337-1338
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• 2005

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1696-1699
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• 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.

• Nuclear Engineering and Technology
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• 제47권3호
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• pp.260-266
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• 2015

Twenty sodium-cooled fast reactors (SFRs) have provided valuable experience in design, licensing, and operation. This paper summarizes the important safety criteria and safety guidelines of intermediate sodium systems, steam generators, decay heat removal systems and associated construction materials and in-service inspection. The safety criteria and guidelines provide a sufficient framework for design and licensing, in particular by new entrants in SFRs.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1996년도 춘계학술발표회논문집(4)
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• pp.170-175
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• 1996

대형 튜브구조물의 길이방향으로 전파되는 유도형초음파(Ultrasonic Guided Wave)를 이용한 원자력발존소내의 열교환기류에 대한 새로운 건전성 평가법을 제시한다. 이를 위해, 유도형초음파의 물리적 특성을 이론적으로 해석하였고 실험을 통해 열고환기류에 대한 유도형초음파법의 타당성 여부를 검토하였다. 국부적인 평가(Local Inspection)에 근거한 기존의 평가법에 비해 유도형초음파법은 단시간 내에 보다 효율적으로 전체 열교환기에 대한 신뢰성 검사(Global Inspection)가 가능하며 만족할 만한 민감도(Sensitivity)를 갖고 있음을 보였다.

• 한국압력기기공학회 논문집
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• 제16권2호
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• pp.18-24
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• 2020

When a damage occurs in the nuclear fuel burning in the reactor, fission products that should be in the nuclear fuel rod are released into the reactor coolant. In this case, sipping test, a series of non-destructive inspection methods, are used to find leakage in nuclear fuel assemblies during the power plant overhaul period. In addition, the sipping test is also used to check the integrity of the spent fuel for moving to an intermediate dry storage, which is carried out as the first step of nuclear decommissioning, . In this paper, the principle and characteristics of the sipping test are described. The structure of the sipping inspection equipment is largely divided into a suction device that collects fissile material emitted from a damaged assembly and an analysis device that analyzes their nuclides. In order to make good use of the sipping technology, the radioactive level behavior of the primary system coolant and major damage mechanisms in the event of nuclear fuel damage are also introduced. This will be a reference for selecting an appropriate sipping method when dismantling a nuclear power plant in the future.