• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1571-1574
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• 2003

A shared compliant control scheme based on IMC is proposed for the position-force force reflecting control system. The controller of the slave manipulator is designed by IMC method for the open loop unstable plant. The compliant control is implemented by first order low pass filter. In the proposed scheme, the slave manipulator well tracks the position of the master manipulator in free space and the compliance of the slave manipulator is autonomously controlled in contact condition. The simulation results show that the excellence of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.602-607
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• 1990

Spent nuclear fuel is very dangerous substance emitting strong ionizing radiation which is harmful to human body. The remote handling of spent nuclear fuel is essential because people cannot access this substance without protecting radiation. To handle highly radioactive material or nuclear waste, many kinds of teleoperators such as master slave manipulator, electro mechanical manipulator, servo manipulator, mobile robot was developed. The distance and dimension of target object cannot be measured easily when highly radioactive material is handled by teleoperator because one should use lead glass or TV camera and monitor to protect radiation and see target object. During experiments on the remote handling of spent nuclear fuel by electro mechanical manipulator, we often felt that a distance and dimension measurement system is necessary to handle the objects which is in the highly radioactive environment, so we developed a system which is appropriate for this purpose.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.958-963
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• 1988

Teleoperator as a special robotic system for remote handling in hostile environment is reviewed in this article. Inherent features and prospective applications pertinent to teleoperator are indentified with particular concern for nuclear applications as major area of teleoperator technology exercise. Korean status as well as major world programs of teleoperator R&D are also reviewed with perspectives.

• Nuclear Engineering and Technology
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• v.53 no.4
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• pp.1378-1389
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• 2021

TRIUMF, Canada's particle accelerator centre, is constructing a new high-power ISOL (Isotope Separation On-Line) facility called ARIEL (Advanced Rare IsotopE Laboratory). Thick porous targets will be bombarded with up to 48 kW of 480 MeV protons from TRIUMF's cyclotron, or up to 100 kW of 30 MeV electrons from a new e-linac, to produce short-lived radioisotopes for a variety of applications, including nuclear astrophysics, fundamental nuclear structure and nuclear medicine. For efficient release of radioisotopes, the targets are heated to temperatures approaching 2000 ℃, and are exposed to GSv/h level radiation fields resulting from intended fissions and spallations. Due to these conditions, the operational life for each target is only about five weeks, calling for frequent remote target exchanges to limit downtime. A few days after irradiation, the targets have a residual radiation field producing a dose rate on the order of 10 Sv/h at 1 m, requiring several years of decay prior to shipment to a national disposal facility. TRIUMF is installing new remote handling infrastructure dedicated to ARIEL, including hot cells and a remote handling crane. The system design applies learnings from multiple existing facilities, including CERN-ISOLDE, GANIL-SPIRAL II as well as TRIUMF's ISAC (Isotope Separator and ACcelerator).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1405-1411
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• 2012

Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon-driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon-driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1255-1256
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• 2013

• Nuclear Engineering and Technology
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• v.52 no.2
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• pp.429-447
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• 2020

The considered simulation tasks are based on an electrometallurgical process development strategy and associated telemanipulator simulation systems are proposed with various scales of experimental facilities. Fundamentally, target facilities are assumed to be operated only by remote handling systems because the considered process is operated in hazardous environments. Futhermore, the feasibility at various scales should be experimentally verified with gradual increase in throughput. In this regard, bench, engineering, and pilot-scale simulation systems are important early-stage tools for assessing the practical operability of the target process with the material handling systems. Such simulation systems are highly customized for applications and are a precursor to larger pilot and demonstration-scale plants. This paper introduced and classified the developed simulator systems for this approach at various scales using remote handling systems which were assembled inside a virtual target facility, and the manmachine interface was included for a more realistic operation of the simulator. The results obtained for each simulator show the feasibility and requirement for improvement of the systems for the considered test issues with respect to the operation and maintenance of the process.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.811-814
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• 1993

The development of fuzzy pan/tilt controller for remote handling in hostile environment is presented in this paper. In remote handling, control of the camera system is somewhat tedious and time consuming. Operators should do the two tasks of manipulating teleoperator and camera pan/tilt at the same time. By automating pan/tilt control, we expect operators could concentrate only on remote operation. When operators control camera pan/tilt they use simple linguistic rules such as "If the position of end effector on TV monitor is at the edge of the screen, control pan/tilt to display the end effector near the center of the screen." Such a rule is similar to fuzzy logic, so we used fuzzy logic controller to control camera pan/tilt. pan/tilt.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.911-916
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• 1991

Spent nuclear fuel is highly radioactive and requires remote operation due to radiation exposure. Motors which have been used in the highly radioactive environments are a DC type because of their easy implementation on control system. However there are some problems such as mechanical maintenance of brush and commutator, high cost, and heavy material control. AC servo motors are applied and tested on fuzzy and conventional control algorithms. Fuzzy logic controls of AC servo give adequate control accuracy and power for spent fuel handling in radioactive environments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1354-1358
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• 2003

The process equipment for handling high level radioactive materials like spent fuels is operated in a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired optimally by a remotely operated manipulator. The master-slave manipulators(MSM) are widely used as a remote handling device in the hot cell. The equipment in the hot cell should be optimally placed within the workspace of the wall-mounted slave manipulator for the maintenance operation. But, because of the complexity in the hot cell, there would be some parts of the equipment that are not reached by the MSM. In this study, the maintenance process for these parts of the equipment is developed using virtual prototyping technology. To analyze the workspace of the maintenance device in the hot cell and to develop the maintenance processes for the process equipment, the virtual mock-up of the hot cell for the spent fuel handling process is implemented using IGRIP. For the implementation of the virtual mock-up, the parts of the equipment and maintenance devices such as the MSM and servo manipulator are modeled and assembled in 3-D graphics, and the appropriate kinematics are assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment, which is the same as the real environment. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. Also, for the dedicated maintenance operation, the analyses for the detailed area of the end effectors in accordance with the slave manipulator's position and orientation are carried out. The parts of the equipment that are located outside of the MSM's workspace are specified and the maintenance process of the parts using the servo manipulator that is mounted in the hot cell is proposed. To monitor the process in the hot cell remotely, the virtual display system by a virtual camera in the virtual work cell is also proposed. And the graphic simulation using a virtual mock-up is performed to verify the proposed maintenance process. The maintenance process proposed in this study can be effectively used in the real hot cell operation and the implemented virtual mock-up can be used for analyzing the various hot cell operations and enhancing the reliability and safety of the spent fuel management.