• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.708-713
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• 1997

A remote data communication system for monitoring of NC machine fault diagnosis and status is developed. This system communicates with host PC by using dial-up communication method on PSTN. The developed system consists of (1)remote communication module among NC's and host PC using PSTN, (2) 8 channels analog data sensing module, (3) digital I/O module for control of NC machine, (4) communication module between NC machine and remote data communication system using RS-232c, and (5) Software man-machine interface. This system may be applied for remote sensing of the status in Fms. To show the veridity of the developed system, several examples are illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2514-2518
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• 2003

The KAERI Spent Fuel Remote Technology Development (SFRTD) Department is developing the remote maintenance and repair equipment, which is used in a hot cell in an intense radiation field, as part of a project to develop the Advanced spent fuel Conditioning Process (ACP). Although several mechanical master-slave manipulators (MSMs) is mounted on the hot cell wall, their reach will be limited and cannot access areas for all the ACP equipment maintenance. A Bridge Transported ServoManipulator (BTSM) has been designed to overcome the limitation of access areas that is a drawback of MSMs for the ACP equipment maintenance. The BTSM system consists of four components: a transporter with telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. The BTSM system has been designed by Solid Edge that is a 3D computer-aided design (CAD) software, except for the remote control system. The master manipulator and the slave manipulator are kinematically similar in design, except for the handle and the tong, respectively. The manipulators have 6 degrees of freedom (DOF) plus the jaws motion. The transporter has traveling, traverse, and hoisting motion to position the slave manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.519-522
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• 1997

In this study, the collision free path planning method of the articulated manipulator using sequential search is proposed. This method is to find the joint path of the manipulator with many degrees of freedom from the distal joint to the proximal one. To do this, the initial work space of the gantry manipulator, which is a remote maintenance equipment of the radioactive environment, is defined from the condition that the distal joint configuration is determined by the posture of maintenance. Then, 2-dimensional configuration space with the obstacle area is represented and the collision free path of manipulator is searched in the configuration space. And, this method is verified using the graphic simulation in virtual workcell for the spent fuel disassembling processes. The result of this study can be effectively used in implementing the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.04a
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• pp.547-550
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• 2011

The purpose of this paper is to verify and validate the maintenance tasks of the construction of a nuclear facility using a digital mock-up and simulation technology instead of a physical mock-up. Prior to the construction of a nuclear facility, a remote simulator that provides the opportunity to produce a complete digital mock-up of the PRIDE (Pyroprocess Integrated Inactive DEmonstration Facility) region and its remote handling equipment, including operations and maintenance procedures has been developed. In this paper, the system architecture and graphic user interface of a remote simulator that coincides with the extraordinary nature of a nuclear fuel cycle facility is introduced. In order to analyze the remote accessibility of a remote manipulator, virtual prototyping that was performed it by using haptic device of external input devices under a 3D full-scale digital mock-up is explained.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.5 no.2
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• pp.96-100
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• 2012

Existing, widely used industrial controller programmable logic controller (PLC) using the high cost and maintenance was a difficult problem. In addition, the network configuration was not easy. Thus, the filter press by remote control and management to improve productivity and shorten maintenance time. Variety of smart devices (smart phones, iPad, tablet PC, etc.) Remote control is possible by utilizing the existing controlled by the PLC addresses maintenance and improved performance compared to that of possible filter press control and management system was developed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.569-570
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• 2022

Failure situations occur frequently in the industry, and the existing 2D-based manual for this purpose is not intuitive to understand and it is difficult to immediately interact with maintenance experts. In this paper, we propose a technology that enables workers to perform maintenance in real time with the help of experts without restrictions in time and place based on augmented reality when a failure situation occurs at a remote location. A local virtual human-based expert diagnoses a failure situation based on an adapted panoramic image of a remote failure situation while wearing an HMD headset, and gives instructions to a remote operator. In addition, in an augmented reality (AR) environment in a remote location, for the interaction between the operator and the expert, the HMD's microphone is used to create the expert's hand as well as verbal communication. You can use to point or draw a picture. If this technology is used, it is possible to overcome the limitations of the existing 2D-based manual, and to provide assistance in performing maintenance smoothly remotely even if an expert does not directly visit a remote location.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.11
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• pp.2052-2060
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• 2017

The SOLAS ship should carry at least 83 different types of equipment based on the SFI group codes and each of which consists of several to dozens of components. During ship operation, it is necessary to ensure the normal operation of such equipment, and remote maintenance is highly demanded for immediate repair in the event of a equipment fault. This study proposes to find suitable classification system and to derive database structure for remote maintenance of navigation and communication equipment. As a result of this study, the classification system of equipment should be layered into equipment type, model, and component, and main table in the database consists of FMEA, service history, case data through Q&A, Preventive Maintenance. A database was constructed for 140 navigation and communication equipment models and 750 components. In order to evaluate the practical effects, service engineer evaluated the usefulness using the cloud app.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.11
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• pp.4509-4514
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• 2010

In this thesis, the effect of switch maintenance improvement is confirmed after testing and operating the switch monitoring system that were researched and developed originally in order to improve method of electric switch maintenance. However, as in an automatic interlocking station where a ground crew was not placed, repair and inspection could not be carried out until the maintenance person comes in case of switch problems or maintenance. In order to improve this issue, control module was installed in a monitoring system which can communicate through a data radio to a remote computer. Thus, the monitoring device can receive control information which a remote computer commands during the operation of switches. Afterward, it shows information on the real-time status of swith, in particular, anomaly situation through user interface after the switch is operated. By improving performance of the monitoring system in this way which can be managed and controled at a remote place, the prompt countermeasure system in case of disruption will be built and as a result, efficiency and convenience of maintenance improvement will be expected to increase.