• Journal of Korea Ship Safrty Technology Authority
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• s.22
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• pp.65-79
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• 2007

This research project is prepare for the inspection of increasing aluminum vessel. This report contains inspection item and technique follow with building schedule aluminum vessel for surveyor study material and reference data.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.133.6-133
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• 2001

Reactor vessel is one of the most important equipment of Nuclear Power Plant (NPP) with regard to the nuclear safety. Thus reactor vessel must be examined periodically by certified experts. Currently, ultra-sonic(UT) non-destructive inspection is executed on reactor vessel. Two different techniques are used in this inspection. One is using the movable manipulator fixed with the support-guide placed on the vessel, and the other is using mobile robot moving in the vessel. Movable manipulator machine is very heavy, hard to handle, and very expensive. Mobile robot equipment is small and convenient but has a weak point on positional precision. To solve these problems we developed a reactor inspection system based on laser-driven mobile robot. This paper describes the main concept and structure of integrated inspection units and the feature of implemented units.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1116-1120
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• 2004

In the nuclear power plant, there are several cylindrical vessels such as reactor vessel, pressuriser and so on. The vessels are usually constructed by welding large rolled plates, forged sections or nozzle pipes together. In order to assure the integrity of the vessel, these welds should be periodically inspected using sensors such as ultrasonic transducer or visual cameras. This inspection is usually conducted under water to minimize exposure to the radioactively contaminated vessel walls. The inspections have been performed by using a conventional inspection machine with a big structural sturdy column, however, it is so huge and heavy that maintenance and handling of the machine are extremely difficult. It requires much effort to transport the system to the site and also requires continuous use of the utility's polar crane to move the manipulator into the building and then onto the vessel. Setup beside the vessel requires a large volume of work preparation area and several shifts to complete. In order to resolve these problems, we have developed an underwater mobile robot guided by the laser pointer, and performed a series of experiments both in the mockup and in the real reactor vessel. This paper introduces our robotic inspection system and the laser guidance of the mobile robot as well as the results of the functional test.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.288-288
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• 2000

Reactor vessel is one of the most important equipment with regard to the safety of nuclear power plant. Thus nuclear regulation requires its periodical examination by certified inspection experts. Conventional reactor inspection machines are obsolete, hard to handle, and very expensive. To solve these problems we developed robotic reactor vessel inspection system which are small, easy to use for inspection, cost effective, and convenient in operation. This paper describes the main features of Main Control System which is one part of robotic inspection equipment we developed.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.6 no.2
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• pp.9-15
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• 2010

US NRC issued rulemaking of 10CFR50.55a to perform the Perservice and Inservice inspection for Reactor Vessel Head Penetration Nozzle of US Nuclaer plant. The rulemaking was required the EPRI Demonstration to verify the NDE technique performing special Ultrasonic examination. In order to meet this requirement, the UT and ECT procedures was demonstrated and the NDE personnel were qualified by EPRI. In this paper, the NDE technique and analysis method are described the Preservice inspection for the Palo Verde #1/2/3 Replacement Reactor Vessel Head Penetration Nozzle using the qualified procedures and personnel.

• Nuclear Engineering and Technology
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• v.51 no.3
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• pp.800-806
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• 2019

This paper presents a laboratory experiment on data acquisition technique that applied to the gamma radiation scanning coupled with computed tomography (CT) technique for inspection of broken nozzle inside the vertical vessel. The acquisition technique was developed to inspect a large diameter vessel when suspicious problem location is not easily accessed. This technique allows the installation of gamma radiation source (Cesium 137, Cs-137), and detectors (Sodium Iodine. NaI(Tl)) from the accessible location to the required location and performs the scanning by designed pattern. To demonstrate the designed technique, top opened tank which installed with six cut steel pipes diameter of 76.2 mm (3") at a certain position was selected. They were assumed to be a gas riser pipes inside the vessel. Three studied cases were performed, (a) projection of well installed six pipes, (b) projection of one out of six broken pipe and (c) one of nozzle was assumed to be failure and fell down until one out of six pipes was broken and obstructed by nozzle. Results clearly indicated the capability of developed technique to distinguish between normal situation case and abnormal situation cases.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.545-550
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• 2004

KSTAR cryostat is a 8.8 m diameter vacuum vessel that provides the necessary thermal barrier between the ambient temperature test cell and the supercritical helium cooled superconducting magnet providing the base pressure of 1 ${\times}$ $10^{-3}Pa$. The cryostat is a single walled vessel consisting of central cylindrical section and two end closures, a flat base structure with external reinforcements and a dome-shaped lid structure. The base structure has 8 equally spaced support legs anchored on the concrete base. The cryostat vessel design was executed to satisfy the performance and operation requirements. The major loads considered in the structural analysis were vacuum pressure, dead weight, electromagnetic load driven by plasma disruption, and seismic load. Based on the fabrication and inspection procedures for the vessel, cryostat vessel was fabricated and inspected. It was confirmed that the inspection results were acceptable.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1327-1330
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• 2004

An underwater robotic system has been developed and applied to visual inspection of reactor vessel internals. The Korea Electric Power Robot for Visual Test (KeproVt) consists of an underwater robot, a vision processor-based measuring unit, a master control station and a servo control station. The robot guided by the control station with the measuring unit can be controlled to have any motion at any position in the reactor vessel with $\pm$1 cm positioning and $\pm$2 degrees heading accuracies with enough precision to inspect reactor internals. A simple and fast installation process is emphasized in the developed system. The developed robotic system was successfully deployed at the Younggwang Nuclear Unit 1 for the visual inspection of reactor internals.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.371-372
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• 2009

• Journal of the Korean Society for Nondestructive Testing
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• v.33 no.1
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• pp.26-33
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• 2013

BMI nozzles in bottom head of the nuclear vessel are one of major components in nuclear power plants. The BMI nozzles have high possibility to generate PWSCC(primary water stress corrosion crack) according to recent foreign case although operation temperature is lower then the upper head of the nuclear vessel. Thus, nondestructive inspection of the BMI nozzles is required. But, inspection of BMI nozzles is not easy since the BMI nozzles placed in high radiated area and inside the nozzles filled with boric acid. Thus, in this study, a TOFD transducer for inspection of BMI and automated scanner system with water were developed. Also, validation of performance of the developed transducer and system are performed using specimens with artificial defects.