• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2508-2513
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• 2003

This paper presents a nuclear steam generator tube inspection/maintenance robot system. The robot assists in automatic non-destructive testing and the repair of nuclear steam generator tubes welded into a thick tube sheet that caps a hemispherical or quarter-sphere plenum which is a high-radiation area. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water-chamber entering and leaving device for the manipulator and a manipulator base pose adjusting device. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3-D graphic simulation function which offers remote reality to operators and so on. The image information acquired from the camera attached to the end-effecter is used to calibrate the end-effecter pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.1
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• pp.101-106
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• 2020

This research is related to a development of the ultrasonic detector for an internal defect detection of various assembly part's welding zone. In this research, measurement S/Ws including system's motion control, S/W ultrasonic transmitter/receiver control, defect judgment standard setting, etc. have been designed for ultrasonic detection, and welding defects sample network, etc. were also designed for comparison between products in good condition and defective products. Through this kind of system, automatic detection function can be performed for the depth and the defect location of the assembly parts welding zone, and the system is able to make a judgment of internal defect detection which is used to be performed by an expert in the past.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.2
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• pp.193-201
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• 2021

The welding has a high proportion of the production and drying of ships or offshore plants. Non-destructive testing is carried out to verify the quality of welds in Korea, radiography test (RT) is mainly used. Currently, most shipyards adopt analog-type techniques to print the films through the shoot of welding parts. Therefore, the time required from radiography test to pass or fail judgment is long and complex, and is being manually carried out by qualified inspectors. To improve this problem, this paper covers a platform for scanning and digitalizing RT films occurring in shipyards with high resolution, accumulating them in management servers, and applying artificial intelligence (AI) technology to detect welding defects. To do this, we describe the process of designing and developing RT film scanning equipment, welding inspection information integrated management platform, fault reading algorithms, visualization software, and testing and verification of each developed element in conjunction.

• Journal of the Korean Society of Propulsion Engineers
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• v.12 no.2
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• pp.40-47
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• 2008

It is known that the adhesive interface testing of the rocket motor using the ultrasonic wave is superior to the other testing methods about the ability to economical detect the defects. But, the signal analysis of the ultrasonic wave takes a lot of time and efforts because the time interval of the transmitted pulse and the received pulse is too short to separate the reflected signals due to the multi-layers of the rocket motor. The ultrasonic testing of rocket motor have only applied to the automatic system about extremely limited areas like the debond in adhesive interface between the motor case and the insulator. In this study the new technique to detect the debond between the liner and the propellant using the property of the resonance and the lamb waves instead of the existing ultrasonic testing was described.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2007.11a
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• pp.55-59
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• 2007

It is known that the adhesive interface testing of the rocket motor which using the ultrasonic wave iS superior to the other testing methods about the economically detectable abiliη of the defects. But, the signal analysis of the ultrasonic wave takes too much time and effort that the time interval of the transmitted pulse and the received pulse is too short to be separated the reflected signals because the structure of the rocket motor is multi-layers. The ultrasonic testing of rocket motor have been only applied with automatic system about extremely limited area like the debond in adhesive interface between the motor case and insulator. In this study the new technique to detect the debond between the liner and the propellant using the property of the resonance and Lamb waves was described as comparing the existence ultrasonic testing.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.236-241
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• 1996

This paper presents a new eddy current testing system for inspecting tubes of steam generator in nuclear power plant. The proposed system adopted embedded expert system concept to automate tasks of the inspection such as inspection planning and flaw signal interpretation, and integrated all the tasks into a client/server type computing architecture using database management system. Therefore, human factor errors occurred during inspection could be minimized and the inspection data could be transferred in real-time. As a result, we can increase the level of inspection confidence and the productivity of a personal inspector. A prototype of the proposed system has been developed for 5 years and the test operation has been performed in domestic nuclear power plants.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.1
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• pp.28-36
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• 2020

In shipbuilding industry, there is conducting most of works by welding at the shipyard, and the volume of welding is increasing with international trends of green ships. Welding joint is guaranteed quality through non-destructive testing (NDT). The manual welding inspection report is produced by identifying the drawings designed, which results in losses the many workforce and occurs human errors. To solve these problems, this paper covers a system that reports on inspection information is automatically generation by input data based on shipbuilding-specific CAD. The developed system analyzes the shape data from drawings of modeling. Also, the system determines welding joints through expansion of the part boundary and generates tag numbers. In addition, it provides the function to automatically extract the information needed for inspection such as weld length, thickness and etc. We conducted test to verify the usefulness of the developed system and confirmed that the welding inspection information extracted through system matches the information shown in drawings of modeling.