• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.832-837
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• 1991

After many years of proliferation, the nuclear industry is indebted for a formidable consequence, the safe management of spent fuel. Naturally, the high radioactivity involved with such process motivates the development of effective telerobotic systems. Nevertheless, the existing master-slave type of tele manipulators are limited in effectiveness by the human operator's limited sensory and manipulation capabilities. This paper presents the result of a research effort to resolve such problems by assigning the slave manipulator a certain degree of intelligence; sensing and actuation. In the presented system, a perception-action loop is achieved using ultrasonic range sensor and laser distance sensor interfaced with the PUMA 760 industrial robot system, and applied to automating impact wrenching task for unbolting the lid of nuclear spent fuel cask. The perception-action loop performs determination of the cask location, collision avoidance and centering of the impact wrench onto the bolt head. To aid the insertion task and to provide versatility a mounting module consisting of an RCC device and an automatic tool changer is designed and implemented. The performance of the developed system is tested on the model cask and the result is given.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.282-287
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• 2008

In distributed mobile robot systems, autonomous robots accomplish complicated tasks through intelligent cooperation with each other. This paper presents behavior learning and online distributed evolution for cooperative behavior of a group of autonomous robots. Learning and evolution capabilities are essential for a group of autonomous robots to adapt to unstructured environments. Behavior learning finds an optimal state-action mapping of a robot for a given operating condition. In behavior learning, a Q-learning algorithm is modified to handle delayed rewards in the distributed robot systems. A group of robots implements cooperative behaviors through communication with other robots. Individual robots improve the state-action mapping through online evolution with the crossover operator based on the Q-values and their update frequencies. A cooperative material search problem demonstrated the effectiveness of the proposed behavior learning and online distributed evolution method for implementing cooperative behavior of a group of autonomous mobile robots.

• Nuclear Engineering and Technology
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• 제50권6호
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• pp.981-988
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• 2018

An experiment was performed for the OECD/NEA ROSA-2 Project with the large-scale test facility (LSTF), which simulated a steam generator tube rupture (SGTR) accident due to a double-ended guillotine break of one of steam generator (SG) U-tubes with operator recovery actions in a pressurized water reactor. The relief valve of broken SG opened three times after the start of intact SG secondary-side depressurization as the recovery action. Multi-dimensional phenomena specific to the SGTR accident appeared such as significant thermal stratification in a cold leg in broken loop especially during the operation of high-pressure injection (HPI) system. The RELAP5/MOD3.3 code overpredicted the broken SG secondary-side pressure after the start of the intact SG secondary-side depressurization, and failed to calculate the cold leg fluid temperature in broken loop. The combination of the number of the ruptured SG tubes and the HPI system operation difference was found to significantly affect the primary and SG secondary-side pressures through sensitivity analyses with the RELAP5 code.

• International Journal of Reliability and Applications
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• 제2권1호
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• pp.37-48
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• 2001

This paper presents a new dynamic human reliability analysis method and its application for quantifying the human error probabilities in implementing management action. For comparisons of current HRA methods with the new method, the characteristics of THERP, HCR, and SLIM-MAUD, which are most frequency used method in PSAs, are discussed. The action associated with implementation of the cavity flooding during a station blackout sequence is considered for its application. This method is based on the concepts of the quantified correlation between the performance requirement and performance achievement. The MAAP 3.0B code and Latin Hypercube sampling technique are used to determine the uncertainty of the performance achievement parameter. Meanwhile, the value of the performance requirement parameter is obtained from interviews. Based on these stochastic obtained, human error probabilities are calculated with respect to the various means and variances of the things. It is shown that this method is very flexible in that it can be applied to any kind of the operator actions, including the actions associated with the implementation of accident management strategies.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 추계학술대회 논문집 전력기술부문
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• pp.184-186
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• 2007

Visualization has a strong capability to manage and display a large volume of data. It makes system analysis more intuitive and helps an operator in monitoring system status, understanding its phenomena, identifying its problems, and performing corrective action to maintain the security of the system. In this paper visualization program is developed based on a COTS-based software development concept in a distributed environment using open-source application software and development tools.

• 한국화재소방학회:학술대회논문집
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• 한국화재소방학회 2010년도 추계학술발표회 자료집
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• pp.203-206
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• 2010

운전원 수동조치는 원자력발전소 화재시 발전소 안전정지를 달성하고 유지하기 위하여 절차에 따라 주제어실 이외의 장소에서 취하는 운전원의 행위를 말한다. 화재시 운전원 수동조치는 발전소 정상운전 동안의 조치에 비해 더 긴장된 상태에서 정해진 시간내에 임무를 완수하여야 한다는 점 때문에 조치성공 가능성을 확인하기 위하여는 행위의 타당성과 신뢰성이 입증되어야 한다. 운전원 수동조치의 타당성과 신뢰성은 조치의 가용시간, 환경조건 등 10가지의 인자를 고려한 시간분석, 절차 및 훈련, 이행, 입증의 과정을 거쳐서 검증될 수 있다.

• Nuclear Engineering and Technology
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• 제17권4호
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• pp.302-316
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• 1985

TMI와 월성 사고 이후 PORV를 통한 Small LOCA는 원자력 발전소 리스크의 중요한 요소로 부각되었다. 본 논문에서는 이 계통을 통한 Pressurizer Surveillance System의 설제와 그에 따른 영향을 확률론적 리스크 평가(PBA) 방법으로 해석하였다. 마이크로 컴퓨터는 계통의 고장(Malfunction)을 공정 확인 방법(Process Checking Method)으로 진단하고 그 진단에 따른 후속 동작(Backup Action)을 자동으로 수행한다. 이러한 개선에 따라 운전원의 빠르고 정확한 판단이 어려웠던 “Spurious Opening”, “Fail to Reclose” 및 “Small Break LOCA” 등의 진상(Symptom) 이 정확히 진단되고, 후속 동작의 자동화로 인하여 인간 실수 확률이 기계적 실수 확률로 감소하게 되었다. 결국. 이러한 개선은 계통의 신뢰도 증가로 Small LOCA 확률의 감소를 가져다 준다.

• 한국화재소방학회논문지
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• 제30권3호
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• pp.79-85
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• 2016

원자력발전소의 방화지역에서 전기적인 단락, 지락, 전기회로 개방 등의 전기 문제로 화재가 발생할 수 있다. 전기 화재가 발생할 경우 안전계통 및 관련기기의 안전정지 기능이 상실된다. 이러한 사고를 예방하기 위하여 안전계통은 다중성, 독립성으로 설계되어 있다. 그러나 케이블 화재시 운전원은 오동작, 잘못된 지시 및 계측으로 발전소 상황을 잘 못 판단하여 적절한 조치를 하지 못할 수 있다. 따라서 주제어실 화재시 케이블 기능상실온도에서 최소 운전원 조치 요구시간인 5분은 매우 중요하다. 본 논문에서 주제어실 화재시 케이블의 기능상실온도 시간을 분석하여 운전원 조치시간이 충분한지 평가하여 주제어실 화재에 대한 안전성을 확인하였다.

• 대한전기학회논문지:전력기술부문A
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• 제54권7호
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• pp.323-327
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• 2005

This paper presents an operator training simulator for power system restoration against massive black-out. The system is designed especially focused on the generality and convenient setting up for initial condition of simulation. The former is accomplished by using power flow calculation methodology, and PSS/E data is used to define the initial situation. The proposed simulator consists of three major components - the power flow(PF) module, data conversion(COW) module and GU subsystem. PF module calculates power flow, and then checks overvoltage of buses and overflow of lines. COW module composes an Y-Bus array and a data base at each restoration action. The initial Y-Bus array is constructed from PSS/E data. The user friendly GUI subsystem is developed including graphic editor and built-in operation manual. As a result, the maximum processing time for one step operation is 15 seconds, which is adequate for training purpose. Comparison with PSS/E simulation proves the accuracy and reliability of the training system.

• 조명전기설비학회논문지
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• 제20권9호
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• pp.18-23
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• 2006

This paper presents an operator training simulator for power system restoration against massive blackout. The system is designed especially focused on the generality and convenient setting up for initial condition of simulation. The former is accomplished by using power flow calculation methodology, and PSS/E data is used to set up the initial state for easy setting. The proposed simulator consists of three major components-a power flow(PF), a data conversion(CONV), and, a GUI module. The PF module calculates power flow, and then checks over-voltages of buses and overloads of lines. The CONV module composes a Y-Bus array and a database at each restoration action. The initial Y-Bus array is composed from PSS/E data. A user friendly GUI module is developed including a graphic editor and a built-in operation manual. The maximum processing time for one step operation is 15 seconds, which is adequate for training purpose.