Int. Expert’s Workshop on the Decommissioning of TEPCO”s ... · 0 Int. Expert’s Workshop on...
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Int. Expert’s Workshop on the
Decommissioning of TEPCO”s Fukushima
NPPs Unit 1-4
Seungho Kim
+82(42)868-2928
Mar. 12 ~ 14, 2012.
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1983-1988 : Ph. D. of Mechanical Engineering, Yonsei University, Korea.
“Digital Optimal Control of the Vibration of a Flexible Robot Arm”
1979-1982 : Master in Mechanical Engineering, Yonsei University, Korea.
“A Study of Static Biped Model”
Major Research and Development
1992 - 2006 : Project Manager of Nuclear R&D Project of “ Nuclear Robotic
System Development “ under MOST, aims to Develop Tele-Operated Robotics
required for Maintenance/inspection Tasks under Highly Radiation Activated
Environments in Reactor Coolant System of NPPs
2004 – 2006 ; Project Manager of the “Rescue Robot for Fire Fighting and Secure of
Human-being Intelligent Robot” for the Nation Growth Project under Ministry of
Economy, Industry and Commerce
1980 - Current : Leader of NRL and Director of DNTC
2007 - 2008 : Visiting Scholar in State University of New York at Stony Brook
2005 - 2007 : President on the Branch of Institute of ICASE
1985 - 1986 : Resident Inspector of Wol-sung NPPs
1982 - 1983 : Researcher in U.S. Nuclear Regulatory Commission
1978 - 1980 : Engineer of the Thermal Power Plants
• Experiences
Seungho Kim : Director of Department of Nuclear Technology Convergence ,
Leader of Nuclear Robotics Laboratory, Korea Atomic Energy Research Institute
• Education
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“ Nuclear Robot” under Ministry of Science and Technology
(1992 ~ 2005)
SFR SMART VHTR ITER
Light-duty Mobile Robot
(1988-1992) Multi-functional
Mobile Robot (1992-1996)
SG Nozzle dam
Installation Robot
(1992-1997)
PHWR Surveillance Robot
(1998-2001)
Feeder Pipe
Inspection Robot
(2000-2003)
SG Tube Inspection &
Maintenance Robot
(2000-2003)
KAEROT/m2
(2003-2007)
Reactor Head
Inspection Robot
(2004-2005)
Reactor Inspection ROV
(1999-2000)
Radioactive Sludge Cleaning Robot
(2007-2010)
Disaster Mitigation
(2005-2009)
Power line
Maintenance
(2005- 2008)
Pipe Inspection
(2008- )
Military Service
(2007- )
Construction
(2007- )
Manufacturing
(2008- )
Research Reactor
Development Activities for Robotics in KAERI
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“Rescue Robot for Fire Fighting Robot” under Ministry of Economy,
Industry and Commerce (2004 ~ 2009)
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Participants : KAERI, KITECH, Hyundai-ROTEM-WIA,DRB-Fatec, KAIST, KIST
Kaerot Snake III - 1.5m length/16DOF
- For non-straight gaps or
pipes <0.1m dia.
-Self-repelling
Kaerot SnakeCam - 2m length /20 DOF
- For non-straight gaps or
pipes < 0.08m width
- External Push
Kaerot QuadTrack
-1.2m x 0.8m x 0.7m
-Speed : 2km/h
-Overcomes Vertical
Obstacle > 0.4m height
IR Camera(Sirius II ) -Resolution : 320x480
-Max Temp. : 500도
-Temp. Res. : 0.08Deg
Hovering Robot I -Weight: 2.5kg
-Loads : 4.2kg
-Mission time : 10 min.
Hovering Robot II -Weight : 0.838kg
-Diameter : 530mm
-Mission time : 15min
Hovering Robot III -Weight : 1.1kg
-Diameter : 500mm
-Mission time : 20min.
Posture Measuring
Device (A3330) -Rate Res. : 0.2deg/sec
-Ang. Res : <0.05deg
Indoor Fire-fighting
Robot
-1.4m x 0.8m x 0.65m
-Speed : 12km/hr
-Fire-fighting guan
- Fire Proof(30min@500℃)
Outdoor Fire-fighting
Robot (FibotI)
-3.2m x 1.6m x 1.2m
-Weight: 1800kg
-6x6 Drives/Fire Proof
Outdoow Fire-fighting
Robot (FibotII)
-3.4m x 1.75m x 1.8m
-Weight : 1500kg
-6x6 Drives/Fire Proof
Indoor Survellance
Robot
-0.7m x 0.5m x 0.2m
-Speed : 8km/hr
-IR CAM. / Stair-Climbing
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PWR Reactor Head Visual Inspection System 2
Instrumentation Nozzle
Inspection Robot
- 3 DOFs Color camera - Overcomes uneven Insulation
Multi-purpose ROV - Stereo Camera and omni-directional camera - Manipulator for retrieving foreign object
ROV for Vessel Inspection - 4 DOF movements in underwater - 100 krad color CCD camera
Remotely Operated Underwater Vehicle for PWR Vessel Inspection 1
Inspection of Vessel Internals
Inspection of Barrel Inspection of Fuel
Storage Rack Retrieving Foreign
Object Inspection of RTD
Inspection of Safety Injection Nozzle
Bottom Head Nozzle
CRDM Nozzle Inspection Robot
- 2 DOFs Color camera - Magnet wheels for Climbing
Remote Operation Unit
- Multi-monitor - Recording/Replay Video Image
Upper Head Nozzle Mock-up Test On-site Inspection
Upper Head Inspection Robot
Applications of Robot Technology in Nuclear Power Plants(1)
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Fuel Exchange Machine Handling Robot
- Releases Stuck FXM from Calandria - Overcomes the railroad trench of Insulation door in reactor room
Calandria Face Inspection Robot
- Inspects up to 10m high area - Overcomes the railroad trench of Insulation door in reactor room
Remote Inspection and Handling Robots for PHWR 3
Robotic Inspection of Calandria Face
Applications of Robot Technology in Nuclear Power Plants (2)
Video Video
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Coolant Leak & Leak Location Detection in PHWR
- leak detection of pressure tubes of Calandria (see below)
- leak location detection of valves and tubes of primary coolant system
Laser HDO Sensor for
Coolant Leak Detection - sensitive detection of semi-
heavy water (HDO) vapor
- remote detection by using
suction cables as long as
100m
레이저 누설 센서
7 기압(발전소 제공)
Regulator
3 기압
Remote Detection of Coolant Leak & Leak Location in
PLWR & PHWR
To make effective radiation protection plan by measuring radiation
level distribution and locating radiation source
- Research period : 1995. 7 ~ 1997. 7
- Identifying location and intensity of radiation sources
- Measuring and tracking radiation distribution
- Mapping real image and radiation data for visualizing radiation
field
- Radiation sensing sensor : Csl(Tl) scintollator and photodiode
Shield : Pb
Weight : About 50 Kg including pan/tilt mechanism
Measuring range : 60 degrees in horizontal direction
40 degrees in vertical direction
- Vision sensing : Horizontal-moving axis stereo camera
- Sensor mobility : Remote control through stereo monitor
- Data display : VGA monitor
- Measurement of radioacive contamination
Radiation level monitoring in radioactive waste facility
Effective radiation protection and shielding
Remote monitor and surveilance in high radiation environment
Radiation Field Mapping System
Outlines
Function & Specifications
Applications
Radiation-hardened hybrid–type electronic radiation dosimeter for mobile robot.
It can detect ,,, and neutron and covers wide range of total
dose to 100krad
Hybrid radiation dosimeter
GM counter for low dose ( 0-20kR)
MOSFET accumulated radiation dosimeter (1-100krad)
Si diode dosimeter for high dose (20krad-1Mrad)
Auto calibration module for hybrid radiation information
Inspection and radiation surveillance of the NPPs
for mobile robot
Lifetime prediction of equipments in nuclear facility
Radiation monitoring in radiological therapy and
on satellite
Hybrid Electronic Radiation Dosimeter
for Nuclear Robot
Outlines
Function & Specifications
Applications
Alpha
Beta
X-ray
Gamma
GM Tube
Pre-
Amp
Amp &
Counter
Neutron
X-ray
Gamma SI - Diode
Pre-
Amp
Processor
-Dose Rate
-Cumulative
DAQ
Interface
(Robot)
X-ray
Gamma
p - MOSFET
OP
Amp
Since there is limit in inspecting the primary coolant system due to
water shielding from high radiation, under water robot is required to
carry out inspections
- Research Period : 1998. 8 ~ 2003. 7
- Mobile assembly : 2 thrusters assigned on forward/backward and
steering movements and the others making the up/down and
translation movements.
- Inspection assembly : equipped with CCD cameras in front/at back,
the front camera is 380 lines CCD camera with PAL/NTSC.
- Power source/lights : 110/220VAC /100W tungsten halogen lamp
- Underwater inspection of reactor, Spent fuel pit, dousing tank and
feed water pipe in Calandria vault
- Management of sanitary water storage tank, pier dam
- Submarine cable construction, ship wrecks survey and operations
of navy
Underwater Robotic System for surveillance
and Inspection ( KAEROT/u1PZ :Turtle )
Outlines
Function & Specifications
Applications
Video
Tele-Manipulator for Surveillance and Maintenance
of Pressurizer Internals (KAEROT/a2PZ)
Inspecting mechanical defects of internal structures and repairing
electric heaters in pressurizer
- Research period : 1997. 8 ~ 1998. 7
- Extraction of damaged electric heaters located at the bottom
of pressurizer
- Heater extraction gripper : Passive type self-locking mechanism
- Tele-inspection : Detailed visual inspection by using compact
CCD camera in gripper
- Robot manipulator : SCARA type 2 links with wire wintch
- Visual surveillance of PWR/PHWR
pressurizer internals
- Extraction of damaged pressurizer
electrical heaters
Outlines
Function & Specifications
Applications
Video
Robot will provide new era for upgrading the integrity
and guarantee the safety of NPPs by supervising in
normal operation period.
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due to the speedy evolution of computer H/W, IT and
Battery. It is an appropriate time to put robotics
in the real world with a global cooperation.
Robotic technologies has been developed dramatically
To achieve these targets successfully, simple
Target Oriented Design has to be adopted based
upon very focused scenario.
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An innovative thinking way is required in conjunction
with other advanced technologies ( Remote Detection
of Coolant & Leak Location , etc )
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