Title of article
KeproVt:underwaterroboticsystemforvisualinspectionofnuclearreactorinternalsOriginalResearchArticle
Author/Authors
Byung-HakCho، نويسنده , , Seung-HyunByun، نويسنده , , Chang-HoonShin، نويسنده , , Jang-BumYang، نويسنده , , Sung-IlSong، نويسنده , , Jung-MookOh، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 2004
Pages
9
From page
327
To page
335
Abstract
Anunderwaterroboticsystemforvisualinspectionofreactorvesselinternalshasbeendeveloped.TheKoreaElectricPowerRobotforVisualTest(KeproVt)consistsofanunderwaterrobot,avisionprocessorbasedmeasuringunit,amastercontrolstationandaservocontrolstation.Thevisionprocessorbasedmeasuringunitemploysafirst-of-a-kindengineeringtechnologyinnuclearrobotics.Thevisionprocessormakesuseofacameralocatedatthetopofthewaterlevelreferencedtothereactorcenterlinetogetanimageoftherobot,andcomputesthelocationandorientationoftherobot.Therobotguidedbythecontrolstationwiththemeasuringunitcanbecontrolledtohaveanymotionatanypositioninthereactorvesselwith±1cmpositioningand±2°headingaccuracieswithenoughprecisiontoinspectreactorinternals.Asimpleandfastinstallationprocessisemphasizedinthedevelopedsystem.Theinstallationprocessconsistsofhookingavisioncameraontheguiderailoftherefuelingmachineandputtingasmallrobot(14.5kginweight)inthereactorcavitypool.Theeasyinstallationandautomaticoperationmeetthedemandofshorteningthereactoroutageandreducingthenumberofinspectionpersonnel.ThedevelopedroboticsystemwassuccessfullydeployedattheYonggwangNuclearUnit1forthevisualinspectionofreactorinternals.
Journal title
Nuclear Engineering and Design Eslah
Serial Year
2004
Journal title
Nuclear Engineering and Design Eslah
Record number
894771
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