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
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
Journal title :
Nuclear Engineering and Design Eslah
