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The development of advanced robotics for the nuclear industry

Technical Report:

Abstract

This project started in september `92 and will be carried out for three and a half years as its first phase. The two major work scopes of this project consist of developing robotic system for nuclear power plants and developing advanced robotic technology. Conceptual design has been carried out and detailed specifications have been fixed through tremendous data reviewing for a multifunctional robot system. A mobile robot system for inspection and maintenance in nuclear power plants is designed in a modular type to modify easily in the field. Articulated manipulator of 3 degrees of freedom is designed to do the light work in the local work area away from the control station. The design of manipulator has been realized to operate with the 24V battery power. Various aspects of study are performed regarding the development of nozzle dam installation robot. And finally force reflecting master/slave control technique are studied. The-state-of-the-art for vision system applied to robot system is investigated. Stereo vision system has been constructed to enhance efficiency as well as safety when remote manipulation is needed. In order to develop inspection and survey system, object recognition and infrared image observation technique has been studied. Object recongnition system and IR  More>>
Publication Date:
May 01, 1992
Product Type:
Technical Report
Report Number:
KAERI/RR-1236/92
Reference Number:
SCA: 420200; PA: AIX-26:010841; EDB-95:030634; SN: 95001323922
Resource Relation:
Other Information: PBD: May 1992
Subject:
42 ENGINEERING; ROBOTS; ARTIFICIAL INTELLIGENCE; CAMERAS; MANIPULATORS; PATTERN RECOGNITION; REMOTE CONTROL; REMOTE SENSING; REMOTE VIEWING EQUIPMENT; VISION; 420200; FACILITIES, EQUIPMENT, AND TECHNIQUES
OSTI ID:
10111429
Research Organizations:
Korea Cancer Center Hospital, Seoul (Korea, Republic of)
Country of Origin:
Korea, Republic of
Language:
Korean
Other Identifying Numbers:
Other: ON: DE95612681; TRN: KR9400103010841
Availability:
OSTI; NTIS; INIS
Submitting Site:
KRN
Size:
88 p.
Announcement Date:
Jun 30, 2005

Technical Report:

Citation Formats

Kim, Seung Ho, Lee, Jong Min, Kim, Chang Hoi, Kim, Byung Soo, Sohn, Surg Won, Hwoang, Suk Yeoung, Lee, Yong Bum, Kim, Woong Ki, Kim, Tae Ryong, Jung, Seung Ho, Park, Jin Seok, and Hwoang, Chang Kyue. The development of advanced robotics for the nuclear industry. Korea, Republic of: N. p., 1992. Web.
Kim, Seung Ho, Lee, Jong Min, Kim, Chang Hoi, Kim, Byung Soo, Sohn, Surg Won, Hwoang, Suk Yeoung, Lee, Yong Bum, Kim, Woong Ki, Kim, Tae Ryong, Jung, Seung Ho, Park, Jin Seok, & Hwoang, Chang Kyue. The development of advanced robotics for the nuclear industry. Korea, Republic of.
Kim, Seung Ho, Lee, Jong Min, Kim, Chang Hoi, Kim, Byung Soo, Sohn, Surg Won, Hwoang, Suk Yeoung, Lee, Yong Bum, Kim, Woong Ki, Kim, Tae Ryong, Jung, Seung Ho, Park, Jin Seok, and Hwoang, Chang Kyue. 1992. "The development of advanced robotics for the nuclear industry." Korea, Republic of.
@misc{etde_10111429,
title = {The development of advanced robotics for the nuclear industry}
author = {Kim, Seung Ho, Lee, Jong Min, Kim, Chang Hoi, Kim, Byung Soo, Sohn, Surg Won, Hwoang, Suk Yeoung, Lee, Yong Bum, Kim, Woong Ki, Kim, Tae Ryong, Jung, Seung Ho, Park, Jin Seok, and Hwoang, Chang Kyue}
abstractNote = {This project started in september `92 and will be carried out for three and a half years as its first phase. The two major work scopes of this project consist of developing robotic system for nuclear power plants and developing advanced robotic technology. Conceptual design has been carried out and detailed specifications have been fixed through tremendous data reviewing for a multifunctional robot system. A mobile robot system for inspection and maintenance in nuclear power plants is designed in a modular type to modify easily in the field. Articulated manipulator of 3 degrees of freedom is designed to do the light work in the local work area away from the control station. The design of manipulator has been realized to operate with the 24V battery power. Various aspects of study are performed regarding the development of nozzle dam installation robot. And finally force reflecting master/slave control technique are studied. The-state-of-the-art for vision system applied to robot system is investigated. Stereo vision system has been constructed to enhance efficiency as well as safety when remote manipulation is needed. In order to develop inspection and survey system, object recognition and infrared image observation technique has been studied. Object recongnition system and IR image observation system has been constructed in the hardware. (Author).}
place = {Korea, Republic of}
year = {1992}
month = {May}
}