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The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-

Abstract

Main activity in this year is to develop both remote handling system and telepresence techniques, which can be used for people involved in extremely hazardous working area to alleviate their burden. In the robot vision technology part, KAERI-PSM system, stereo imaging camera module, stereo BOOM/MOLLY unit, and stereo HMD unit are developed. Also, autostereo TV system which falls under the category of next generation stereo imaging technology has been studied. The performance of KAERI-PSM system for remote handling task is evaluated and compared with other stereo imaging systems as well as general TV imaging system. The result shows that KAERI-PSM system is superior to the other stereo imaging systems about remote operation speedup and accuracy. The automatic recognition algorithm of instrument panel is studied and passive visual target tracking system is developed. The 5 DOF camera serving unit has been designed and fabricated. It is designed to function like human`s eye. In the sensing and intelligent control research part, thermal image database system for thermal image analysis is developed and remote temperature monitoring technique using fiber optics is investigated. And also, two dimensional radioactivity sensor head for radiation profile monitoring system is designed. In the part of intelligent robotics, mobile  More>>
Publication Date:
Jul 01, 1995
Product Type:
Technical Report
Report Number:
KAERI-RR-1484/94
Reference Number:
SCA: 420200; PA: AIX-27:014445; EDB-96:047218; NTS-96:014095; SN: 96001545675
Resource Relation:
Other Information: PBD: Jul 1995
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; NUCLEAR INDUSTRY; ROBOTS; ARTIFICIAL INTELLIGENCE; IMAGE PROCESSING; KNOWLEDGE BASE; OPTICAL FIBERS; PATTERN RECOGNITION; RADIATION MONITORING; REMOTE HANDLING; VISION
OSTI ID:
193856
Research Organizations:
Korea Atomic Energy Research Inst., Daeduk (Korea, Republic of)
Country of Origin:
Korea, Republic of
Language:
Korean
Other Identifying Numbers:
Other: ON: DE96614146; TRN: KR9500163014445
Availability:
INIS; OSTI as DE96614146
Submitting Site:
KRN
Size:
423 p.
Announcement Date:

Citation Formats

Lee, Jong Min, Lee, Yong Bum, Park, Soon Yong, Cho, Jae Wan, Lee, Nam Hoh, Kim, Woong Kee, Moon, Byung Soo, Kim, Seung Hoh, Kim, Chang Heui, Kim, Byung Soo, Hwang, Suk Yong, Lee, Yung Kwang, and Moon, Je Sun. The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-. Korea, Republic of: N. p., 1995. Web.
Lee, Jong Min, Lee, Yong Bum, Park, Soon Yong, Cho, Jae Wan, Lee, Nam Hoh, Kim, Woong Kee, Moon, Byung Soo, Kim, Seung Hoh, Kim, Chang Heui, Kim, Byung Soo, Hwang, Suk Yong, Lee, Yung Kwang, & Moon, Je Sun. The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-. Korea, Republic of.
Lee, Jong Min, Lee, Yong Bum, Park, Soon Yong, Cho, Jae Wan, Lee, Nam Hoh, Kim, Woong Kee, Moon, Byung Soo, Kim, Seung Hoh, Kim, Chang Heui, Kim, Byung Soo, Hwang, Suk Yong, Lee, Yung Kwang, and Moon, Je Sun. 1995. "The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-." Korea, Republic of.
@misc{etde_193856,
title = {The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-}
author = {Lee, Jong Min, Lee, Yong Bum, Park, Soon Yong, Cho, Jae Wan, Lee, Nam Hoh, Kim, Woong Kee, Moon, Byung Soo, Kim, Seung Hoh, Kim, Chang Heui, Kim, Byung Soo, Hwang, Suk Yong, Lee, Yung Kwang, and Moon, Je Sun}
abstractNote = {Main activity in this year is to develop both remote handling system and telepresence techniques, which can be used for people involved in extremely hazardous working area to alleviate their burden. In the robot vision technology part, KAERI-PSM system, stereo imaging camera module, stereo BOOM/MOLLY unit, and stereo HMD unit are developed. Also, autostereo TV system which falls under the category of next generation stereo imaging technology has been studied. The performance of KAERI-PSM system for remote handling task is evaluated and compared with other stereo imaging systems as well as general TV imaging system. The result shows that KAERI-PSM system is superior to the other stereo imaging systems about remote operation speedup and accuracy. The automatic recognition algorithm of instrument panel is studied and passive visual target tracking system is developed. The 5 DOF camera serving unit has been designed and fabricated. It is designed to function like human`s eye. In the sensing and intelligent control research part, thermal image database system for thermal image analysis is developed and remote temperature monitoring technique using fiber optics is investigated. And also, two dimensional radioactivity sensor head for radiation profile monitoring system is designed. In the part of intelligent robotics, mobile robot is fabricated and its autonomous navigation using fuzzy control logic is studied. These remote handling and telepresence techniques developed in this project can be applied to nozzle-dam installation/removal robot system, reactor inspection unit, underwater nuclear pellet inspection and pipe abnormality inspection. And these developed remote handling and telepresence techniques will be applied in general industry, medical science, and military as well as nuclear facilities. 203 figs, 12 tabs, 72 refs. (Author).}
place = {Korea, Republic of}
year = {1995}
month = {Jul}
}