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Depth-adaptive controller for spent nuclear fuel inspections

Title
Depth-adaptive controller for spent nuclear fuel inspections
Authors
Song, BongsubPark, JongwonYun, Dongwon
DGIST Authors
Song, Bongsub; Park, Jongwon; Yun, Dongwon
Issue Date
2020-01
Citation
Nuclear Engineering and Technology, 52(8), 1669-1676
Type
Article
Article Type
Article
Author Keywords
Spent fuel inspectionAutonomous in nuclear fieldField robotUnderwater robotIAEA robotics challenge
Keywords
ROBOTPOOL
ISSN
1738-5733
Abstract
The IAEA held the IAEA Robotics Challenge 2017 (IRC2017) to protect workers during inspections of spent nuclear fuel and to improve work efficiency and accuracy rates. To this end, we developed an unmanned surface vehicle (USV) system called the spent fuel check vehicle (SCV). The SCV extracts and tracks the target through image processing, and it is necessary to find suitable parameters for the SNF storage environment in advance. This preliminary work takes time. It is also difficult to prepare the environment in which the work will proceed. In addition, if the preliminary work does not proceed as planned, the system will not move at the proper speed and will become unstable, with yawing and overshoot. To solve this problem, we developed a controller with a camera that can extract the depth at which the target is stored and allow distance-adaptive control. This controller is able to attenuate system instability factors such as yawing and overshoot better than existing controllers by continuously changing system operation parameters according to the depth. In addition, the time required for preliminary work during inspections can be shortened. © 2020 Korean Nuclear Society
URI
http://hdl.handle.net/20.500.11750/11699
DOI
10.1016/j.net.2020.01.019
Publisher
Korean Nuclear Society
Related Researcher
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files:
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Collection:
Department of Robotics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles


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