Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 윤동원 | - |
dc.contributor.author | Bongsub Song | - |
dc.date.accessioned | 2020-06-22T16:00:53Z | - |
dc.date.available | 2020-06-22T16:00:53Z | - |
dc.date.issued | 2020 | - |
dc.identifier.uri | http://dgist.dcollection.net/common/orgView/200000282323 | en_US |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/11964 | - |
dc.description | Nuclear Robot, SNF inspection, Spent Nuclear Fuel, Automation | - |
dc.description.abstract | This paper deals with the system development and its process of automatically inspecting spent nuclear fuel (SNF) located in water. This automated inspection systems were named 'SCV (Sent Fuel Check Vehicle). The SCV needed several functions to perform its inspecting operation. We selected three essential functions to perform the mission: the ability for the robot to find a target, the ability to move to a target, and the ability to create a path. To find the target, we developed an algorithm that can extract the target using a camera mounted on the robot. To make move robot system, we designed position controller that can make move robot to exact position. Thus, To inspect all of target efficiently, we implemented a path planning algorithm that can generate path. These implemented functions have been made into each node that the system can use. Each node was applied to the system and experimented. For the experiment, the experimental environ-ment was built using a model target, such as the shape of the nuclear fuel currently used. | - |
dc.description.statementofresponsibility | prohibition | - |
dc.description.tableofcontents | Ⅰ. Introduction 1 ⅠI. Antecedent Research of Nuclear Field Robotics 2 2.1 Reactor field 2 2.2 Facility monitoring field 2 2.3 Spent nuclear fuel managing field 3 2.4 Disaster respond field 5 2.5 Emerging field 6 IIⅠ. Major Robot Technology 7 3.1 Sensor technology 7 3.1.1 Image sensor 7 3.1.2 LiDAR 8 3.1.3 Ultrasonic sensor 9 3.1.4 IMU (Inertia Measurement Unit) sensor 10 3.2 Actuator technology 11 3.3 Platform technology 11 ⅠV. Goal and Selected Technology 12 V. Developed Robot, SCV 14 VⅠ. Implemented Method 17 6.1 Target extraction method 17 6.2 System control method 21 6.3 Path planning method 26 6.3.1 Zig-Zag inspection mode 27 6.3.2 Step inspection mode 27 6.3.3 Discover inspection mode 28 6.4 Path plan batch 29 VⅠI. Experiment 31 VⅠII. Conclusion 36 |
- |
dc.format.extent | 44 | - |
dc.language | eng | - |
dc.publisher | DGIST | - |
dc.title | A Study on Spent Nuclear Fuel Inspection System and the Methods | - |
dc.type | Thesis | - |
dc.identifier.doi | 10.22677/Theses.200000282323 | - |
dc.description.alternativeAbstract | 본 논문은 수중에 위치한 사용 후 핵 연료(SNF)를 자동으로 검사하는 시스템 개발과 그 과정에 대해 다룬다. 이러한 자동 검사 시스템을 ‘SCV (Spent fuel Check Vehicle)’라고 명명했다. SCV가 임무를 수행하기 위해서 여러 기능들이 필요했다. 우리는 임무를 수행하기 위해서 필수적인 기능을 로봇이 Target을 찾는 기능, Target으로 이동하기 위한 기능, 경로를 생성하는 기능으로 3가지를 선정했다. Target을 찾기 위해 로봇에 장착된 카메라를 이용해서 Target을 추출할 수 있는 알고리즘을 개발했다. 로봇이 판별된 Target으로 이동할 수 있도록 시스템 위치 제어기를 설계했다. 또, Target을 효율적으로 검사하기 위해서 경로를 생성할 수 있는 Path planning 알고리즘도 구현했다. 위와 같이 구현된 기능들을 시스템이 사용할 수 있는 각각의 Node로 만들었다. 각각의 Node를 시스템에 적용하고 실험을 진행했다. 실험을 위해서 현재 사용되고 있는 핵 연료 모양과 같은 모형 Target을 이용해서 실험 환경을 구축했다. | - |
dc.description.degree | Master | - |
dc.contributor.department | Robotics Engineering | - |
dc.contributor.coadvisor | Jongwon Park | - |
dc.date.awarded | 2020-02 | - |
dc.publisher.location | Daegu | - |
dc.description.database | dCollection | - |
dc.citation | XT.RM 송45 202002 | - |
dc.date.accepted | 2020-01-20 | - |
dc.contributor.alternativeDepartment | 로봇공학전공 | - |
dc.embargo.liftdate | 2024-12-25 | - |
dc.contributor.affiliatedAuthor | Yun, Dongwon | - |
dc.contributor.affiliatedAuthor | Park, Jongwon | - |
dc.contributor.affiliatedAuthor | Song, Bongsub | - |
dc.contributor.alternativeName | Dongwon Yun | - |
dc.contributor.alternativeName | 박종원 | - |
dc.contributor.alternativeName | 송봉섭 | - |
There are no files associated with this item.