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RISYS: An Advanced Reactor Vessel Inspection System with Underwater Mobile Robots

Jae Hee Kim,Jae Cheol Lee
Korea Atomic Energy Research Institute, Duckjindong 150, Yousung, Taejon, Korea 82-42-868-2085
E-mail: jaehkim@kaeri.re.kr, http://www.kaeri.re.kr/aina/
Jae Yeol Kim
Chosun University, SeoSeokdong 375, Donggu, Kwangju, Korea 82-62-230-703.

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Abstract:

I. INTRODUCTION

II. SYSTEM CONFIGURATION

III. ROBOT CONTROL

IV. INSPECTION PROCEDURES

V. EXPERIMENTS

Fig 11: Experiments in real reactor vessel.

VI. SUMMARY

ACKNOWLEDGEMENTS

REFERENCES

  1. Brockelman C. A. (1993) "Robotic Inspection System for the Lower Head of a boiling Water Reactor Pressure Vessel", Proc. of the ANS 5th Topical Meeting on Robotics and Remote Systems. Tennessee, vol. 1, pp 409-415
  2. Fallon J. B., Shooter S. B. Reiholtz S. W. and Glass S. W. (1994) "URSULA: Design of an Underwater Robot for Nuclear Reactor Vessel Inspection." Proceeding of American Society of Civil Engineers, Specialty conference on robots for challenging environments, Albuquerque, NM
  3. Kim J. H., Lee J. C. & Eom H. S.(1996) "An Underwater Mobile Robotic System for Reactor Vessel Inspection in Nuclear Power Plants." International Symposium on Robotics and Manufacturing, Monpellier, France
  4. Kim K.R., Lee J. C. and Kim J. H. (1996) "Dead Reckoning of Two Wheeled Mobile Robot on a Curved Plane." Proceedings of the IEEE Conference on Robotics and Automation, Minneapolis, Minnesota
  5. Kim J. H. (1995) "Robot based Reactor Vessel Inspection Technology at KAERI. " Proceedings of 3rd KAIF/FAF Round table Conference, Seoul, Korea .
  6. Lee J. C. and Kim J. H.(1994) "Path Tracking Control of a Wheeled Mobile Robot using Position Sensitive Detector. " Proceedings of the Korean Automatic Control Conference, (1) Seoul, Korea , 340-344.

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