Int. Expert s Workshop on the Decommissioning of TEPCO s Fukushima NPPs Unit 1-4

Transcription

1 0 Int. Expert s Workshop on the Decommissioning of TEPCO s Fukushima NPPs Unit 1-4 Mar. 12 ~ 14, Seungho Kim +82(42) ROBOTkim@kaeri.re.kr

2 1 Seungho Kim : Director of Department of Nuclear Technology Convergence, Leader of Nuclear Robotics Laboratory, Korea Atomic Energy Research Institute Education : Ph. D. of Mechanical Engineering, Yonsei University, Korea. Digital Optimal Control of the Vibration of a Flexible Robot Arm : Master in Mechanical Engineering, Yonsei University, Korea. A Study of Static Biped Model Experiences Current : Leader of NRL and Director of DNTC : Visiting Scholar in State University of New York at Stony Brook : President on the Branch of Institute of ICASE : Resident Inspector of Wol-sung NPPs : Researcher in U.S. Nuclear Regulatory Commission : Engineer of the Thermal Power Plants Major Research and Development : Project Manager of Nuclear R&D Project of Nuclear Robotic System Development under MOST, aims to Develop Tele-Operated Robotics required for Maintenance/inspection Tasks under Highly Radiation Activated Environments in Reactor Coolant System of NPPs ; Project Manager of the Rescue Robot for Fire Fighting and Secure of Human-being Intelligent Robot for the Nation Growth Project under Ministry of Economy, Industry and Commerce

3 Nuclear Robot under Ministry of Science and Technology (1992 ~ 2005) 2

4 Development Activities for Robotics in KAERI Multi-functional Mobile Robot ( ) Light-duty Mobile Robot ( ) Research Reactor SG Nozzle dam Installation Robot ( ) SFR SMART VHTR ITER SG Tube Inspection & Maintenance Robot ( ) PHWR Surveillance Robot ( ) Reactor Inspection ROV ( ) Feeder Pipe Inspection Robot ( ) Reactor Head Inspection Robot ( ) Pipe Inspection (2008- ) Manufacturing (2008- ) Construction (2007- ) KAEROT/m2 ( ) Radioactive Sludge Cleaning Robot ( ) Disaster Mitigation ( ) Power line Maintenance ( ) Military Service (2007- ) 3

5 Rescue Robot for Fire Fighting Robot under Ministry of Economy, Industry and Commerce (2004 ~ 2009) 4 Kaerot Snake III - 1.5m length/16dof - For non-straight gaps or pipes <0.1m dia. -Self-repelling Hovering Robot I -Weight: 2.5kg -Loads : 4.2kg -Mission time : 10 min. Indoor Fire-fighting Robot -1.4m x 0.8m x 0.65m -Speed : 12km/hr -Fire-fighting guan - Fire Proof(30min@500 ) Kaerot SnakeCam - 2m length /20 DOF - For non-straight gaps or pipes < 0.08m width - External Push Hovering Robot II -Weight : 0.838kg -Diameter : 530mm -Mission time : 15min Indoor Survellance Robot -0.7m x 0.5m x 0.2m -Speed : 8km/hr -IR CAM. / Stair-Climbing Kaerot QuadTrack -1.2m x 0.8m x 0.7m -Speed : 2km/h -Overcomes Vertical Obstacle > 0.4m height Hovering Robot III -Weight : 1.1kg -Diameter : 500mm -Mission time : 20min. Outdoor Fire-fighting Robot (FibotI) -3.2m x 1.6m x 1.2m -Weight: 1800kg -6x6 Drives/Fire Proof IR Camera(Sirius II ) -Resolution : 320x480 -Max Temp. : 500 도 -Temp. Res. : 0.08Deg Posture Measuring Device (A3330) -Rate Res. : 0.2deg/sec -Ang. Res : <0.05deg Outdoow Fire-fighting Robot (FibotII) -3.4m x 1.75m x 1.8m -Weight : 1500kg -6x6 Drives/Fire Proof Participants : KAERI, KITECH, Hyundai-ROTEM-WIA,DRB-Fatec, KAIST, KIST

6 5 Applications of Robot Technology in Nuclear Power Plants(1) 1 Remotely Operated Underwater Vehicle for PWR Vessel Inspection ROV for Vessel Inspection - 4 DOF movements in underwater krad color CCD camera Multi-purpose ROV - Stereo Camera and omni-directional camera - Manipulator for retrieving foreign object Inspection of Vessel Internals Inspection of Barrel Inspection of Fuel Storage Rack Retrieving Foreign Object Inspection of RTD Inspection of Safety Injection Nozzle 2 PWR Reactor Head Visual Inspection System Upper Head Inspection Robot Bottom Head Nozzle Instrumentation Nozzle Inspection Robot - 3 DOFs Color camera - Overcomes uneven Insulation CRDM Nozzle Inspection Robot - 2 DOFs Color camera - Magnet wheels for Remote Operation Unit - Multi-monitor - Recording/Replay Video Image Upper Head Nozzle Climbing Mock-up Test On-site Inspection

7 6 Applications of Robot Technology in Nuclear Power Plants (2) 3 Remote Inspection and Handling Robots for PHWR Video Video Calandria Face Inspection Robot - Inspects up to 10m high area - Overcomes the railroad trench of Insulation door in reactor room Fuel Exchange Machine Handling Robot - Releases Stuck FXM from Calandria - Overcomes the railroad trench of Insulation door in reactor room Robotic Inspection of Calandria Face

8 7 Remote Detection of Coolant Leak & Leak Location in PLWR & PHWR 레이저누설센서 3 기압 Regulator Laser HDO Sensor for Coolant Leak Detection - sensitive detection of semiheavy water (HDO) vapor - remote detection by using suction cables as long as 100m 7 기압 ( 발전소제공 ) Coolant Leak & Leak Location Detection in PHWR - leak detection of pressure tubes of Calandria (see below) - leak location detection of valves and tubes of primary coolant system

9 Radiation Field Mapping System Outlines To make effective radiation protection plan by measuring radiation level distribution and locating radiation source - Research period : ~ Function & Specifications - Identifying location and intensity of radiation sources - Measuring and tracking radiation distribution - Mapping real image and radiation data for visualizing radiation field - Radiation sensing sensor : Csl(Tl) scintollator and photodiode Shield : Pb Weight : About 50 Kg including pan/tilt mechanism Measuring range : 60 degrees in horizontal direction 40 degrees in vertical direction - Vision sensing : Horizontal-moving axis stereo camera - Sensor mobility : Remote control through stereo monitor - Data display : VGA monitor Applications - Measurement of radioacive contamination Radiation level monitoring in radioactive waste facility Effective radiation protection and shielding Remote monitor and surveilance in high radiation environment

10 Hybrid Electronic Radiation Dosimeter for Nuclear Robot Outlines Radiation-hardened hybrid type electronic radiation dosimeter for mobile robot. It can detect,,, and neutron and covers wide range of total dose to 100krad Function & Specifications Hybrid radiation dosimeter GM counter for low dose ( 0-20kR) MOSFET accumulated radiation dosimeter (1-100krad) Si diode dosimeter for high dose (20krad-1Mrad) Auto calibration module for hybrid radiation information Applications Inspection and radiation surveillance of the NPPs for mobile robot Lifetime prediction of equipments in nuclear facility Radiation monitoring in radiological therapy and on satellite Alph a Beta X-ray Gam ma Neutron X-ray Gamma SI - Diode X-ray Gam ma GM Tube OP p - MOSFET Amp Pre- Amp Pre- Amp Amp & Counte r DAQ Interf Processor ace -Dose Rate (Rob ot) -Cumulative

11 Underwater Robotic System for surveillance and Inspection ( KAEROT/u1PZ :Turtle ) Outlines Since there is limit in inspecting the primary coolant system due to water shielding from high radiation, under water robot is required to carry out inspections - Research Period : ~ Function & Specifications - Mobile assembly : 2 thrusters assigned on forward/backward and steering movements and the others making the up/down and translation movements. - Inspection assembly : equipped with CCD cameras in front/at back, the front camera is 380 lines CCD camera with PAL/NTSC. - Power source/lights : 110/220VAC /100W tungsten halogen lamp Video Applications - Underwater inspection of reactor, Spent fuel pit, dousing tank and feed water pipe in Calandria vault - Management of sanitary water storage tank, pier dam - Submarine cable construction, ship wrecks survey and operations of navy

12 Tele-Manipulator for Surveillance and Maintenance of Pressurizer Internals (KAEROT/a2PZ) Video Outlines Inspecting mechanical defects of internal structures and repairing electric heaters in pressurizer - Research period : ~ Function & Specifications - Extraction of damaged electric heaters located at the bottom of pressurizer - Heater extraction gripper : Passive type self-locking mechanism - Tele-inspection : Detailed visual inspection by using compact CCD camera in gripper - Robot manipulator : SCARA type 2 links with wire wintch Applications - Visual surveillance of PWR/PHWR pressurizer internals - Extraction of damaged pressurizer electrical heaters

13 Robotic technologies has been developed dramatically 12 due to the speedy evolution of computer H/W, IT and Battery. It is an appropriate time to put robotics in the real world with a global cooperation. Robot will provide new era for upgrading the integrity and guarantee the safety of NPPs by supervising in normal operation period.

14 13 An innovative thinking way is required in conjunction with other advanced technologies ( Remote Detection of Coolant & Leak Location, etc ) To achieve these targets successfully, simple Target Oriented Design has to be adopted based upon very focused scenario.

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