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Int. Expert’s Workshop on the

Decommissioning of TEPCO”s Fukushima

NPPs Unit 1-4

Seungho Kim

+82(42)868-2928

ROBOTkim@kaeri.re.kr

Mar. 12 ~ 14, 2012.

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1983-1988 : Ph. D. of Mechanical Engineering, Yonsei University, Korea.

“Digital Optimal Control of the Vibration of a Flexible Robot Arm”

1979-1982 : Master in Mechanical Engineering, Yonsei University, Korea.

“A Study of Static Biped Model”

Major Research and Development

1992 - 2006 : 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

2004 – 2006 ; 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

1980 - Current : Leader of NRL and Director of DNTC

2007 - 2008 : Visiting Scholar in State University of New York at Stony Brook

2005 - 2007 : President on the Branch of Institute of ICASE

1985 - 1986 : Resident Inspector of Wol-sung NPPs

1982 - 1983 : Researcher in U.S. Nuclear Regulatory Commission

1978 - 1980 : Engineer of the Thermal Power Plants

• Experiences

Seungho Kim : Director of Department of Nuclear Technology Convergence ,

Leader of Nuclear Robotics Laboratory, Korea Atomic Energy Research Institute

• Education

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“ Nuclear Robot” under Ministry of Science and Technology

(1992 ~ 2005)

SFR SMART VHTR ITER

Light-duty Mobile Robot

(1988-1992) Multi-functional

Mobile Robot (1992-1996)

SG Nozzle dam

Installation Robot

(1992-1997)

PHWR Surveillance Robot

(1998-2001)

Feeder Pipe

Inspection Robot

(2000-2003)

SG Tube Inspection &

Maintenance Robot

(2000-2003)

KAEROT/m2

(2003-2007)

Reactor Head

Inspection Robot

(2004-2005)

Reactor Inspection ROV

(1999-2000)

Radioactive Sludge Cleaning Robot

(2007-2010)

Disaster Mitigation

(2005-2009)

Power line

Maintenance

(2005- 2008)

Pipe Inspection

(2008- )

Military Service

(2007- )

Construction

(2007- )

Manufacturing

(2008- )

Research Reactor

Development Activities for Robotics in KAERI

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“Rescue Robot for Fire Fighting Robot” under Ministry of Economy,

Industry and Commerce (2004 ~ 2009)

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Participants : KAERI, KITECH, Hyundai-ROTEM-WIA,DRB-Fatec, KAIST, KIST

Kaerot Snake III - 1.5m length/16DOF

- For non-straight gaps or

pipes <0.1m dia.

-Self-repelling

Kaerot SnakeCam - 2m length /20 DOF

- For non-straight gaps or

pipes < 0.08m width

- External Push

Kaerot QuadTrack

-1.2m x 0.8m x 0.7m

-Speed : 2km/h

-Overcomes Vertical

Obstacle > 0.4m height

IR Camera(Sirius II ) -Resolution : 320x480

-Max Temp. : 500도

-Temp. Res. : 0.08Deg

Hovering Robot I -Weight: 2.5kg

-Loads : 4.2kg

-Mission time : 10 min.

Hovering Robot II -Weight : 0.838kg

-Diameter : 530mm

-Mission time : 15min

Hovering Robot III -Weight : 1.1kg

-Diameter : 500mm

-Mission time : 20min.

Posture Measuring

Device (A3330) -Rate Res. : 0.2deg/sec

-Ang. Res : <0.05deg

Indoor Fire-fighting

Robot

-1.4m x 0.8m x 0.65m

-Speed : 12km/hr

-Fire-fighting guan

- Fire Proof(30min@500℃)

Outdoor Fire-fighting

Robot (FibotI)

-3.2m x 1.6m x 1.2m

-Weight: 1800kg

-6x6 Drives/Fire Proof

Outdoow Fire-fighting

Robot (FibotII)

-3.4m x 1.75m x 1.8m

-Weight : 1500kg

-6x6 Drives/Fire Proof

Indoor Survellance

Robot

-0.7m x 0.5m x 0.2m

-Speed : 8km/hr

-IR CAM. / Stair-Climbing

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PWR Reactor Head Visual Inspection System 2

Instrumentation Nozzle

Inspection Robot

- 3 DOFs Color camera - Overcomes uneven Insulation

Multi-purpose ROV - Stereo Camera and omni-directional camera - Manipulator for retrieving foreign object

ROV for Vessel Inspection - 4 DOF movements in underwater - 100 krad color CCD camera

Remotely Operated Underwater Vehicle for PWR Vessel Inspection 1

Inspection of Vessel Internals

Inspection of Barrel Inspection of Fuel

Storage Rack Retrieving Foreign

Object Inspection of RTD

Inspection of Safety Injection Nozzle

Bottom Head Nozzle

CRDM Nozzle Inspection Robot

- 2 DOFs Color camera - Magnet wheels for Climbing

Remote Operation Unit

- Multi-monitor - Recording/Replay Video Image

Upper Head Nozzle Mock-up Test On-site Inspection

Upper Head Inspection Robot

Applications of Robot Technology in Nuclear Power Plants(1)

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Fuel Exchange Machine Handling Robot

- Releases Stuck FXM from Calandria - Overcomes the railroad trench of Insulation door in reactor room

Calandria Face Inspection Robot

- Inspects up to 10m high area - Overcomes the railroad trench of Insulation door in reactor room

Remote Inspection and Handling Robots for PHWR 3

Robotic Inspection of Calandria Face

Applications of Robot Technology in Nuclear Power Plants (2)

Video Video

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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

Laser HDO Sensor for

Coolant Leak Detection - sensitive detection of semi-

heavy water (HDO) vapor

- remote detection by using

suction cables as long as

100m

레이저 누설 센서

7 기압(발전소 제공)

Regulator

3 기압

Remote Detection of Coolant Leak & Leak Location in

PLWR & PHWR

To make effective radiation protection plan by measuring radiation

level distribution and locating radiation source

- Research period : 1995. 7 ~ 1997. 7

- 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

- Measurement of radioacive contamination

Radiation level monitoring in radioactive waste facility

Effective radiation protection and shielding

Remote monitor and surveilance in high radiation environment

Radiation Field Mapping System

Outlines

Function & Specifications

Applications

Radiation-hardened hybrid–type electronic radiation dosimeter for mobile robot.

It can detect ,,, and neutron and covers wide range of total

dose to 100krad

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

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

Hybrid Electronic Radiation Dosimeter

for Nuclear Robot

Outlines

Function & Specifications

Applications

Alpha

Beta

X-ray

Gamma

GM Tube

Pre-

Amp

Amp &

Counter

Neutron

X-ray

Gamma SI - Diode

Pre-

Amp

Processor

-Dose Rate

-Cumulative

DAQ

Interface

(Robot)

X-ray

Gamma

p - MOSFET

OP

Amp

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 : 1998. 8 ~ 2003. 7

- 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

- 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

Underwater Robotic System for surveillance

and Inspection ( KAEROT/u1PZ :Turtle )

Outlines

Function & Specifications

Applications

Video

Tele-Manipulator for Surveillance and Maintenance

of Pressurizer Internals (KAEROT/a2PZ)

Inspecting mechanical defects of internal structures and repairing

electric heaters in pressurizer

- Research period : 1997. 8 ~ 1998. 7

- 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

- Visual surveillance of PWR/PHWR

pressurizer internals

- Extraction of damaged pressurizer

electrical heaters

Outlines

Function & Specifications

Applications

Video

Robot will provide new era for upgrading the integrity

and guarantee the safety of NPPs by supervising in

normal operation period.

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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.

Robotic technologies has been developed dramatically

To achieve these targets successfully, simple

Target Oriented Design has to be adopted based

upon very focused scenario.

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An innovative thinking way is required in conjunction

with other advanced technologies ( Remote Detection

of Coolant & Leak Location , etc )

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