지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2020.6
- 수록면
- 84 - 91 (8page)
이용수
초록· 키워드
오류제보하기
The APR1400 reactor stud holes can be stuck due to high temperatures, high pressure, prolonged engagement, and load changes according to pressure changes in the reactor. Threaded surfaces of a stud hole should be cleaned for the sealing of pressure in reactor vessel by removing any foreign materials which may exist in the stud holes. Human workers can access to the stud hole for the cleaning of stud holes manually, but the radiation exposure of human workers is increased. Robot is an effective way to work in hazardous area. So we introduced robot for the cleaning of stud holes. Localization of mobile robots is generally based on odometry, but with increased mileage, position errors can be accumulated. In order to eliminate cumulative error and to ensure stability of its driving, laser sensors and new control algorithm were utilized. The distance between the robot and the wall was measured by laser sensors, and the control algorithm was implemented so as to travel the desired trajectory by using the measured values from sensors. The performance of driving and hole sensing were verified through field application, and mobile robot was confirmed to be applicable to the APR 1400 NPP.
목차
ABSTRACT
1. Introduction
2. Robot Platform
3. Localization
4. Performance
5. Conclusion
References
참고문헌 (13)
참고문헌 신청
Lamon, P. / 2003 / 3D Odometry for Rough Terrain towards Real 3D Navigation: Towards Real 3D Navigation / Proc. of the IEEE Robot Autom
Borenstein, J. / 1996 / Gyrodometry:A New Method for Combining Data from Gyros and Odometry in Mobile Robots / Proc. of the IEEE Robot Autom :423~428
Yi, J. / 2007 / IMU Based Localization and Slip Estimation for Skid Steered Mobile Robots / Proc. of the IEEE Int IROS :2845~2850
Iossaqui, J. G. / 2011 / A Nonlinear Control Design for Tracked Robots with Longitudinal Slip / Proc. of IFAC 44(1):5932~5937
Ojeda, L. / 2006 / Current Based Slippage Detection and Odometry Correction for Mobile Robots and Planetary Rovers / IEEE Trans. on Robotics 22(2):366~378
Borenstein, J. / 1996 / Gyrodometry:A New Method for Combining Data from Gyros and Odometry in Mobile Robots / Proc. of the IEEE Robot Autom :423~428
Yi, J. / 2007 / IMU Based Localization and Slip Estimation for Skid Steered Mobile Robots / Proc. of the IEEE Int IROS :2845~2850
Iossaqui, J. G. / 2011 / A Nonlinear Control Design for Tracked Robots with Longitudinal Slip / Proc. of IFAC 44(1):5932~5937
Ojeda, L. / 2006 / Current Based Slippage Detection and Odometry Correction for Mobile Robots and Planetary Rovers / IEEE Trans. on Robotics 22(2):366~378
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