[en] In this research, the remote handling technology was developed for the ACP application. The ACP gives a possible solution to reduce the rapidly cumulative amount of spent fuels generated from the nuclear power plants in Korea. The remote technologies developed in this work are a slitting device, a voloxidizer, a modified telescopic servo manipulator and a digital mock-up. A slitting device was developed to declad the spent fuel rod-cuts and collect the spent fuel UO₂ pellets. A voloxidizer was developed to convert the spent fuel UO₂ pellets obtained from the slitting process in to U₃O₈ powder. Experiments were performed to test the capabilities and remote operation of the developed slitting device and voloxidizer by using simulated rod-cuts and fuel in the ACP hot cell. A telescopic servo manipulator was redesigned and manufactured improving the structure of the prototype. This servo manipulator was installed in the ACP hot cell, and the target module for maintenance of the process equipment was selected. The optimal procedures for remote operation were made through the maintenance tests by using the servo manipulator. The ACP digital mockup in a virtual environment was established to secure a reliability and safety of remote operation and maintenance. The simulation for the remote operation and maintenance was implemented and the operability was analyzed. A digital mockup about the preliminary conceptual design of an enginnering-scale ACP was established, and an analysis about a scale of facility and remote handling was accomplished. The real-time diagnostic technique was developed to detect the possible fault accidents of the slitting device. An assessment of radiation effect for various sensors was also conducted in the radiation environment

[en] This report presents the development of remote handling systems and remote equipment for use in the pyprocessing verification at the PRIDE (PyRoprocess Integrated inactive Demonstration facility). There are three areas conducted in this work. In first area, developed were the prototypes of an engineering-scale high-throughput decladding voloxidizer which is capable of separating spent fuel rod-cuts into hulls and powder and collecting them separately and an automatic equipment which is capable of collecting residual powder remaining on separated hulls. In second area, a servo-manipulator prototype was developed to operate and maintain pyroprocess equipment located at the argon cell of the PRIDE in a remote manner. A servo-manipulator with dual arm that is mounted on the lower part of a bridge transporter will be installed on the ceiling of the in-cell and can travel the length of the ceiling. In last area, a simulator was developed to simulate and evaluate the design developments of the pyroprocess equipment from the in-cell arrangements, remote operability and maintainability viewpoint in a virtual process environment in advance before they are constructed. The developed decladding voloxidizer and automatic equipment will be utilized in the development of a head-end process for pyroprocessing. In addition, the developed servo-manipulator will be installed in the PRIDE and used for remote operation and maintenance of the pyroprocess equipment. The developed simulator will be also used to verify and improve the design of the pyroprocess equipment for the PRIDE application. Moreover, these remote technologies described above can be directly used in the PRIDE and applied for the ESPF (Engineering Scale Pyroprocess Facility) and KAPF (Korea Advanced Pyroprocess Facility) development

[en] This report presents the development of remote handling systems and remote equipment for use in the pyprocessing verification at the PRIDE (PyRoprocess Integrated inactive Demonstration facility). There are four areas conducted in this work. In first area, the prototypes of an engineering-scale high-throughput decladding voloxidizer which is capable of separating spent fuel rod-cuts into hulls and powder and collecting them separately, and an automatic equipment which is capable of collecting residual powder remaining on separated hulls were developed. In second area, a servo-manipulator system was developed to operate and maintain pyroprocess equipment located at the argon cell of the PRIDE in a remote manner. A servo-manipulator with dual arm that is mounted on the lower part of a bridge transporter will be installed on the ceiling of the in-cell and can travel the length of the ceiling. In third area, a digital mock-up and a remote handling evaluation mock-up were constructed to evaluate the pyroprocess equipments from the in-cell arrangements, remote operability and maintainability viewpoint before they are installed in the PRIDE. In last area, a base technology for remote automation of integrated pyroprocess was developed. The developed decladding voloxidizer and automatic equipment will be utilized in the development of a head-end process for pyroprocessing. In addition, the developed servo-manipulator will be used for remote operation and maintenance of the pyroprocess equipments in the PRIDE. The constructed digital mock-up and remote handling evaluation mock-up will be also used to verify and improve the pyroprocess equipments for the PRIDE application. Moreover, these remote technologies described above can be directly used in the PRIDE and applied for the KAPF (Korea Advanced Pyroprocess Facility) development

[en] In this report, we investigated kinematic motion coupling problems where the length or tension of a cable is changed due to another link's motions and we also analyzed the conventional joint decoupling configurations for cable-driven manipulators. To maintain the cable length constant regardless of the rotation of the arm, we present a structural decoupling mechanism for a cable-driven manipulator. In case of an elbow joint design, we used a novel joint decoupling mechanism where a moving pulley which actively compensates for a motion interference. For a wrist joint design, we optimized the geometrical parameters of the cable-pulley configurations. As for a shoulder joint, we adopted motion decoupled structures where an upper arm a roll and forearm pitch motion are performed in a differential driving manner. Designed motion decoupled cable driven mechanism prevents an unintended malfunction of the manipulator, and it also increases the durability of the power transmission elements of the manipulator

[en] The final goal of this project is to establish the proton beam user facility which can offer the suitable proton beam for the user's demand. In the first phase we developed the key technologies that were required for the establishment of 20MeV and 100MeV proton user facilities. The user's demand survey was also achieved, and the test user facility was established on the results of the demand survey. Using the test facility, the users performed their pilot studies. Now, we have finished the conceptual design for 20MeV proton user facility. During the first phase we performed the user's demand survey and produced many materials related to the proton beam utilizations in domestic or abroad. The survey results were reflected on the establishment of the test user facility and the conceptual design of 20MeV/100MeV proton beam user facilities. We have developed the key technologies which concern to beam energy control, flux control, uniform irradiation, dose and uniformity measurement, proton energy measurement, SOBP(Spread-out Bragg Peak) system using a rotating range modulator, and carried out the conceptual design of 20MeV proton user facility. The test user facility has been constructed and operated for both verifying the developed key technologies and performing the user's preliminary experiments. 45MeV low flux user facility was constructed in 2003 and has performed a lot of irradiation experiments. The development of 1.8MeV test user facility was completed. Also the low energy user facility that KAERI kept was upgraded and used for many users. Therefore, we provided our users with various beams. On the other hand, the following activities were carried out, such as, inviting the oversea researchers, giving support to users to use the beam in domestic and abroad, discussing the beam utilization technologies by visiting the foreign user facilities, etc

[en] A frame of LANCELOT(Licensing ANalysis Code for Evaluating Loss Of Coolant Transient) code for Loss-of-Coolant Accident Analysis has been developed. The LANCELOT code, one dimensional two fluid code, has a modular structure and its data structure including thermo-hydraulic data is designed with Fortran 90 derived data types. Several testings, including FILL and DRAIN problem, and Marviken Test 24, have been performed for the assessment of the LANCELOT code. It predicted the results with reasonable accuracy

[en] The result of application to KORI nuclear power plants 3 and 4 is proposed that the measurement method of thermal power on nuclear power plant is developed from the based on MS-DOS to the based on WINDOWS EXPLORER. The measurement system of thermal power could be monitored thermal power with real time because 14 parameters related to the thermal power are obtained automatically and are transferred to server by on-line. Also, the system could be automatically constructed the database in a certain period (i.e. a day, an week, a month, quarter and reactor cycle). It is eliminated to the excess investment because of developing in connection with POPAS (Plant Operation Parameter Analysis System) which is used for plant operator. The system is contributed to enhance the economical efficiency because operator immediately act to the cause of the descent of the thermal efficiency in real time

[en] A teleoperated manipulator system is introduced, which is developed for handling and disassembling. Since the handling and disassembling tasks of the spent fuel bundles are heavy-duty tasks, the heavy-duty power manipulators with high reduction ratio joints are used in the developed system. The heavy-duty power manipulators so frequently occur the control input saturation that the precise control performances are not achieved due to the windup phenomenon. The advanced force reflecting control algorithm is developed and applied for the developed teleoperated manipulator system. The validity of the developed system is verified by a series of experiment and the grid cutting and fuel pin extraction tasks of the mockup spent fuel bundle

[en] Development of the numerical solver using the drift-flux model was performed. The five governing equations based on one dimensional approach were differenced and solved with Newton-Raphson method. The critical flow model, independently developed, and the simplified constitutive relations were incorporated. For Marviken Tests 15 and 24 and LOFT Test 546, the verification analyses were performed. The results showed that the program works with good stability and produces reasonable results

[en] As the pyroprocess handle the high radioactive materials, a high radioactive material handling facility required high safety, radioactive shielding, strict quality control, and the remote handling equipment of high technology. This report describes the guidelines of for pyroprocess based the design guides for radioactive material handling facility and equipment from American Nuclear Society(ANS), design guidelines for remotely maintained equipment from Oak Ridge National Laboratory(ORNL), and the experience of design for ACP equipment installed at the ACPF(Advanced Conditioning Process Facility). The General guidelines in this report are as follows. The General guidelines for remote operation and maintenance of pyroprocess equipment: Pyroprocess, Remote handling equipment for pyroprocess, General guide for remote operation and maintenance, general guidelines for the design of remotely operated and maintained equipment, Estimation and analysis for remote maintenance