초록 ▼

1. 연구개발 목표 및 내용
원전 핵심설비 해체 시 경제성과 안전성을 증대시키고 고방사능 시설에 공통적으로 적용되는 해체 핵심기술을 개발하여 국내 해체 기반기술을 구축함.
● 해체공정에 대한 안전성 및 경제성을 정량적으로 평가하여 최적의 해체공정을 도출할 수 있는 해체공정 통합평가 시스템 개발
● 해체 작업자의 현장 접근 수행이 불가능한 시설 및 기기 작업을 원격으로 제어하는 기술 개발

2. 연구결과
● 실감형 해체 시뮬레이터 개발
- 해체공정 통합평가 방안 및 해체 시뮬레이터 핵심 단위기술<

1. 연구개발 목표 및 내용
원전 핵심설비 해체 시 경제성과 안전성을 증대시키고 고방사능 시설에 공통적으로 적용되는 해체 핵심기술을 개발하여 국내 해체 기반기술을 구축함.
● 해체공정에 대한 안전성 및 경제성을 정량적으로 평가하여 최적의 해체공정을 도출할 수 있는 해체공정 통합평가 시스템 개발
● 해체 작업자의 현장 접근 수행이 불가능한 시설 및 기기 작업을 원격으로 제어하는 기술 개발

2. 연구결과
● 실감형 해체 시뮬레이터 개발
- 해체공정 통합평가 방안 및 해체 시뮬레이터 핵심 단위기술
- 실감형 해체 시뮬레이터
● 원자력시설 해체 안전성 평가 기술 개발
- 해체 인적오류 안전성 평가 기술
- 해체 안전성 평가 시스템
● 고하중 해체 매니퓰레이터 요소 기술 개발
- 해체 매니퓰레이터 핵심부품
- 해체 매니퓰레이터 제어 시스템

(출처 : 보고서 요약서 3p)

Abstract ▼

Ⅳ. Results and Proposal for Application

1. Development of the tangible decommissioning simulator

A. Conceptual design of the integrated decommissioning assessment process
○ 3D models from 2D drawings of Kori-1 were manufactured using expert knowledge over nuclear facilities and 3D d

Ⅳ. Results and Proposal for Application

1. Development of the tangible decommissioning simulator

A. Conceptual design of the integrated decommissioning assessment process
○ 3D models from 2D drawings of Kori-1 were manufactured using expert knowledge over nuclear facilities and 3D digital mock-up with functions of geometric and kinematic analysis was constructed to investigate geometric structures of decommissioning environment and kinematic motions of decommissioning processes.
○ Database of physical and radiological characteristic evaluation over highly radioactive and heavy components of the nuclear power plant (Reactor Pressure Vessel, Steam Generator, Reactor Coolant Pump, Pressurizer) was constructed and spatial dose mapping around nuclear facilities using MCNP(Monte Carlo N-Particle) code was achieved.
○ The core technical modules of decommissioning process simulation and the integrated decommissioning assessment process were organized through the decommissioning scenario analysis of nuclear facilities. The platform of software to develop the software frame of the integrated decommissioning assessment process was selected based on requirements of software frame.

B. Development of major unit technologies for decommissioning simulator
○ The dismantling process simulation module of remarkably enhanced reliability over multiple and repetitive cutting operations using the CAD kernel was developed. The user interface module minimizing mental transformation of the operator with the virtual fixture was developed. The visualization module for spatial dose calculated by MCNP code were developed.
○ The software frame to satisfy requirements for the integrated decommissioning assessment process was developed by CAA C++ extended development tool.

C. Completion of the tangible decommissioning simulator
○ The digital mock-up of the seamless remote dismantling system was developed to handle the whole decommissioning process over the heavy nuclear facilities without replacement of dismantling equipment by the CAD-based dismantling process simulation technology. The remote dismantling system technology capable of reducing considerable time and cost for decommissioning process was achieved.
○ The tangible decommissioning simulator was developed to simulate decommissioning process of heavy nuclear facilities in real time and to train a remote operator by using the tangible remote control system capable of force reflection and immersive visualization system.

2. Development of the safety assessment technology for decommissioning of nuclear facilities

A. Conceptual design of the decommissioning safety assessment technology based on human errors
○ The methodology of safety assessment for decommissioning accident from human errors was developed. Through analyzing the state-of-the-art technologies, requirements of the safety assessment was designed and procedure of the safety assessment was established. The procedure consists of assessment step the safety of decommissioning scenarios, counter-measuring step for safety reduction and assuring step of the decommissioning safety.
○ The measurement equipment for characteristics of decommissioning worker’s behavior was manufactured. The manufacturing criteria for capable of generating the input data and linking with the integrated assessment system was designed. The measurement equipment under selection of the best hardware and software tools was developed.

B. Development of the decommissioning safety assessment technology based on human errors
○ The model of the human error assessment for decommissioning was developed. The mathematical model capable of assessing both working environments and human errors was developed.
○ The safety assessment of working environments can be quantitatively estimated based on both dose distribution and working time. The safety assessment of human errors can be quantitatively estimated based on accidents, working time, and counter-measuring time.

C. Construction of the safety assessment system for decommissioning of nuclear facilities
○ The reduction technology of human errors was developed. The safety improvement technology was developed to reduce the hazards of human errors.
○ The safety assessment system for decommissioning of nuclear facilities was developed. The safety assessment system is able to measure and assess the working scenarios under virtual environments like real decommissioning situations.

3. Development of the component technologies for heavy-duty manipulator

A. Conceptual design of dismantling manipulator for NPP decommission
○ The technology requirements of remote dismantling manipulator system were established. The conceptual design of the remote dismantling manipulator system was performed by using 3D digital mock-up in terms of workability and kinematics under the given geometric conditions.

B. Development of core components of dismantling manipulator
○ Original two electric actuator modules and three hydraulic actuator modules were developed for modularization design of remote dismantling manipulator system. To supply hydraulic power to hydraulic actuator modules, variable hydraulic supply device that can variably supply pressure and flow was developed. High-precision control algorithm that makes a precise control of hydraulic actuator module was also developed.

C. Construction of evaluation device for actuators of dismantling manipulator
○ To evaluate the developed hydraulic actuator modules, an assessment device was manufactured and a signal processing controller for handling various sensor signals and control inputs was developed. And a variable loading device that can supply variable load was manufactured.

D. Detail design and analysis of dismantling manipulator
○ The kinematic parameters of remote dismantling manipulator were also defined through analyzing the working space and kinematically simulating decommissioning process. Various linear and rotary actuator modules were designed for making a dismantling manipulator to have modularity. Based on the defined kinematic parameters and designed actuator modules, the detailed design of a dismantling manipulator was carried out through dynamic analysis and stress analysis.

E. Development of core components for heavy-duty manipulator
○ To develop various dismantling manipulators for nuclear power plant, two hollow-type electrical actuator modules that make a possible to insert power and signal cable into the actuator modules were developed for preventing the exposure of cables. And a small and high-torque electric-hydraulic actuator module was developed to make light-weight dismantling manipulator.

F. Design of remote control system for manipulator
○ A robust control algorithm for reducing a vibration and precise control of hydraulic system was developed using a frequency-shaped integral sliding surface and time delay control with switching action. The design of a remote control system for controlling a dismantling manipulator was carried out through establishment of the technology requirement of the remote control system.

(출처 : SUMMARY 15p)

목차 Contents

• 표지 ... 1
• 제 출 문 ... 2
• 보고서 요약서 ... 3
• 요 약 문 ... 4
• SUMMARY ... 12
• CONTENTS ... 21
• 목차 ... 23
• 제 1 장 연구개발과제의 개요 ... 25
• 제 1 절 연구배경 ... 25
• 제 2 절 추진현황 및 연구내용 ... 28
• 제 2 장 국내외 기술 개발 현황 ... 34
• 제 1 절 실감형 해체 시뮬레이터 개발 ... 34
• 제 2 절 원자력시설 해체 안전성 평가 기술 개발 ... 38
• 제 3 절 고하중 해체 매니퓰레이터 요소 기술 개발 ... 41
• 제 3 장 연구개발수행 내용 및 결과 ... 48
• 제 1 절 실감형 해체 시뮬레이터 개발 ... 48
• 1. 개 요 ... 48
• 2. 연구내용 및 방법 ... 48
• 3. 연구 결과 ... 51
• 4. 결과 요약 ... 201
• 제 2 절 원자력시설 해체 안전성 평가 기술 개발 ... 203
• 1. 개 요 ... 203
• 2. 연구내용 및 방법 ... 203
• 3. 연구 결과 ... 205
• 4. 결과 요약 ... 250
• 제 3 절 고하중 해체 매니퓰레이터 요소 기술 개발 ... 251
• 1. 개 요 ... 251
• 2. 연구내용 및 방법 ... 251
• 3. 연구 결과 ... 254
• 4. 결과 요약 ... 400
• 제 4 장 목표달성도 및 관련분야에의 기여도 ... 402
• 제 1 절 실감형 해체 시뮬레이터 개발 ... 402
• 1. 목표달성도 ... 402
• 2. 대외기여도 ... 402
• 제 2 절 원자력시설 해체 안전성 평가 기술 개발 ... 403
• 1. 목표달성도 ... 403
• 2. 대외기여도 ... 403
• 제 3 절 고하중 해체 매니퓰레이터 요소 기술 개발 ... 404
• 1. 목표달성도 ... 404
• 2. 대외기여도 ... 404
• 제 5 장 연구개발결과의 활용계획 ... 405
• 제 1 절 실감형 해체 시뮬레이터 개발 ... 405
• 1. 기술적 측면 ... 405
• 2. 경제·사회적 측면 ... 405
• 3. 활용방안 및 용도 ... 405
• 제 2 절 원자력시설 해체 안전성 평가 기술 개발 ... 406
• 1. 기술적 측면 ... 406
• 2. 경제·사회적 측면 ... 406
• 3. 활용방안 및 용도 ... 406
• 제 3 절 고하중 해체 매니퓰레이터 요소 기술 개발 ... 407
• 1. 기술적 측면 ... 407
• 2. 경제·사회적 측면 ... 407
• 3. 활용방안 및 용도 ... 407
• 제 6 장 연구개발과정에서 수집한 해외과학기술정보 ... 408
• 제 7 장 참고문헌 ... 409
• 끝페이지 ... 413