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Seungnam Yu,Jonghui Han 한국방사성폐기물학회 2023 한국방사성폐기물학회 학술논문요약집 Vol.21 No.2
This paper describes the development and operation of an autonomous robotic system designed for pyroprocess automation. The unique challenges of pyroprocess automation, such as the need for a highly dry atmosphere to handle materials like chloride, are addressed through this system. For the experiments, a specialized dehumidifier and dry mock-up facility were designed to produce dry air condition. Performances of dry air conditioning for the various simulated situations were evaluated, including assessing worker access within a mock-up to determine the system’s feasibility. To enable automation, containers used for processing materials were modified to fit the gripper system of the gantry robot. The loading and unloading of materials in each equipment were automated to connect them with the robotic system. This gantry robot primarily utilized macro motions to approach waypoints containing process materials, reducing the need for precise approach motions. Its tapered jaw design allowed it to grip target objects even with imperfect positioning. The robot’s motions were programmed initially using a robot simulator for positioning and motion planning, and real-world accuracy was tested in a dry mock-up facility using the OPC platform. Finally, the paper discusses the potential application of XR (eXtended Reality) technology in this context, which could enhance the robot’s operation and provide valuable insights into the automation process. Further analysis of XR technology’s feasibility and benefits for this specific pyroprocess automation system are presented.
ERGONOMIC ANALYSIS OF A TELEMANIPULATION TECHNIQUE FOR A PYROPROCESS DEMONSTRATION FACILITY
Yu, Seungnam,Lee, Jongkwang,Park, Byungsuk,Kim, Kiho,Cho, Ilje Korean Nuclear Society 2014 Nuclear Engineering and Technology Vol.46 No.4
In this study, remote handling strategies for a large-scale argon cell facility were considered. The suggested strategies were evaluated by several types of field test. The teleoperation tasks were performed using a developed remote handling system, which enabled traveling over entire cell area using a bridge transport system. Each arm of the system had six DOFs (degrees of freedom), and the bridge transport system had four DOFs. However, despite the dexterous manipulators and redundant monitoring system, many operators, including professionals, experienced difficulties in operating the remote handling system. This was because of the lack of a strategy for handling the installed camera system, and the difficulty in recognizing the gripper pose, which might fall outside the FOV (field of vision) of the system during teleoperation. Hence, in this paper, several considerations for the remote handling tasks performed in the target facility were discussed, and the tasks were analyzed based on ergonomic factors such as the workload. Toward the development of a successful operation strategy, several ergonomic issues, such as active/passive view of the remote handling system, eye/hand alignment, and FOV were considered. Furthermore, using the method for classifying remote handling tasks, several unit tasks were defined and evaluated.
Equipment Layout Improvement for Large-Scale Hot Cell Facility Logistics
Yu, Seungnam,Lim, Jaehoon,Im, Hunsuk,Lee, Hyojik Hindawi Limited 2017 Science and technology of nuclear installations Vol.2017 No.-
<P>This study presents approaches to equipment layout improvement for a large-scale hot cell facility. First, the original facility layout and target process are introduced, including the basic information and specifications. Second, the flow of process materials is analyzed and the relationships are evaluated in detail using a “from-to chart” and a “relationship chart” for the original layout, and the logistics are simulated using the selected discrete event simulator to calculate the traveling distances of process materials handled by teleoperated material handling systems. Third, the original layout is modified using the total closeness rating (TCR), and the efficiency and usage of the material handling system are calculated and compared with the original case to evaluate the efficiency improvement of the modified layout. This modification process, which included load reduction, enabled those aspects of the material handling system that would need to be changed to be identified; these changes were suggested by a quantitative analysis of the logistics between each pair of stations and intuitive rearrangement based on charts and figures. These approaches could be an initial step in the large-scale hot cell design process, with future work to follow.</P>
Seungnam Yu(유승남),Hyojik Lee(이효직) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
This study attempts to introduce a research case involving the integration of discrete event simulation and a virtual reality (VR) environment for the teleoperation of batch-process-based electro-metallurgical treatment conducted in a hot cell facility. Through this approach, the considered process could be further improved by addressing the physical problems identified in a VR simulation operated with discrete event simulation simultaneously.
Design analysis and optimization of 6-DOF telemanipulator based on performance indices
Yu, Seungnam,Hwang, Soonwoong,Lee, Jongkwang,Park, Byungsuk,Lee, Hyojik Cambridge University Press 2018 Robotica Vol.36 No.12
<B>SUMMARY</B><P>In contrast to general industrial robots, which are operated in normal environments and are easily accessible by human workers, telemanipulators are typically designed to perform specific and extreme tasks in hazardous areas. Teleoperation systems are difficult-to-equip fully intuitive or automated control systems because these are the kinds of manipulator systems used as substitutes to perform tasks that humans have to guide directly because they may require tough, sensitive, or sophisticated handling motions. Basically, these kinds of tasks are difficult to remotely perform through a slave manipulator operated by a human unless modification and optimization of the system are conducted. In this regard, the target system dealt within this study has similar disadvantages even though it has a high degree of freedom (DOF) arm structure. The performance of the current system was quantitatively evaluated to optimize the structure according to the considered main tasks. This work presents the various performance indices utilized and analyzes the current design of the considered telemanipulator system. An optimal design approach using the parameters associated with the frequent motions of the considered 6-DOF telemanipulator is then proposed based on the conducted analyses.</P>
Development of simulation systems for telemanipulators in confined cell facilities
Yu, Seungnam,Ryu, Dongsuk,Han, Jonghui,Lee, Jongkwang,Lee, Hyojik,Park, Byungsuk Korean Nuclear Society 2020 Nuclear Engineering and Technology Vol.52 No.2
The considered simulation tasks are based on an electrometallurgical process development strategy and associated telemanipulator simulation systems are proposed with various scales of experimental facilities. Fundamentally, target facilities are assumed to be operated only by remote handling systems because the considered process is operated in hazardous environments. Futhermore, the feasibility at various scales should be experimentally verified with gradual increase in throughput. In this regard, bench, engineering, and pilot-scale simulation systems are important early-stage tools for assessing the practical operability of the target process with the material handling systems. Such simulation systems are highly customized for applications and are a precursor to larger pilot and demonstration-scale plants. This paper introduced and classified the developed simulator systems for this approach at various scales using remote handling systems which were assembled inside a virtual target facility, and the manmachine interface was included for a more realistic operation of the simulator. The results obtained for each simulator show the feasibility and requirement for improvement of the systems for the considered test issues with respect to the operation and maintenance of the process.