주요연구
전체 : 44
게시물 검색
  • 44
    • 인공지능-로봇 융합연구 분야 3-D Mapping and Localization w…   
      In extreme environments with limited visibility, optical sensors have limited performance. The acoustic sensors can be one of the alternatives to the optical sensors in a low-visibility environment. However, the acoustic sensors have poor SNR characteristics, low-resolution problems, and loss of height information. Therefore, a proper signal processing technique is required. This research is a 3-D seafloor scanning method using multibeam sonar. It provides a unique analysis of sonar image geometry for extracting missing…
  • 43
    • 인공지능-로봇 융합연구 분야 Robust Perception Using Artifi…   
      Robots in hazardous robots use optical or acoustic sensors to sense the surrounding environment. In hazardous environment, there is no light source such as the sun and light is severely attenuated and scattered by fog, dust, and water. Therefore, optical sensors have limited views. On the other hand, acoustic sensors are independent of visibility but have a limitation of low resolution and noise-to-signal ratio. To recognize the surrounding environment robustly and perform precise mission in harsh condition, various arti…
  • 42
    • 인공지능-로봇 융합연구 분야 Autonomous Underwater Vehicle …   
      Underwater is one of the hazardous environments, and GPS and RF do not work. ‘Cyclops’ is an underwater robot of the hovering type, which enables precise 3-D position control in the water by using multiple propellers. I t is equipped with various measurement sensors and navigation sensors such as high-resolution still camera, lighting system, acoustic camera, laser, and chemical sensor, so it can respond to various missions. It can be used for underwater precision tasks such as underwater environment and ecological inves…
  • 41
    • 인공지능-로봇 융합연구 분야 Nuclear Power Plant’s Dome Ins…   
      This robot system is a cooperative robot system for dome inspection in nuclear power plants (NPP). It has the ability to perform a grid laser–based ceiling mapping and localization. Non-destructive inspection is available by a wall-climbing agent robot, which is attached to the surface of the dome utilizing an aerodynamic force. Lifting drone equipped with the grabber mechanism lifts up the wall-climbing agent to the ceiling.
  • 40
    • 인공지능-로봇 융합연구 분야 Autonomous Mobile Drone   
      Generally, radioactive disposal facilities has low accessibility because of the problem related to the radiation exposure and complexity of the facility. One of the solution for inspecting the facility is a use of drone; however, automatic drone controlling without GPS as well as considering the various obstacles is a difficult challenge. Our team is trying to develop an autonomous control system of the drone with SLAM, ROS and deep learning technique.
  • 39
    • 인공지능-로봇 융합연구 분야 Chromosome Detection System Us…   
      Dicentric Chromosome Assay (DCA) has been used for estimating the absorbed radiation dose following occupational or incidental radiation exposure. The estimating procedure of DCA is labor intensive and time consuming, and therefore, it cannot be widely utilized for radiation mass casualty incidents. Automatic estimation systems of DCA has been studied to improve the efficiency of the estimation procedure in previous studies. These methods, however, cause significant problems on the accuracy of the chromosome detection. …
  • 38
    • 인공지능-로봇 융합연구 분야 AI Drone System for Fire Detec…   
      For automatic detection and suppression of fire, AI drone system is under development. Flaming regions in images obtained by cameras are localized by the embedded system with the segmentation technique. After analyzing fire area, the guided flight system of drone is activated to the area, and fire extinguisher is automatically dropped.
  • 37
    • 인공지능-로봇 융합연구 분야 Automatic Design Algorithm of …   
      Designing reactor cores by means of an artificial neural network is a difficult challenge, because there are many variables in the core configuration. This study presents a feasibility study on the automatic design of a research reactor core using an artificial neural network. By imitating conventional design procedure, a way to design the core is developed by means of the artificial neural network and automatic machine learning. The results reveal that the reactor core designed by the proposed method performs well and…
  • 36
    • 방사성폐기물 관리 분야 The radioactive waste includes…   
      The radioactive waste includes radioisotope such as 129I and 131I whose half-lives are t1/2 = 1.57x107 years and t1/2 = 8.02 days, respectively. These iodine has harmful effects to humans through external and internal exposure which can bring burns to the skin and affect the thyroid gland. Therefore iodine needs to be removed safely.   "Objectives are capturing iodine species such as iodide, iodate, elemental iodine, and methyl iodide. For this study, we use various adsorbents like zeolite, activated carbon, a…
  • 35
    • 방사성폐기물 관리 분야 Most of nuclear power plants (…   
      Most of nuclear power plants (NPP) and their yard storage facilities are located on or close to the shoreline, because the nuclear power plants need for cooling water.  As a fission product (90Sr, 137Cs, or 99Tc), radionuclides are often stored in a large water-filled tank of NPP facility at or near ground surface level.  In a case of severe accident, the radionuclides may leave the storage sites and transport in the subsurface environment in which nearby seawater can introduce through shattered fractures and cause…
  • 34
    • 방사성폐기물 관리 분야 Efficient and rapid removal of…   
      Efficient and rapid removal of radioactive contaminants is crucial when they are released into the environment as a result of severe nuclear accidents. In addition, various methods have been developed for harvesting uranium (U) from seawater.   Objectives are to develop sorbent for the removal of uranium using tributyl phosphate (TBP) on the surface of Hydroxyapatite (HA). TBP is an organophosphorus extractant, and it is among the most favored extractants in the nuclear industry, which is due in part to the hi…
  • 33
    • 방사성폐기물 관리 분야 Radioactive iodine   
      Radioactive iodine is one of the major constituents among fission products released into the environment from damaged containment at nuclear power plant (NPP) during severe core melt accidents such as Chernobyl and Fukushima as well asnuclear fuel reprocessing. Released radioactive iodine from nuclear reactor and nuclear severe accidents is one of the most hazardous radioactive contaminants and can create significant effect to human health. Several radioactive iodines such as I-131,I-135, I-125, a…
  • 32
    • 방사성폐기물 관리 분야 Glass waste forms for Cs, Sr   
      Cs+ captured fly ash filter waste from pyro-processing was immobilized by alumino-borosilicate glass waste form. Produced glass specimens were irradiated by electrons in order to simulate the beta irradiation during the storage and disposal. Density, glass transition temperature, Vickers hardness and linear thermal expansion coefficient of pristine and irradiated glasses were measured. All of measured glass properties were similar to that of commercial HLW glass waste forms.&n…
  • 31
    • 방사성폐기물 관리 분야 Glass waste form for Tc   
       A new alkali-alumino tellurite glass composition was developed to immobilize highly-volatile technetium (Tc) wastes generated from the pyrochemical processing technology. Tellurite glass can incorporate up to 7 mass% of rhenium (Re, used as a surrogate for Tc) with an average retention of 86%. Normalized elemental releases evaluated by seven-day product consistency test (PCT) satisfied the immobilized low activity waste requirements of United States when concentration of Ca(ReO4)2 in the glass was < 12 m…
  • 30
    • 방사성폐기물 관리 분야 Glass waste form for I   
      Silver tellurite glasses with melting temperatures < 700 °C were prepared to immobilize the 129I that normally volatilizes during high-temperature melting. Glasses have densities of 6.31 ± 0.1 g/cm3 and transition temperatures of 165 ± 3 °C that provide thermal stability at the disposal site. Iodine waste loading in glasses was as high as 12.64 wt.% of all metallic elements and 11.21 wt.% including oxygen. Normalized elemental releases obtained from the product consistency test were well below US regulation of 2 g/…
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