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…

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…

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…

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.

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.

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. …

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.

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…