The development of an inspection/maintence robot for steam generator tubes

We developed the tele-robotic systems for inspection/maintenance of steam generator tubes. For easy handling and installation, it consists of three separable parts: the entering/leaving device, the base posture adjusting device, the manipulator. The inspection and repair tools, such as brushing, plugging, and sleeving tools, were developed. We also developed software programs for the eddy current test signal acquisition and evaluation. The semiconductor type dosimeter and the directional radiation mapping module were developed for measuring the accumulated radioactivity and for finding the radioactivity source location. The research for radiation shield and decontamination were carried out. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in our laboratory, and after evaluation and some modification the final functional test was carried out at the Kori NPP type steam generator mockup in the Kori training center