This study presents an example of creating and optimizing a task sequence required in an automated remote dismantling system using a digital manufacturing system. An automated remote dismantling system using a robotic arm has recently been widely studied to improve the efficiency and safety of the dismantling operations. The task sequence must be verified in advance through discrete eventbased process simulation in a digital manufacturing system to avoid problems in actual remote cutting operations as the main input of the automated remote dismantling system. The laser cutting method can precisely cut complicated target structures such as reactor internals with versatility, but a robot and a pre-prepared program are required to deploy sophisticated motion of the laser cutting head on the target structure. For safe and efficient dismantling operations, the robot’s program must be verified in advance in a virtual environment that can represent the actual dismantling site. This study presents creating and optimizing the task sequence of a robotic underwater laser cutting as part of the project of developing an automated remote dismantling system. A task sequence is created to implement the desired cutting path for the target structure using the automated remote dismantling system in the virtual environment. The task sequence is optimized for the posture of the laser cutting head and the robot to avoid collisions during the operation through discrete event-based process simulation since the target structure is complicated and the volume occupied by the laser cutting head and the robot arm is considerably large. The task sequence verified in the digital manufacturing system is demonstrated by experiments cutting the target structure along the desired cutting path without any problems. The various simulation cases presented in this study are expected to contribute not only to the development of the automated remote dismantling system, but also to the establishment of a safe and efficient dismantling process in the nuclear facility decommissioning.

본 논문에서는 핫셀에서의 원격 운전 및 유지보수 작업을 위해 개발한 천정이동 서보 조작기시스템에 대해 소개한다. 조작기 시스템은 텔레스코픽형 이송장치, 슬레이브, 마스터, 그리고 제어시스템으로 구성되어 있다. 개발한 시스템에 대해 위치 추종, 하중 취급, 신뢰성, 및 조작성에 대한 테스트를 수행하였으며 이에 대한 테스트 결과를 제시한다. 이러한 테스트 결과를 바탕으로 개선된 시스템 이 설계되었으며 이 개선된 시스템 이 차세대 공정의 실증에 적용될 예정이다.

상수도관의 파열은 과도한 압력, 노후화, 온도변화나 지진 등에 의한 지반이동에 의해 발생한다. 상수도관 파열이 대규모 단수, 싱크홀 등과 같은 더 심각한 피해 이어지지 않도록 신속하게 탐지 및 대응하는 것이 중요하다. 본 연구에서는 상수도관 파열 탐지를 위해 개선 Western Electric Company (WECO) 방법을 개발하였다. 개선 WECO 방법은 통계적공정관리기법 중 하나인 기존 WECO 방법에 임계치 조정자(w)를 추가하여 대상 네트워크에 적합한 이상탐지 의사결정을 할 수 있도록 했다. 개발된 개선 WECO 방법을 미국 텍사스 오스틴 관망에 적용 및 검증하였다. 상수도관 파열 발생 시 측정한 비정상데이터와 수요량 변동만 고려한 정상데이터를 이용하여 기존 및 개선 WECO 방법을 비교하였다. 최적 임계치 조정자 w값을 결정하기 위해 민감도 분석을 수행하였으며, 다양한 계측시간 간격 데이터(dt = 5, 10, 15분 등)의 영향도 분석하였다. 각 경우 별 탐지 성능은 탐지확률, 오경보확률, 평균탐지시간을 계산하여 비교하였다. 본 연구에서는 도출된 결과를 바탕으로 WECO 방법을 실제 상수도관 파열 탐지에 적용하기 위한 가이드라인을 제공한다.

Gochujang, a traditional Korean food, is fermented by mixing red pepper powder, various grain, meju and salt. Changes in the kind of ingredients and fermentation method could increase health functionalities. In this study, in vivo anti-colitis effects of gochujang prepared with mixed grains, bamboo salt baked 3 times and meju starters on DSS-induced colitis in C57BL/6 mice were studied. We prepared gochujang prepared with mixed grains (MG), bamboo salt, and Aspergillus oryzae (A) and Baccillus subtilis (B) mixed starters (MG-AB) and gochujang prepared with MG, bamboo salt and A, B and Lactobacillus plantarum (L) mixed starters (MG-ABL). MG-AB and MG-ABL significantly increased body weight and colon length compared to the control (p<0.05). MG-ABL showed significantly decreased interleukin-6 (IL-6) expression in serum compared to the control and MG-AB group (p<0.05). MG-ABL also regulated mRNA and protein levels of pro-apoptotic Bcl-2-associated X protein (Bax) and anti-apoptotic B-cell lymphoma-2 (Bcl-2) in the mice colon tissue (p<0.05). Therefore, MG-ABL exhibited the increased anticolitis effects by inhibiting damage of colon tissue, probably by regulating a pro-inflammatory cytokine of IL-6 and regulated apoptosis related genes. These results indicated that gochujang changed with good ingredients and starters had colitis preventive effects and might be due to active compounds in mixed grain and bamboo salt, and produced by L during the fermentation of gochujang.