{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,25]],"date-time":"2025-11-25T06:57:11Z","timestamp":1764053831458,"version":"build-2065373602"},"reference-count":20,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2022,11,14]],"date-time":"2022-11-14T00:00:00Z","timestamp":1668384000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["62103142","U21A20482","62027810","62076091","2020TQ0090","2020M672485"],"award-info":[{"award-number":["62103142","U21A20482","62027810","62076091","2020TQ0090","2020M672485"]}]},{"name":"China Postdoctoral Science Foundation","award":["62103142","U21A20482","62027810","62076091","2020TQ0090","2020M672485"],"award-info":[{"award-number":["62103142","U21A20482","62027810","62076091","2020TQ0090","2020M672485"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Under some unexpected conditions, drive rods and control-rod assemblies may not be disconnected. If this situation is not detected, the control rod will be lifted out of the reactor core together with the upper reactor internals. This situation will seriously affect the follow-up work and reduce the economy and safety protection of the nuclear power plant. To ensure safety, the tripping status must be checked after tripping. Follow-up work can be carried out after checking and confirming that all drive rods are in the tripping status. There are many problems for traditional inspection methods, such as misjudgment, low accuracy, and labor consumption. This paper proposes a visual inspection system for the uncoupling state of the control-rod drive rod of the nuclear reactor. The proposed method is based on the fitting model of the ellipse parameter of the drive-rod head and the height of the drive rod. The ellipse of the drive-rod head is firstly accurately detected. Then, a mathematical model between the ellipse parameter and the height of the drive rod is established. The measurement error caused by the swing of the head of the drive rod is eliminated. The accurate measurement of the height difference before and after the tripping of the drive rod is computed. Finally, the status of the uncoupling of the drive rod is judged according to the difference. Many experiments are carried out with our developed system. The experimental results show that the proposed system realizes remote operation, ensures the quality of trip-status inspection, improves work efficiency, and reduces the workload of staff.<\/jats:p>","DOI":"10.3390\/s22228805","type":"journal-article","created":{"date-parts":[[2022,11,15]],"date-time":"2022-11-15T02:36:40Z","timestamp":1668479800000},"page":"8805","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Visual Inspection System for Uncoupling Status of Control-Rod Drive Rod in Nuclear Reactor"],"prefix":"10.3390","volume":"22","author":[{"given":"Zhi","family":"Li","sequence":"first","affiliation":[{"name":"China Nuclear Power Technology Research Institute Co., Ltd., Shenzhen 518000, China"}]},{"given":"Jianqiang","family":"Hu","sequence":"additional","affiliation":[{"name":"China Nuclear Power Operations Co., Ltd., Shenzhen 518000, China"}]},{"given":"Zhangxiang","family":"Zhou","sequence":"additional","affiliation":[{"name":"China Nuclear Power Operations Co., Ltd., Shenzhen 518000, China"}]},{"given":"Jin","family":"Wang","sequence":"additional","affiliation":[{"name":"National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6115-1310","authenticated-orcid":false,"given":"Xianen","family":"Zhou","sequence":"additional","affiliation":[{"name":"National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China"},{"name":"Jiangxi Communication Terminal Industry Technology Research Institute Co., Ltd., Ji\u2019an 343100, China"}]},{"given":"Qing","family":"Zhu","sequence":"additional","affiliation":[{"name":"National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China"}]},{"given":"Shaonan","family":"Chen","sequence":"additional","affiliation":[{"name":"China Nuclear Power Technology Research Institute Co., Ltd., Shenzhen 518000, China"}]},{"given":"Yaonan","family":"Wang","sequence":"additional","affiliation":[{"name":"National Engineering Research Center for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"3761","DOI":"10.1016\/j.nucengdes.2011.07.008","article-title":"Wave propagation visualization in an experimental model for a control-rod drive mechanism assembly","volume":"241","author":"Hyomi","year":"2011","journal-title":"Nucl. Eng. Des."},{"key":"ref_2","first-page":"49","article-title":"Electromagnetic field analysis of control-rod drive mechanism","volume":"6","author":"Chihu","year":"2009","journal-title":"Noise Vib. Control."},{"key":"ref_3","first-page":"1009","article-title":"Analysis of the Working Principle and Structural Characteristics of the Driving Mechanism of the Reactive Control Device","volume":"Volume 1","author":"Tianyu","year":"2009","journal-title":"Progress Report on Nuclear Science and Technology in China"},{"key":"ref_4","first-page":"106","article-title":"Dynamic analysis of the lifting action process of the magnetic lifting control-rod drive mechanism","volume":"46","author":"Qiang","year":"2017","journal-title":"Mech. Des. Manuf. Eng."},{"key":"ref_5","first-page":"121","article-title":"Research on electromagnetic characteristics of motor sealing shell of control-rod drive mechanism based on finite element method","volume":"35","author":"Ximing","year":"2014","journal-title":"Nucl. Power Eng."},{"key":"ref_6","first-page":"58","article-title":"Study and realization of PWR CRDM fault diagnosis","volume":"34","author":"Zhengke","year":"2013","journal-title":"Autom. Instrum."},{"key":"ref_7","unstructured":"Yuangang, D., Zhong, X., and Caishun, F. (2004). Fault Tree Analysis of Reactor Control Rod Drive Lines, Nuclear Standard Measurement and Quality."},{"key":"ref_8","first-page":"38","article-title":"Failure Analysis of Reactor Control Rod Drive Line","volume":"2","author":"Tianxue","year":"1993","journal-title":"J. Nav. Acad. Eng."},{"key":"ref_9","unstructured":"Zhengke, C. (2004). Research and Practice of Fault Diagnosis Technology for Rod Control Rod Position Equipment in Nuclear Power Plants, Nanjing University of Technology."},{"key":"ref_10","unstructured":"Fangliang, Y., and Hua, L. (2004). Research on the Failure Prevention Countermeasures of the Control-Rod Drive Mechanism of the Nuclear Power Plant Reactor, Nuclear Standard Measurement and Quality."},{"key":"ref_11","first-page":"141","article-title":"Simulation research on state diagnosis of control-rod drive mechanism transmission parts","volume":"38","author":"Xiaochen","year":"2017","journal-title":"Nucl. Power Eng."},{"key":"ref_12","unstructured":"Cuiyun, P. (2016). Research on the noise characteristics of falling rods in the misalignment of the control-rod drive mechanism. Sci. Technol. Vis., 323\u2013324."},{"key":"ref_13","first-page":"338","article-title":"Research on state monitoring and fault diagnosis technology of control-rod drive mechanism","volume":"33","author":"Pinger","year":"2013","journal-title":"Nucl. Electron. Detect. Technol."},{"key":"ref_14","first-page":"347","article-title":"Buckling analysis of the derrick of JJ225-43-K oil drilling rig","volume":"37","author":"Xiangwei","year":"2010","journal-title":"Chem. Mach."},{"key":"ref_15","first-page":"6","article-title":"Eigenvalue Buckling Analysis of Support Frame Based on ANSYS","volume":"39","author":"Fenglian","year":"2010","journal-title":"J. Hebei Univ. Technol."},{"key":"ref_16","first-page":"187","article-title":"Buckling analysis of tower crane truss structure based on finite element method","volume":"11","author":"Xianrong","year":"2013","journal-title":"Chin. J. Constr. Mach."},{"key":"ref_17","first-page":"21","article-title":"Nonlinear buckling analysis of large-span elliptical paraboloid chord-supported dome structure of Houjie Gymnasium","volume":"46","author":"Zhengrong","year":"2013","journal-title":"Chin. J. Civ. Eng."},{"key":"ref_18","first-page":"1","article-title":"Buckling Analysis of drive rods of Nuclear Reactor Control Rod Driving Mechanisms","volume":"44","author":"Xingkui","year":"2017","journal-title":"Machinery"},{"key":"ref_19","first-page":"94","article-title":"Aging Mechanism and Influence Analysis of Control Rod Driving Mechanism","volume":"6","author":"Feng","year":"2014","journal-title":"Mech. Eng."},{"key":"ref_20","first-page":"331","article-title":"Dynamic Modeling and Analysis of Ball Screw With Pitting Failure","volume":"S2","author":"Ya","year":"2012","journal-title":"J. Southeast Univ."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/22\/8805\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:18:05Z","timestamp":1760145485000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/22\/8805"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,11,14]]},"references-count":20,"journal-issue":{"issue":"22","published-online":{"date-parts":[[2022,11]]}},"alternative-id":["s22228805"],"URL":"https:\/\/doi.org\/10.3390\/s22228805","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2022,11,14]]}}}