Abstract: An improved remotely-operated high-pressure water-jet sludge lancing system for removing sludge from the secondary side of steam generators, the system including an end effector and a deployment system. The end effector includes two diametrically opposed articulated nozzle heads having water jet nozzles attached thereto. The nozzle heads are pivotally mounted to respective pneumatic extension arm actuators that are accommodated in respective arms. The arms are attached in a collinear relation to opposing sides of a centrally located drive means, which allows for the rotational positioning of the nozzle heads. The deployment system for delivering and supporting the end effector includes a self-erecting load-bearing chain and a segmented support rail having a straight section and a curved section. The chain is suspended from the support rail by hangers and cylinder rollers.

Abstract: Apparatus for installing and removing a control rod drive from beneath the pressure vessel of a nuclear reactor, including an elevator carriage for carrying the control rod drive in a generally horizontal position and a single winch mounted on a cart for swinging the control rod drive between horizontal and vertical positions and for raising and lowering the drive when it is in a vertical position. A pneumatic cylinder provides the final lifting action for seating and removing the control rod drive. The lower end of the control rod drive is supported on the elevator cradle by a self-centering bearing which permits the horizontal position of the drive to be adjusted for final alignment with the drive housing. The pneumatic cylinder is mounted on a swinging arm which allows the cylinder to remain in axial alignment with the control rod drive as it is moved horizontally.