Abstract: Systems are provided for inspection and tooling submerged in nuclear reactors. Systems mount at the reactor edge, such as on a steam dam, to be independently operable from a refueling bridge or refueling operations. A moveable steam dam clamp may hold a position apparatus at the edge. The positioning apparatus includes a rotatable shoulder and arms move a tool, reactor component, and/or inspection device like a camera or VARD to desired and highly-determinable reactor positions. A float may counter shear and rotation on the shoulder from the arms. Motors at the shoulder with internal transmissions may rotate the shoulder and arms, or manual rotation may be used. The arms may also overlap vertically for installation and removal. Power, controls, and/or data may be provided underwater through an umbilical connection to operators.

Abstract: Systems are provided for inspection and tooling submerged in nuclear reactors. Systems mount at the reactor edge, such as on a steam dam, to be independently operable from a refueling bridge or refueling operations. A moveable steam dam clamp may hold a position apparatus at the edge. The positioning apparatus includes a rotatable shoulder and arms move a tool, reactor component, and/or inspection device like a camera or VARD to desired and highly-determinable reactor positions. A float may counter shear and rotation on the shoulder from the arms. Motors at the shoulder with internal transmissions may rotate the shoulder and arms, or manual rotation may be used. The arms may also overlap vertically for installation and removal. Power, controls, and/or data may be provided underwater through an umbilical connection to operators.