Abstract: Systems and methods position tools about a flooded nuclear reactor during maintenance outages without overhead support or alignment structures being necessary. systems may include annular clamps for support from a reactor steam dam, a telescoping mast, a motor or other drive to extend or retract the mast, and/or an articulator to hold the payload and move the same about any degree of freedom. The telescoping mast may include several nested sections joined to a drive motor. Several different articulators are useable, including those with separate gearings for rotation about perpendicular axes and self-leveling wrists to orient tools in confirmed positions. Systems can be locally or remotely powered and controlled through powered and communicative connections to move about any position in a reactor annulus or core.

Abstract: Devices position inspection and operation tools in a nuclear reactor without use of a bridge or other maintenance structure well above the reactor core. Devices can selectively join to in-reactor structures like steam dams through clamping that permits limited movement. Positioning assemblies may be supported by the devices. The positioning assembly includes a mast that moves relative to the positioning assembly. Rollers of the positioning assembly may so move the mast. The positioning assembly may be rotated with a sun gear having an exterior surface about which the mast and rollers can revolve. A local motor or external drive may provide power for this rotation and/or revolving as well as rotation of the rollers to move the mast and assembly. Devices are useable underwater or submerged in fluid and may include instruments with powering lines or mechanical extensions that permit powering or direct interfacing from operators outside the reactor.

Abstract: Devices position inspection and operation tools in a nuclear reactor without use of a bridge or other refueling structure well above the reactor core. Devices can selectively join to in-reactor structures like steam dams through clamping that permits limited movement. Clamps can include one or more rollers that allow for controlled, accurate positioning of the devices relative to the structures. Devices include an extension to which the tools can be affixed. Through selective disengagement of joining structures, devices can move over obstacles on the mounting structure. Devices further include controls so that operators positioned outside the reactor can move the device while mounted on a static structure. The controls can further move the inspection tool in other directions with the extension. Devices are useable underwater or submerged in other fluid and may include powering lines or mechanical extensions that permit powering or direct interfacing from operators outside the reactor.

Abstract: Devices position inspection and operation tools in a nuclear reactor without use of a bridge or other maintenance structure well above the reactor core. Devices can selectively join to in-reactor structures like steam dams through clamping that permits limited movement. Positioning assemblies may be supported by the devices. The positioning assembly includes a mast that moves relative to the positioning assembly. Rollers of the positioning assembly may so move the mast. The positioning assembly may be rotated with a sun gear having an exterior surface about which the mast and rollers can revolve. A local motor or external drive may provide power for this rotation and/or revolving as well as rotation of the rollers to move the mast and assembly. Devices are useable underwater or submerged in fluid and may include instruments with powering lines or mechanical extensions that permit powering or direct interfacing from operators outside the reactor.

Abstract: Devices position inspection and operation tools in a nuclear reactor without use of a bridge or other refueling structure well above the reactor core. Devices can selectively join to in-reactor structures like steam dams through clamping that permits limited movement. Clamps can include one or more rollers that allow for controlled, accurate positioning of the devices relative to the structures. Devices include an extension to which the tools can be affixed. Through selective disengagement of joining structures, devices can move over obstacles on the mounting structure. Devices further include controls so that operators positioned outside the reactor can move the device while mounted on a static structure. The controls can further move the inspection tool in other directions with the extension. Devices are useable underwater or submerged in other fluid and may include powering lines or mechanical extensions that permit powering or direct interfacing from operators outside the reactor.

Abstract: Embodiments provide a system and apparatus for visual inspection of a nuclear vessel. The system includes a submersible remotely operated vehicle (SROV) system that is movable to an area within a nuclear vessel. The SROV system includes a maneuverable inspection camera assembly for visual inspection of nuclear vessel components, where the inspection camera assembly is maneuverable in relation to the SROV system. The system also includes a control system located in an area remote from the area within the nuclear vessel. The control system is configured to control the movement of the SROV system and the maneuvering of the inspection camera assembly.

Abstract: A take-up spool may include a first plurality of rollers arranged in a left handed helical pattern, a second plurality of rollers below the first plurality of rollers and arranged in a right handed helical pattern, a third plurality of rollers arranged in an S-shaped pattern, the third plurality of rollers being arranged between the first and second plurality of rollers, a guide configured to move vertically, the guide being arranged at a first side of the first plurality of rollers, and a clamp configured to move vertically, the clamp being arranged at a second side of the first plurality of rollers.

Abstract: A take-up spool may include a first plurality of rollers arranged in a left handed helical pattern, a second plurality of rollers below the first plurality of rollers and arranged in a right handed helical pattern, a third plurality of rollers arranged in an S-shaped pattern, the third plurality of rollers being arranged between the first and second plurality of rollers, a guide configured to move vertically, the guide being arranged at a first side of the first plurality of rollers, and a clamp configured to move vertically, the clamp being arranged at a second side of the first plurality of rollers..

Abstract: Embodiments provide a system and apparatus for visual inspection of a nuclear vessel. The system includes a submersible remotely operated vehicle (SROV) system that is movable to an area within a nuclear vessel. The SROV system includes a maneuverable inspection camera assembly for visual inspection of nuclear vessel components, where the inspection camera assembly is maneuverable in relation to the SROV system. The system also includes a control system located in an area remote from the area within the nuclear vessel. The control system is configured to control the movement of the SROV system and the maneuvering of the inspection camera assembly.

Abstract: Systems and methods for servicing a fuel assembly in a light water reactor include those for controlling flow through a fuel assembly to maintain debris in the fuel assembly during removal and transportation of the fuel assembly, those for discharging debris from the fuel assembly, and those for isolating and sampling the water chemistry of a fuel assembly. An exemplary system includes a closure device configured to seal a mast to a fuel assembly to surround the upper opening of the fuel assembly and provide a flow control channel between a void in the mast and a lower opening in a lower tie plate.