Abstract: The method includes installing a system for inspecting the core shroud on the core shroud, driving the system horizontally around the core shroud, and using a sensor of the system to inspect the core shroud, where the system includes a trolley, an arm, a tether, and a remotely operated vehicle (ROV) for inspecting the core shroud. The ROV includes a body configured to be operatively connected to the tether, and the sensor is configured to be operatively connected to the body, and configured to provide inspection information of the core shroud. The arm is configured to be operatively connected to the trolley. The ROV is configured to be operatively connected to the arm via the tether, and the tether is configured to provide vertical position information for the ROV relative to the outer surface of the core shroud.

Abstract: The method includes installing a system for inspecting the core shroud on the core shroud, driving the system horizontally around the core shroud, and using a sensor of the system to inspect the core shroud, where the system includes a trolley, an arm, a tether, and a remotely operated vehicle (ROV) for inspecting the core shroud. The ROV includes a body configured to be operatively connected to the tether, and the sensor is configured to be operatively connected to the body, and configured to provide inspection information of the core shroud. The arm is configured to be operatively connected to the trolley. The ROV is configured to be operatively connected to the arm via the tether, and the tether is configured to provide vertical position information for the ROV relative to the outer surface of the core shroud.

Abstract: A remotely operated vehicle (ROV) for inspecting a core shroud having an outer surface may include: a body configured to be operatively connected to a tether; and/or a sensor, configured to be operatively connected to the body, and configured to provide inspection information of the shroud. The tether may be configured to provide vertical position information for the ROV relative to the outer surface. A system for inspecting a core shroud may include: a trolley; an arm; the tether; and/or the ROV. The arm may be configured to be operatively connected to the trolley. The ROV may be configured to be operatively connected to the arm via the tether. A method for inspecting a core shroud may include: installing a system for inspecting the shroud on the shroud; driving the system horizontally around the shroud; and/or using a sensor of the system to inspect the shroud.

Abstract: A remotely operated vehicle (ROV) for inspecting a core shroud having an outer surface may include: a body configured to be operatively connected to a tether; and/or a sensor, configured to be operatively connected to the body, and configured to provide inspection information of the shroud. The tether may be configured to provide vertical position information for the ROV relative to the outer surface. A system for inspecting a core shroud may include: a trolley; an arm; the tether; and/or the ROV. The arm may be configured to be operatively connected to the trolley. The ROV may be configured to be operatively connected to the arm via the tether. A method for inspecting a core shroud may include: installing a system for inspecting the shroud on the shroud; driving the system horizontally around the shroud; and/or using a sensor of the system to inspect the shroud.

Abstract: Inspection of circumferential sections of pipe or other conduit using an ultrasonic scanning apparatus is provided, wherein axial drift of the ultrasonic scanning apparatus is prevented using a guide track assembly. The guide track assembly is rigidly coupled to the ultrasonic scanning apparatus in the axial direction, but allows rotational motion of the ultrasonic scanning apparatus directly along the outer surface of the conduit using a drive chain that is driven by a circumferential drive. Secure rotational motion without drift between the guide track assembly and the ultrasonic scanning apparatus is maintained by the rigid coupling and by a spring-loaded wheel housing assembly that maintains contact of wheels that travel along the guide track. The ultrasonic scanning apparatus includes a transducer with spring-loaded gimbaling that maintains optimal proximity with the conduit surface. The transducer is translated axially along linear journals that extend along the conduit with a linear actuator.

Abstract: Inspection of circumferential sections of pipe or other conduit using an ultrasonic scanning apparatus is provided, wherein axial drift of the ultrasonic scanning apparatus is prevented using a guide track assembly. The guide track assembly is rigidly coupled to the ultrasonic scanning apparatus in the axial direction, but allows rotational motion of the ultrasonic scanning apparatus directly along the outer surface of the conduit using a drive chain that is driven by a circumferential drive. Secure rotational motion without drift between the guide track assembly and the ultrasonic scanning apparatus is maintained by the rigid coupling and by a spring-loaded wheel housing assembly that maintains contact of wheels that travel along the guide track. The ultrasonic scanning apparatus includes a transducer with spring-loaded gimbaling that maintains optimal proximity with the conduit surface. The transducer is translated axially along linear journals that extend along the conduit with a linear actuator.