Abstract: Disclosed is an unlatching tool that may be used to unlatch a control rod from a control drive. The unlatching tool may include a baseplate, a first guide member and a second guide member attached to the baseplate, a first frame and a second frame attached to the baseplate, a stepper motor attached to the first frame, a worm drive attached to the first frame, a cable reel shaft attached to the first and second frame, a hose wrapped around the cable reel shaft, and a hook attached to a first end of the hose. The hook may include a cylindrical sleeve having a at least one finger configured to fold and unfold. Disclosed also is a method of unlatching a control rod from a control drive.

Abstract: Disclosed is an unlatching tool that may be used to unlatch a control rod from a control drive. The unlatching tool may include a baseplate, a first guide member and a second guide member attached to the baseplate, a first frame and a second frame attached to the baseplate, a stepper motor attached to the first frame, a worm drive attached to the first frame, a cable reel shaft attached to the first and second frame, a hose wrapped around the cable reel shaft, and a hook attached to a first end of the hose. The hook may include a cylindrical sleeve having a at least one finger configured to fold and unfold. Disclosed also is a method of unlatching a control rod from a control drive.

Abstract: Disclosed is an unlatching tool that may be used to unlatch a control rod from a control drive. The unlatching tool may include a baseplate, a first guide member and a second guide member attached to the baseplate, a first frame and a second frame attached to the baseplate, a stepper motor attached to the first frame, a worm drive attached to the first frame, a cable reel shaft attached to the first and second frame, a hose wrapped around the cable reel shaft, and a hook attached to a first end of the hose. The hook may include a cylindrical sleeve having a at least one finger configured to fold and unfold. Disclosed also is a method of unlatching a control rod from a control drive.

Abstract: A method for delivery of a tool into a submerged bore includes controlling the movement of a tool delivery device in the pool by operating at least one propulsion drive located on the tool delivery device. The tool delivery device is coupled to an inlet to the bore and a tool is inserted from the tool delivery device through the inlet and into the bore.

Abstract: An orbiting polishing tool for at least one of polishing and material removal. The orbiting polishing tool may include a housing of a housing assembly rotatable about a first axis. The orbiting polishing tool may also include at least one abrasive wheel rotatable about a second axis, the at least one abrasive wheel configured to remove material from an inner surface of an object, wherein the second axis extends through the housing.

Abstract: An orbiting polishing tool for at least one of polishing and material removal. The orbiting polishing tool may include a housing of a housing assembly rotatable about a first axis. The orbiting polishing tool may also include at least one abrasive wheel rotatable about a second axis, the at least one abrasive wheel configured to remove material from an inner surface of an object, wherein the second axis extends through the housing.

Abstract: A method and apparatus is provided for inspecting material arranged within an annular recess such as weld beads, particularly weld beads between the shroud, core plate and support structures within a boiling water nuclear reactor (BWR). The apparatus comprises a track support, a generally arcuate track, a carriage, a sensor support and a sensor. The track is configured to correspond and align generally with an inner surface of a shroud or other encompassing structure with the sensor support and sensor configured to be extended into and then moved horizontally along the annular recess. The sensor may be configured with a plurality of sensor elements, such as ultrasonic transducers or eddy current sensors that may be configured to analyze different properties or different regions relative to the sensor location.

Abstract: A method for delivery of a tool into a submerged bore includes controlling the movement of a tool delivery device in the pool by operating at least one propulsion drive located on the tool delivery device. The tool delivery device is coupled to an inlet to the bore and a tool is inserted from the tool delivery device through the inlet and into the bore.

Abstract: An apparatus for delivering a tool into a nuclear reactor jet pump submerged in a reactor pool includes a frame, and a propulsion unit for controlling the movement of the tool delivery apparatus within a pool of liquid. A guide assembly provides for delivery and insertion of the tool into an inlet of the jet pump and includes a bore insertion portion. A tool position driver provides for controlling the vertical position of the tool in relation to the guide assembly.

Abstract: A method and apparatus is provided for inspecting material arranged within an annular recess such as weld beads, particularly weld beads between the shroud, core plate and support structures within a boiling water nuclear reactor (BWR). The apparatus comprises a track support, a generally arcuate track, a carriage, a sensor support and a sensor. The track is configured to correspond and align generally with an inner surface of a shroud or other encompassing structure with the sensor support and sensor configured to be extended into and then moved horizontally along the annular recess. The sensor may be configured with a plurality of sensor elements, such as ultrasonic transducers or eddy current sensors that may be configured to analyze different properties or different regions relative to the sensor location.