Abstract: A modular submersible repairing system includes a working unit having a tool module capable of repairing structures in a reactor. A scanning/pitching module is capable of being selectively connected to or disconnected from the tool module, and is provided with a scanning/pitching shaft for scanning or pitching the tool module. A submersible fan module is capable of being selectively connected to or disconnected from the scanning/pitching module. A first buoyant module keeps an orientation of the tool module. A base unit includes a manipulator module internally provided with an actuator driving mechanism. An adsorbing module is capable of being detachably mounted on the manipulator module and a wall. A second buoyant module keeps the orientation of the manipulator module. The scanning/pitching module and the manipulator module are provided with a submersible connecting device capable of being operated in water for engagement and disengagement.

Abstract: A modular submersible repairing system is capable of dealing with various tasks somewhat inefficiently, though, and of being inserted and installed in a reactor instantly, and highly maneuverable. A repairing method is carried out by the modular submersible repairing system.

Abstract: A modular submersible repairing system includes a working unit having a tool module capable of repairing structures in a reactor. A scanning/pitching module is capable of being selectively connected to or disconnected from the tool module, and is provided with a scanning/pitching shaft for scanning or pitching the tool module. A submersible fan module is capable of being selectively connected to or disconnected from the scanning/pitching module. A first buoyant module keeps an orientation of the tool module. A base unit includes a manipulator module internally provided with an actuator driving mechanism. An adsorbing module is capable of being detachably mounted on the manipulator module and a wall. A second buoyant module keeps the orientation of the manipulator module. The scanning/pitching module and the manipulator module are provided with a submersible connecting device capable of being operated in water for engagement and disengagement.

Abstract: A modular submersible repairing system is capable of dealing with various tasks somewhat inefficiently, though, and of being inserted and installed in a reactor instantly, and highly maneuverable. A repairing method is carried out by the modular submersible repairing system.

Abstract: To improve the coupling adjustment workability and precision of a rotor, irrespective of change in bearing characteristics due to an increase of rotational speed, the apparatus detects angular frequencies (.omega.) and reference mark positions (.theta.) of the rotor; detects vibration displacements (r) of the rotor; analyzes vibration vector components (.omega.), (r) and (.theta.) of rotation synchronizing vibrations; extracts a specific angular frequency (.omega..sub.1) at which a higher harmonic vibration frequency (.omega..sub.R) matches a natural frequency of the rotor, and various rotation synchronizing vibration vector components at (.omega..sub.1), at (.omega..sub.R) and (.omega..sub.2 to .omega..sub.i), respectively; estimates static vibration vector components (r.sub.0, .theta..sub.0) at zero angular frequency (.omega..sub.0) on the basis of rotation synchronizing vibration vector components (r.sub.T, .theta..sub.T) at (.omega..sub.1 to .omega..sub.

Abstract: The vibration measuring apparatus of a rotating shaft is made up of a pair of projection groups provided radial directions of the shaft with spacings therebetween and having the same height, a source of measuring light for irradiating the projection groups, a light receiving element for receiving the measuring light reflected by the projection groups, and a calculating device for calculating a peripheral speed difference between the two projection groups spaced in the axial direction of the rotating shaft.