Abstract: A method and apparatus, comprising a tool having a clam shell design, for sealing the interface volume between the internal wall of a reactor pressure vessel and submerged piping that penetrates the wall, and for cleaning the interface volume using a series of hydraulic and pneumatic operations. The tool is operable from a remote suface location, using a robotic arm for fine positioning, to clamp around the penetrating pipe. Hydraulic nozzles compressed air and mechanical brushes on the tool may be used to dislodge sediment in the interface volume.

Abstract: A surveillance system for hazardous environments and the like having a radio remote controlled vehicle that is sized and shaped for optimum maneuverability and stability, including mobility on stairs and inclined surfaces. The vehicle is designed to have a low center of gravity that is shiftable up and down, front to rear and side to side under operator control in order to provide stability. The top deck of the vehicle is uniquely shaped and is adapted to support any of several payloads, including an articulated arm module that is moveable in a pan and tilt direction and a smear sampler mechanism for repeatedly taking surface samples. The vehicle is moved by independently operated, motor driven tracks located on each of the two longitudinal sides of the vehicle and is adapted to move in a forward, reverse and rotational directions. Remote monitoring is provided by stereoptic TV cameras, stereo sound, and variety of environmental sensors.