Abstract: Systems and methods for automatically producing a cord structure are provided herein. In one embodiment, a method comprises automatically forming, with at least one robotic arm, a first plurality of loops in a first plane, and automatically forming, with the at least one robotic arm, a second plurality of loops in a second plane orthogonal to the first plane, the second plurality of loops slippably engaged with the first plurality of loops. In this way, cord structures may be quickly constructed, thereby reducing labor input and expense.

Abstract: Systems and methods determine locations of moving equipment in an area holding components to be moved. Moving equipment can relocate relative to the holding area to pick up components in the holding area from an origin and deliver them to a desired location or orientation. The moving equipment includes a device emitting a signal that is detectable where it hits components or other structures in a straight line or known path from the moving equipment. A human or computer can determine a position the moving equipment in the holding area from such signals. Devices can operate with visible light generators including LEDs, incandescent or fluorescent bulbs, and lasers and including lenses or reflectors to shape the light into detectable and high fidelity configurations. Automation components including a hardware processor, controller, and detector can operate moving equipment based on detected light, without human interaction or as a verification in human operations.

Abstract: A robot capable of preventing adhesion of a cutting fluid or the like on components thereof. The robot includes a robot arm, and a wrist connected to a distal end of the robot arm and including a plurality of movable elements connected to each other, and the movable elements being hollow elements, an end effector connected to a distal end of the wrist, a wire member laid to extend through the respective movable elements, and a cover to be mounted on the wrist so as to surround a connection between the two movable elements connected to each other.

Abstract: A method, system and computer program product for measuring a spatial displacement of at least a part of an irradiating nuclear fuel assembly. The system comprising a memory and a processor configured to receive data from said memory. The processor and the computer program being configured to: receive a first image data frame, captured using an imaging system, said first image data frame comprising information representing a first view of an observed real world scene comprising at least a part of a fuel assembly, wherein said first image data frame is captured from a first direction; generate a set of reference coordinates, corresponding to image coordinates of said first image data frame; and extract measurement data indicative of a spatial displacement relating to at least a part of said fuel assembly, based on information from said first image data frame and information from said set of reference coordinates.

Abstract: A multiaxial robot of multitasking includes a base, a plurality of arms, at least one wrist, a first engaging structure, and a second engaging structure. The arms are sequentially connected from the base, and any adjacent two of the base and the arms are configured to rotate relative to each other. The wrist is connected to the farthest arm arranged relative to the base and configured to rotate relative to the connected arm. The first engaging structure is disposed on the wrist and configured to connect a first tool. The second engaging structure is disposed on one of the arms and configured to connect a second tool.

Abstract: A laser welding method to weld two adjacent metal elements of a stator winding with rigid bars for an electric machine; the two metal elements are arranged one beside the other and have respective upper surfaces, which are arranged coplanar to one another and have at least one common edge; in succession, in the direction of the upper surfaces of the two metal elements, a first laser beam is aimed, which is fed along a first welding line, which is perpendicular to the common edge and extends through the common edge itself, and then a second laser beam is aimed, which is fed along a second welding line, which is perpendicular to the common edge and extends through the common edge itself, is parallel to and spaced apart from the first line and has a length that is smaller than the one of the first line.

Abstract: Disclosed herein are various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Also disclosed are various medical devices for in vivo medical procedures. Included herein, for example, is a surgical robotic device having an elongate device body, a right robotic arm coupled to a right shoulder assembly, and a left robotic arm coupled to a left shoulder assembly.

Abstract: A robot system includes a robot, a hand attached to the robot, and a controller configured to control operation of the robot. The controller includes an initial control unit configured to rotate the hand in a state where the hand holds the screw cap tightened onto a conical tube in a first attitude, and a normal control unit configured to rotate the hand in a state where the hand holds the screw cap in a second attitude different from the first attitude after the hand is operated by the initial control unit.

Abstract: A method and apparatus are provided for transmitting one or more positive or negative acknowledgement (ACK/NACK) bits in response to data reception in a single-carrier frequency division multiple access (SC-FDMA) communication system. The method includes, if the one or more ACK/NACK bits are one bit, applying a first code to a first symbol, if the acknowledgement bit is NACK, and applying a second code to the first symbol, if the acknowledgement bit is ACK; if the one or more ACK/NACK bits are two bits, applying quadrature phase shift keying (QPSK) modulation to the first symbol based on a value of the two ACK/NACK bits; if no ACK/NACK bit exists, applying the first code to the first symbol; and transmitting the first symbol and a second symbol in a slot.

Abstract: A method for measuring the deflection of a fuel element can for a fuel element of a boiling water reactor involves taking an image of the fuel element can with a camera and evaluating the image using photogrammetry. By means of the method, it is possible to determine the deflection of a fuel element can by taking a single image, even in the absence of external structural features recognizable in the image, and without knowledge of the relative position between the camera and the fuel element can.

Abstract: A control portion is configured to execute a preliminary movement process of causing a movement mechanism to execute a preliminary movement operation of moving the movement support body with an imaging device attached thereto to a preliminary target stop position that is preset as a target stop position and stopping the movement support body at the preliminary target stop position; an imaging process of causing the imaging device to image an imaging target location in a state in which the movement support body is stopped at the preliminary target stop position; an offset amount calculation process of calculating, based on a captured image obtained by the imaging process, a positional offset amount of the movement support body in a front-rear direction and a lateral direction from a proper position of the movement support body; and a correction process of correcting the preliminary target stop position based on the positional offset amount calculated by the offset amount calculation process and setting the tar

Abstract: The present invention relates to an apparatus and a method for cleaning a nuclear fuel element in a liquid filled space. The fuel element comprises an inner space with an opening. The apparatus comprises a connecting element, which is adapted to be connected to a portion of the fuel element, which comprises said opening and flow means, which is adapted to create, at least during a part of a cleaning process of the fuel element, a liquid flow through inner space of the fuel element via said opening.

Abstract: The present invention relates to a nuclear power plant cable including: conductors; at least one or more insulation layers adapted to correspondingly surround the conductors; a sheath adapted to surround the insulation layers; and monitoring means adapted to monitor the states of the insulation layers or the state of the sheath in real time.

Abstract: A method of evaluating at least one quantity relating to the distortion of a nuclear fuel assembly, the method including the following steps: the nuclear fuel assembly is placed in a volume of water bounded by an upper free surface; a camera is placed outside the volume of water, above the free surface; at least one image of at least one lateral face of the nuclear fuel assembly is taken; the at least one image is analyzed graphically and the at least one quantity relating to the distortion of the nuclear fuel assembly is deduced therefrom.

Abstract: A tool for inspecting a cell formed by grid beams of a top guide structure in a nuclear reactor is provided. The tool includes a camera; a support structure coupled to the camera for contacting at least one of the grid beams to support the camera within the cell; and at least one actuator moving the camera with respect to the support structure and along one of the grid beams, the at least one actuator coupling the camera to the support structure. A method for inspecting a cell formed by grid beams of a top guide structure in a nuclear reactor is also provided.

Abstract: An optical gamma thermometer includes a metal mass having a temperature proportional to a gamma flux within a core of a nuclear reactor, and an optical fiber cable for measuring the temperature of the heated metal mass. The temperature of the heated mass may be measured by using one or more fiber grating structures and/or by using scattering techniques, such as Raman, Brillouin, and the like. The optical gamma thermometer may be used in conjunction with a conventional reactor heat balance to calibrate the local power range monitors over their useful in-service life. The optical gamma thermometer occupies much less space within the in-core instrument tube and costs much less than the conventional gamma thermometer.

Abstract: In inspection system for inspecting the interior of a steam generator includes, in one aspect, a first boom and a second, telescoping boom having a proximal end pivotally attached to the first boom and a distal end bearing a delivery capsule, the delivery capsule defining a storage bay. The inspection system includes a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay and itself defines a storage bay. The first robotic inspection vehicle includes at least one inspection camera and at least one lighting system. The first robotic inspection vehicle further includes cabling connecting the first robotic inspection vehicle to the delivery capsule. The inspection system also includes a second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay.

Abstract: An inspecting device including a detachable probe has a link structure, and thus a subject having various diameters is tested. In addition, since various probes are changeably used in a scanner housing, ultrasonic wave testing and eddy current testing are simultaneously performed.

Abstract: A method and an apparatus for test an annular weld at a main coolant line connected to a reactor pressure vessel in a nuclear power plant, include a self-propelled submersible vehicle which is introduced into an opened, flooded reactor pressure vessel. The submersible vehicle has at least one test device to be placed against an inner circumferential surface of the main coolant line and moved in circumferential direction of the main coolant line. The submersible vehicle is advanced into the main coolant line, which is also flooded, and is fixed in the region of the weld by radially deployable spreading or extension arms. The test device is then placed against the weld and is moved therealong in the circumferential direction.

Abstract: The present invention relates to an inspection apparatus for detecting defects in a test object in a liquid filled space. The inspection apparatus comprises an inspection body, a camera and vertical positioning equipment adapted to adjust the position of the camera in a vertical direction. The vertical positioning equipment comprises an elongated element having a vertical portion, a fastening member adapted to attach the detection device to the vertical portion, a vertical drive mechanism adapted to provide a motion of the vertical portion of the elongated element such that it moves the detection device to a desired vertical position along a vertical axis. The vertical portion of the elongated element has the property of being torsion rigid about the vertical axis.

Abstract: A method of evaluating at least one quantity relating to the distortion of a nuclear fuel assembly, the method including the following steps: the nuclear fuel assembly is placed in a volume of water bounded by an upper free surface; a camera is placed outside the volume of water, above the free surface; at least one image of at least one lateral face of the nuclear fuel assembly is taken; the at least one image is analyzed graphically and the at least one quantity relating to the distortion of the nuclear fuel assembly is deduced therefrom.

Abstract: A method of repairing a nuclear fuel cell wall and tools useful for performing that repair are described. A repair tool may be used to align a jack near a region of a bent or distorted structural component of nuclear fuel cell and that jack may be used to apply a force to that structural component. Application of such a force may serve to bend the structural component of a nuclear fuel cell in a way to restore the structural component to its position before damage occurred. The repair tool includes a way of mounting that tool to a fuel cell, positioning elements to align the tool near a structural deformation or bent element and a jack that may be use to apply a force to at least one structural component in a fuel cell.

Abstract: A method of inspecting, performing maintenance on, or repairing a nuclear reactor may include operatively connecting a fixing device, a first track, an arm including one or more second tracks, and an effector to form an apparatus; inserting the apparatus into the reactor; fixing the apparatus within the reactor; and operating the apparatus. At least one of the one or more second tracks may include at least three track sections. The arm may have a contracted length. The arm may have an expanded length. The expanded length may be greater than two times the contracted length. The first track may include one or more motors configured to move the arm relative to the first track. A method of operating a reactor may include shutting down; inspecting, performing maintenance on, or repairing the reactor; and starting up the reactor.

Abstract: An apparatus for inspecting a nuclear reactor may include a track, arm, fixing device, and effector. The arm may be operatively connected to the track, the fixing device may be operatively connected to the track, and the effector may be operatively connected to the arm. The arm may have contracted and expanded lengths. The expanded length may be greater than two times the contracted length. The track may include one or more motors adapted to move the arm relative to the track. A method of inspecting, performing maintenance on, or repairing a reactor may include: operatively connecting a fixing device, track, arm, and effector to form an apparatus; inserting the apparatus into the reactor; fixing the apparatus within the reactor; and operating the apparatus. A method of operating a reactor may include shutting down; inspecting, performing maintenance on, or repairing the reactor; and starting up the reactor.

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: Methods and systems for quantitative image quality assessment of an imaging system, such as an in vessel visual inspection system, having a target, an image capture device and a computer. The target includes one or more image features with varying spatial resolutions and predetermined spatial frequencies. The image capture device is configured to capture an image of the target. The computer includes a processor, a memory, and computer executable instructions. The computer is configured to receive the captured image, prepare one or more intensity profiles across the captured image responsive to the predetermined spatial frequencies, and determine a modulation transfer function responsive to the one or more intensity profiles.

Abstract: A method to insert nuclear fuel pellets into a fuel rod cladding tube, having the steps of providing a cladding tube, providing at least one nuclear fuel pellet to be incorporated into the cladding tube, measuring a length of the at least one nuclear fuel pellet with a camera, comparing the length of the at least one nuclear fuel pellet to an expected length, and incorporating the at least one nuclear fuel pellet into the cladding tube when the compared length of the at least one nuclear fuel pellet is within a threshold value of the expected length.

Abstract: A method to load a nuclear fuel rod, comprising, providing nuclear fuel pellets in a fuel plate transfer unit; transferring the nuclear fuel pellets from the fuel plate transfer unit to a fuel pellet column through the use of a belt, indexing the nuclear fuel pellets in the fuel pellet column to a nuclear fuel pellet loading machine; and pushing the fuel pellet column into a fuel rod cladding.

Abstract: The invention concerns a device (1) for controlling the exterior aspect of fuel rods (2) for nuclear reactors, said device comprising optical means (40) having at least one camera (42, 42?) and linked to an image acquisition and processing system (48) capable of detecting geometric defects present on each rod (2) to be controlled, and further comprising a roughness tester (50) controlled in such a way as to measure the depth of each geometric defect detected by the image acquisition and processing system (48). Moreover, the invention further concerns a method capable of being implemented with the aid of said device (1).

Abstract: The invention concerns a device (1) for controlling the exterior aspect of fuel rods (2) for nuclear reactors, said device comprising optical means (40) having at least one camera (42, 42?) and linked to an image acquisition and processing system (48) capable of detecting geometric defects present on each rod (2) to be controlled, and further comprising a roughness tester (50) controlled in such a way as to measure the depth of each geometric defect detected by the image acquisition and processing system (48). Moreover, the invention further concerns a method capable of being implemented with the aid of said device (1).

Abstract: A method of determining wetness fraction of steam vapor-water mixture in a flow path of a steam turbine includes: a) locating a plurality of acoustic pressure sensors at axially spaced locations along the flow path; b) measuring acoustic pressures from noise in the flow path; c) calculating the speed of sound of the vapor-water mixture; and d) calculating the mass fraction of water in the mixture from the speed of sound of the mixture.

Abstract: A method of inspecting an operation of sealed closure by welding an end opening of a filling channel axially traversing an upper plug for closing the cladding of a fuel rod for a nuclear reactor, the cladding of the rod containing a plurality of pellets of nuclear fuel stacked in the axial direction of the cladding and two closure plugs, one of the plugs or the upper plug being traversed axially by the channel for filling the cladding of the rod with an inert gas and the sealed closure by welding of the filling channel of the upper plug being carried out after filling the cladding with inert gas, in a filling apparatus, by melting central part of the end of the upper plug adjacent to the opening of the filling channel, this method allowing for inspection of the conditions for implementing and carrying out the sealed closure of the upper plug by welding, efficiently and without extending the time needed for the manufacture of the fuel rod.

Abstract: Before welding, the plug and the sleeve of the fuel rod being in the welding position at the welding station, the sleeve and the plug of the fuel rod are rotated about their common axis with the aid of rotation means, images are taken along the periphery of the fuel element to obtain digitized images, the digitized images are analyzed to determine the position of the joint plane between the sleeve and the plug of the fuel rod, and the rotation of the fuel element is verified. It is deduced whether it is possible to perform the welding or not. If welding is performed, images are taken of the fuel element along the periphery of the fuel element, in the vicinity of a joint line between the sleeve and the plug, to obtain digitized images which are analyzed to check the conformance of a weld made along the joint line.

Abstract: A guide tube inspection camera fixture for inspecting internal surfaces of nuclear reactor control rod guide tubes is provided. In an exemplary embodiment, the guide tube camera fixture includes a base plate, a unit-body tower having a first end and a second end, and a support bracket coupled to the unit-body tower. The unit-body tower is coupled to the base plate, and the support bracket is configured to support an inspection camera.

Abstract: A guide tube inspection camera fixture for inspecting internal surfaces of nuclear reactor control rod guide tubes is provided. In an exemplary embodiment, the guide tube camera fixture includes a base plate, a unit-body tower having a first end and a second end, and a support bracket coupled to the unit-body tower. The unit-body tower is coupled to the base plate, and the support bracket is configured to support an inspection camera.

Abstract: A water monitoring system for a nuclear reactor is provided. In an exemplary embodiment, the water monitoring system includes a fiber optic cable having a first end and a second end, with the first end configured to optically couple to the reactor cooling water distribution system, and at least one laser light source optically coupled to the second end of the fiber optic cable. The water monitoring system also includes a spectrophotometer optically coupled to the second end of the fiber optic cable.

Abstract: The present invention is used to reduce thermal load itself, being the cause to generate stress, which develops near liquid surface in a nuclear reactor wall and to contribute to further improvement of safety. A partition member (5) is arranged above a coolant liquid surface (9) in an annulus space (3) between a reactor vessel (1) and a guard vessel (2), a low-temperature gas is circulated through the annulus space above the partition member to cool down, the gas is circulated through the annulus space from under the coolant liquid surface to the partition member, and the high-temperature gas heated under the coolant liquid surface is used to raise the temperature above the coolant liquid surface.

Abstract: An inspection apparatus for inspecting welds in a nuclear reactor jet pump includes a probe subassembly rotatably and linearly movably coupled to a frame structure configured to attach to a top flange of the reactor pressure vessel. The probe subassembly includes a plurality of probe arms pivotably coupled to a housing, with each probe arm including a sensor. The probe arms are pivotably movable between a first position where the probe arms are parallel to a longitudinal axis of the probe subassembly, and a second position where the probe arms are at an angle to the longitudinal axis of the probe subassembly. An insertion subassembly couples to the jet pump suction inlet. The insertion subassembly is sized to receive the probe subassembly and guide the probe subassembly into the jet pump through the jet pump suction inlet.

Abstract: The invention concerns a control method in an installation (9) filling a pencil (1) with inert gas under pressure inserted in the sheath (2) of the pencil via a filling channel passing through the top cap (4) of the pencil (1). The sealed closure of the pencil (1) after it has been filled is carried out by welding means such as a laser beam melting part of the top cap (4) of the fuel pencil (1) at the periphery of the pencil filling channel (7).

Abstract: An end effector for supporting an ultrasonic testing probe on a robot arm having a robot mounting bracket for use in a nuclear reactor pressure vessel. The end effector has a wrist assembly with a rotatable wrist axle. The wrist assembly is coupled to the robot mounting bracket and a probe assembly is coupled to the wrist shaft. The ultrasonic testing probe is floatably disposed within the probe assembly.

Abstract: Nuclear fuels are taken from a nuclear reactor pressure vessel, a rail for running is mounted under the reactor pressure vessel drain piping in parallel with a horizontal portion of the reactor pressure vessel drain piping inside a pedestal positioned on the lower side of the reactor pressure vessel, an inspection apparatus is mounted on the rail, and the inspection apparatus is moved along the rail to inspect the reactor pressure vessel drain piping, whereby the reactor pressure vessel drain piping can be surely inspected while reducing radiation exposure to an inspector.

Abstract: A device and a method for inspecting fuel elements of a nuclear reactor underwater are described. A remote controlled miniature endoscope forming part of an inspection device is introduced into the fuel element and the non-easily accessible parts of the fuel element located therein are inspected without having to disassemble the fuel element.

Abstract: A device for inspecting the interior of steam generators capable of visually inspecting interior of tubes in steam generators, including upper portions steam generator tubes, tops and bottoms of support plates, wrapper-to-support plate welds, and other internal structures.

Abstract: A method and an apparatus introduce a self-propelled in-pipe manipulator into the interior of a pipeline. A hollow body receives the in-pipe manipulator, is open at least at one end surface and is positioned at an opening of the pipeline, from where the in-pipe manipulator can drive on its own into the pipeline.

Abstract: A preventive maintenance apparatus for structural members inside a nuclear reactor pressure vessel includes a ring-shaped guide rail having a plurality of lugs which is placed on an upper flange of a core shroud provided inside a reactor pressure vessel. At least some of lugs separately engage with a plurality of guide rods provided on an inner surface of the reactor pressure vessel. A turntable is rotated on the guide rail. A first discharging nozzle moving apparatus placed on the turntable moves a first discharging nozzle for adding compressive remaining stress to an outer surface of the core shroud in a radial direction of the core shroud and in an axial direction of the core shroud. A second discharging nozzle moving apparatus placed on the turntable moves a second discharging nozzle for adding compressive remaining stress to an inner surface of the core shroud in a radial direction of the core shroud and in an axial direction of the core shroud.

Abstract: The proposed installation comprises an abrasive liquid jet cutting module using a mobile nozzle (25) rotatable in all directions and which also supports a sensor (37) so that it can previously recognize the position or shape of the structure to be cut, a dosimeter (49) to measure its irradiation and a decontamination device (51) to eliminate all excess contamination from it. Cutting residue may be collected by suction. The installation is more universal than previously known installations.

Abstract: Apparatus for rectifying the tendency of a fuel assembly (1) to incline from the perpendicular has a top nozzle support (19) and a base assembly (18) for supporting, respectively, a top nozzle (7) and a bottom nozzle (2) of the fuel assembly. Incorporated in the base assembly is an elevating device (78, 79) which is operable to raise the fuel assembly. When raised, a grinding assembly (62) in the base assembly is able to remove material from the lower surfaces of the bottom nozzle so that they lie in a horizontal plane. The elevating device comprises a gimbal mounting arrangement which includes a gimbal (94) movably supported on a gimbal mount (88) by means of cooperating male and female spherically-shaped bearing surfaces. The grinding assembly includes a grinding wheel (66) which is mounted on a rotor (43) arranged for rotation about an axis along which the elevating device raises the fuel assembly so that material can be removed from each of the lower surfaces during one revolution of the rotor.

Abstract: A nuclear fuel identification system for use in nuclear power plants has an imaging system having a video camera and an array of illuminators surrounding the video camera and positioned to shine onto a nuclear fuel cell. The illuminators are sequentially activated to provide a series of images each having a different shadow pattern. These images are then digitized and stored until a complete set of the images are available. At that time, the images are superimposed and optimized for improved contrast. By viewing the distinct shadow patterns on the nuclear fuel cell, the identifying markings are readily visible. In addition to the shadow imaging system, a variety of laser devices are used to accomplish similar image generating functions. Such laser devices include a laser scanner, a distance laser device, an interferometer, a holographic interferometer, and a bi-refringent crystal prism.

Abstract: An automated system for identifying nuclear power plant components includes a camera which provides an input signal from an image of the nuclear power plant components. A digitizer generates a digitized image of the nuclear power plant components from the input signal. A workstation locator routine locates the component identifier of the nuclear power plant components from pixel elements of the digitized image and a workstation determining routine determines the component identifier. The determining routine includes plural recognizer routines each having an output providing an intermediate recognition of the component identifier, and a combining routine combining the outputs of the recognizer routines to recognize the component identifier. Each of the outputs includes an intermediate identifier and a corresponding confidence value.

Abstract: A refueling machine having relative positioning capability for refueling a nuclear reactor. The refueling machine includes a pair of articulated arms mounted on a refueling bridge. Each arm supports a respective telescoping mast. Each telescoping mast is designed to flex laterally in response to application of a lateral thrust on the end of the mast. A pendant mounted on the end of the mast carries an air-actuated grapple, television cameras, ultrasonic transducers and waterjet thrusters. The ultrasonic transducers are used to detect the gross position of the grapple relative to the bail of a nuclear fuel assembly in the fuel core. The television cameras acquire an image of the bail which is compared to a pre-stored image in computer memory. The pendant can be rotated until the television image and the pre-stored image match within a predetermined tolerance.