Provided is a remotely operated manipulator which can be applied to a space which is wider on a back side than at an opening part, which has a simple structure, high stiffness, and high reliability. The remotely operated manipulator of the present invention includes: a circular base fixed to a wall surface; a beam which rotates on the circular base; a trolley which moves on the beam; and a mast which is raised and lowered with respect to the trolley and is mounted with a tool unit at a tip. Stiffness is improved by directly fixing the beam to the wall surface by a beam fixing device. Further, a work region is expanded by mounting a bending mast on the tip of the mast.

This invention generally concerns robotic systems and is specifically concerned with an improved apparatus and method for inspecting nuclear reactor components in limited access areas, such as, the core annulus, core spray and feedwater sparger regions of a nuclear reactor. This invention includes an apparatus for remotely operating and positioning at least one inspection device for inspecting at least one component in an annulus region of a reactor pressure vessel of a nuclear power plant. The apparatus includes a track, a braking system and a frame assembly which has a frame movably connected to the track, at least one mast assembly and at least one mast positioning assembly. The at least one inspection device is attached to the at least one mast assembly. In certain embodiments, the at least one mast assembly includes a mast that is capable of becoming rigidly stable in both an extended tube form and a retracted rolled form.

This invention generally concerns robotic systems and is specifically concerned with an improved apparatus and method for inspecting nuclear reactor components in limited access areas, such as, the core annulus, core spray and feedwater sparger regions of a nuclear reactor. This invention includes an apparatus for remotely operating and positioning at least one inspection device for inspecting at least one component in an annulus region of a reactor pressure vessel of a nuclear power plant. The apparatus includes a track, a braking system and a frame assembly which has a frame movably connected to the track, at least one mast assembly and at least one mast positioning assembly. The at least one inspection device is attached to the at least one mast assembly. In certain embodiments, the at least one mast assembly includes a mast that is capable of becoming rigidly stable in both an extended tube form and a retracted rolled form.

A method and system for acquiring, manipulating and displaying inspection data obtained by sensors associated with submersible inspection vehicle within a housing having a liquid medium is disclosed in the present application. A control system including an electronic controller is operably coupled with the inspection vehicle and is configured to display data transmitted from the sensor and overlay input data from an operator on the display to facilitate real time analysis during the inspection event.

A vision-based state estimation framework to estimate the state of an underwater remotely operated vehicle (ROV) used for inspection of an underwater structure, for example, a nuclear reactor pressure vessel. The framework employs an external overhead, pan-tilt-zoom (PTZ) camera as the primary sensing modality and incorporates prior knowledge of the geometry of the structure.

A vision-based state estimation framework to estimate the state of an underwater remotely operated vehicle (ROV) used for inspection of an underwater structure, for example, a nuclear reactor pressure vessel. The framework employs an external overhead, pan-tilt-zoom (PTZ) camera as the primary sensing modality and incorporates prior knowledge of the geometry of the structure.

Systems, methods and apparatuses for inspecting a tank containing a flammable fluid are provided. The system includes a vehicle having a propeller, a latch mechanism, a pressure switch, and an inspection device. The system includes a control unit in communication with the propeller, the latch mechanism, and the inspection device, and electrically connected to the pressure switch. The control unit powers on responsive to the pressure switch detecting an ambient pressure greater than a minimum threshold. The control unit receives, from the latch mechanism, an indication of a state of the latch mechanism. The control unit determines that the cable used to lower the vehicle into the tank containing the flammable fluid is detached from the vehicle. The control unit commands the propeller to move the vehicle through the flammable fluid. The control unit determines a quality metric of a portion of the tank.

A mobile robotic assembly for guiding an end effector in inspecting reactor vessel heads is disclosed. The mobile robotic assembly includes a mobile platform; a support assembly extending vertically from the mobile platform, wherein the support assembly comprises an adjustable height; and a robotic arm attached to and extending laterally from the support assembly.

A mobile robotic assembly for guiding an end effector in inspecting reactor vessel heads is disclosed. The mobile robotic assembly includes a mobile platform; a support assembly extending vertically from the mobile platform, wherein the support assembly comprises an adjustable height; and a robotic arm attached to and extending laterally from the support assembly.

An apparatus for performing an inspection on the beams of the top guide of a BWR includes a housing, an alignment assembly, and an inspection system. The housing is receivable atop the upper edges of a first pair of beams adjacent a receptacle of the top guide. The reception of the housing atop the upper edges of the first pair of beams is facilitated by the alignment assembly which includes a plurality of legs that are simultaneously moved between a retracted position wherein one or more of the legs is disengaged from the beams within the receptacle and an extended position wherein all of the legs are engaged with the beams of the top guide within the receptacle. The inspection system includes a pair of inspection elements that are translated above a second pair of beams that are adjacent the receptacle and that do not have the housing received thereon.