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.

An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.

An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.

A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.

A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube.

Systems, methods and apparatuses for inspecting a tank containing a flammable fluid are provided. A vehicle configured to inspect the tank can include a propeller, a battery, a control unit, an inspection device, and a ranging device. The battery provides power to the propeller, the control unit, the inspection device, and the ranging device. The control unit generates a map of the tank. The control unit determines a first position of the vehicle on the map of the tank. The propeller moves the vehicle through the flammable fluid in the tank. The inspection device determines a quality metric of a portion of the tank. The control unit causes the propeller to move the vehicle from the first position to a second position within the tank. The control unit determines the quality metric for the portion of the tank at the second position within the tank, and stores the quality metric.

The method includes installing a system for inspecting the core shroud on the core shroud, driving the system horizontally around the core shroud, and using a sensor of the system to inspect the core shroud, where the system includes a trolley, an arm, a tether, and a remotely operated vehicle (ROV) for inspecting the core shroud. The ROV includes a body configured to be operatively connected to the tether, and the sensor is configured to be operatively connected to the body, and configured to provide inspection information of the core shroud. The arm is configured to be operatively connected to the trolley. The ROV is configured to be operatively connected to the arm via the tether, and the tether is configured to provide vertical position information for the ROV relative to the outer surface of the core shroud.

The method includes installing a system for inspecting the core shroud on the core shroud, driving the system horizontally around the core shroud, and using a sensor of the system to inspect the core shroud, where the system includes a trolley, an arm, a tether, and a remotely operated vehicle (ROV) for inspecting the core shroud. The ROV includes a body configured to be operatively connected to the tether, and the sensor is configured to be operatively connected to the body, and configured to provide inspection information of the core shroud. The arm is configured to be operatively connected to the trolley. The ROV is configured to be operatively connected to the arm via the tether, and the tether is configured to provide vertical position information for the ROV relative to the outer surface of the core shroud.

Leak-detection systems for detecting fluid leaks in component(s) included in an apparatus are disclosed. The leak-detection systems may include an inspection vehicle for inspecting the component(s) of the apparatus. The inspection vehicle may include at least one camera positioned on a housing, and a fluid-detection tool coupled to the housing. The fluid-detection tool may detect fluids leaking from the component(s) of the apparatus. The leak-detection system may also include a leak-detection device in electronic communication with the fluid-detection tool of the inspection vehicle. The leak-detection device may be configured to identify a specific component of the apparatus leaking a fluid using fluid detection data generated by the fluid-detection tool of the inspection vehicle, and predetermined component data relating to each component of the apparatus. The leak-detection device may also be configured to provide a notification including component-leak information relating to the specific component of the apparatus leaking the fluid.

A repairing system (2) is used for applying an adhesive to a location to be repaired underwater in a container. The repairing system (2) comprises a movable and remotely controlled repairing robot (10) that is configured to be driven underwater. The repairing robot (10) comprises a repairing module (12) that is configured to be coupled with an adhesive applying module (34). The adhesive applying module (34) is configured to dispense an adhesive on the location to be repaired. Further, a repairing method is described.