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.

A tool is receivable into an interior region of a core shroud of a Boiling Water Reactor. The tool includes an elongated frame, an elevator apparatus situated on the frame, and a manipulator apparatus situated on the elevator apparatus. The tool further includes a reciprocation apparatus that is situated on the manipulator apparatus and that has a mount that is structured to carry a device thereon. The reciprocation apparatus includes an elongated rack of an arcuate profile. The elevator apparatus is operable to move the reciprocation apparatus along the longitudinal extent of the frame. The tool further includes a foot apparatus that is situated at an end of the frame and that is receivable on a core plate to enable the frame to be pivoted about an axis of elongation of the frame with respect to the core plate.

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 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.

A deployment system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The deployment system includes a mount connectable to the housing through an aperture formed in a wall thereof. An extendable arm is connected to the mount and positioned within the housing. A tether is slidably coupled to the extendable arm and adapted to connect with the inspection vehicle. A control mechanism is operable to control deployment of the tether and the position of the extendable arm.

A tool is receivable into an interior region of a core shroud of a Boiling Water Reactor. The tool includes an elongated frame, an elevator apparatus situated on the frame, and a manipulator apparatus situated on the elevator apparatus. The tool further includes a reciprocation apparatus that is situated on the manipulator apparatus and that has a mount that is structured to carry a device thereon. The reciprocation apparatus includes an elongated rack of an arcuate profile. The elevator apparatus is operable to move the reciprocation apparatus along the longitudinal extent of the frame. The tool further includes a foot apparatus that is situated at an end of the frame and that is receivable on a core plate to enable the frame to be pivoted about an axis of elongation of the frame with respect to the core plate.

A method of inspecting a structure for cracks is disclosed. The method includes the steps of moving an inspection vehicle along a pre-determined path through an area to be inspected, the inspection vehicle having a camera apparatus configured to scan the area to be inspected; using the camera apparatus to scan the area to be inspected at a pre-determined distance per second, thereby capturing scan data for analysis; and analyzing the scan data to classify cracks in the structure.

A method of inspecting a structure for cracks is disclosed. The method includes the steps of moving an inspection vehicle along a pre-determined path through an area to be inspected, the inspection vehicle having a camera apparatus configured to scan the area to be inspected; using the camera apparatus to scan the area to be inspected at a pre-determined distance per second, thereby capturing scan data for analysis; and analyzing the scan data to classify cracks in the structure.

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

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