An inspection robot, and methods and a controller thereof are disclosed. An inspection robot may include an inspection chassis including a plurality of inspection sensors and coupled to at least one drive module to drive the robot over an inspection surface. The inspection robot may also include a controller including an inspection data circuit to interpret inspection base data, an inspection processing circuit to determine refined inspection data, and an inspection configuration circuit to determine an inspection response value in response to the refined inspection data. The controller may further include an inspection response circuit to, in response to the inspection response value, provide an inspection command value while the inspection robot is interrogating the inspection surface.

A method for analyzing a heat exchanger includes a structural model creation step (S1) of creating a structural model of a heat exchanger; a iron-linear model creation step (S4) of creating a iron-linear model in which a non-linear spring element in an out-of-plane direction, in which a load is generated only at me time of contact between a heat transfer tube and an anti-vibration member, is applied to an opposing portion between the heat transfer tube and the anti-vibration member in a structural model, and a load distribution acquisition step (S5) of performing analysis in which a load in the out-of-plane direction is applied to the non-linear model to acquire load distribution of the heat exchanger from a value of the load in each opposing portion.

Systems, methods, and apparatus for tracking location of an inspection robot are disclosed. An example apparatus for tracking inspection data may include an inspection chassis having a plurality of inspection sensors configured to interrogate an inspection surface, a first drive module and a second drive module, both coupled to the inspection chassis. The first and second drive module may each include a passive encoder wheel and a non-contact sensor positioned in proximity to the passive encoder wheel, wherein the non-contact sensor provides a movement value corresponding to the first passive encoder wheel. An inspection position circuit may determine a relative position of the inspection chassis in response to the movement values from the first and second drive modules.

A method is provided for evaluating simultaneously the effects of multiple, interdependent heat-exchanger degradation modes for a heat exchanger of a power plant in the context of a series of alternative heat-exchanger remediation strategies. The method includes calculating time-varying predicted future progressions of heat exchanger performance metrics for a plurality of alternative heat-exchanger remediation strategies, and calculating time-varying predicted future progressions of financial metrics describing the accumulated financial benefit of each of the strategies. The calculations may be provided in probabilistic terms. A strategy may then be chosen based, at least in part, on the calculated results.

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

A method and apparatus for manipulating a tool within the secondary side of a steam generator having a tube sheet with a tube bundle having a plurality of heat exchange tubes extending from the tube sheet in rows with an annulus extending around the heat exchange tubes on a periphery of the tube bundle, between the tubes and a wrapper which surrounds the tube bundle. A robot is introduced into the annulus and extends a probe with a tool across selected lanes between the rows of tubes. A method and apparatus is also disclosed for cleaning sludge from the top of a tube sheet that includes introducing a moveable suction apparatus having attached vacuum inlets into either the no tube lane or the circumferential annulus and sludge vacuuming the top of the tube sheet.

A system includes an inspection robot having an input sensor comprising a laser profiler and a plurality of wheels structured to engage a curved portion of an inspection surface, wherein the laser profiler is configured to provide laser profiler data of the inspection surface; a controller, comprising: a profiler data circuit structured to interpret the laser profiler data; determine a feature of interest is present at a location of the inspection surface in response to the laser profiler data; and wherein the feature of interest comprises a shape description of the inspection surface at the location of the feature of interest.

A system includes an inspection robot for performing an inspection on an inspection surface with an inspection robot, the apparatus comprising a position definition circuit structured to determine an inspection robot position on the inspection surface; a data positioning circuit structured to interpret inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position, wherein the position informed inspection data comprises absolute position data.

An enhancing device for piercing plugs in a steam generator is provided. The enhancing device includes a main body, and a bit, borne by the main body and extending along a longitudinal axis. The bit may be driven into rotation around its longitudinal axis, in order to perform an action for piercing a plug. The device includes a hollow tubular element, extending along the longitudinal axis, while surrounding the bit and coaxially with this bit, the tubular element including an outer surface having a screwing thread, intended to be screwed onto the plug prior to the piercing. The tubular element may be driven into rotation around the longitudinal axis, independently of the rotation of the bit.

An erosion device and a corresponding method are disclosed for machining a hollow-cylindrical workpiece, wherein the device is elongated and/or formed in the manner of a tube or cylinder and is characterized in that at least two rotationally acting drives (A1, A2), each with a drive shaft (AW1, AW2), and also an erosion electrode (E), interacting with the drives (A1, A2) and formed in the manner of a ring or disc, are provided. The drives (A1, A2) and the electrode (E) are adapted in size and extent to the internal diameter of the workpiece (W) to be machined, so that the device can be introduced into the respective hollow-cylindrical workpiece (W) and can be positioned at the location respectively to be machined or the region to be machined in the workpiece (W), and the erosion electrode (E) can be pivoted or can be rotated by a coupled pivoting or rotating movement of the at least two drives (A1, A2).