INVADER - In Vessel and Annulus Data Evaluation Robot

(patent pending)

R.O.V. Technologies' INVADER is the latest generation of BWR IVVI tooling.

INVADER is primarily designed to operate concurrently with fuel moves, as well as with all other in-core tasks, saving the customer both time and radiological dose.

Once installed, INVADER can immediately begin IVVI tasks.

In most, if not all cases, INVADER operates off of critical path.  This feature allows for savings of precious critical path hours, saving the customer anywhere from several hours to several days of overall outage time versus conventional methods.

INVADER operates on the steam dam, completely out of the way of all other in-vessel activities.  Once installed, INVADER does not require the use of either the refueling or auxiliary bridges; allowing them to be focused on critical path activities.

 

In situations where a work platform is not used, IVVI must be done from the bridge, and, because the bridge is required for fuel moves and other critical path activities, those fuel moves and other activities must stop for the time allotted for inspections, significantly prolonging the outage duration.

In situations where a work platform is utilized, INVADER still remains an effective solution.  Since INVADER operates on the steam dam, it can continue inspections while maintenance activities within the vessel, including fuel moves, CRD and LPRM replacements, are accomplished using the work platform.

Additionally, INVADER is operated remotely from a clean area, therefore providing significant ALARA benefits as compared to traditional IVVI methods.

Capabilities:

• Can complete any IVVI task from the head flange down to the baffle plate, on both the annulus and vessel side – literally hundreds of EVT-1, VT-1 and VT-3 inspections.
• Completes its tasks remotely while fuel moves and other associated activities are in progress and without the aid of a work platform, refuel bridge, or auxiliary bridge.
• On-board camera calibration for all three inspection cameras.

Installation and Removal:

• Installs on the steam dam.
• Installation into the vessel takes less than one hour using the refuel or auxiliary bridge and jet pump grapple.
• Removal from the vessel is also accomplished in less than one hour.

Staffing Requirements:

• A crew size of 11.
• This is a substantial reduction in manpower versus traditional IVVI methods.

Specifications:

• Weight: 450 lbs out of water.

Standard Configuration:

• Billet aluminum, hard anodized body and components.
• Two rotating turrets – each with 26 foot telescoping masts - one up mast and one down mast.
• Fiber drive – deploys additional specialty cameras into annulus or vessel.  Cameras are deployed and interchanged without the use of the refuel bridge.
• A mini submersible can be used for specialty camera fiber drive installation and removal.
• All cameras are color, EVT-1 qualified and equipped with dual, individually controlled, high intensity lights.
• An additional remotely controlled stud camera is used for overview.

Camera Specifications:

Location	Mast 1, Mast 2, Float Can PTZ	1.375" Side View, 2.00"Side View
Type	Color	Color
Resolution	470TV Lines NTSC, 460TV Lines PAL	>470 Lines Horizontal, >350 Lines Vertical
Zoom	10x Optical, 4x Digital	Fixed
Focus	Automatic and Manual	Manual
Qualifications	EVT-1	EVT-1

Camera Inspection Areas:

Mast 1 Camera - enclosed in a proprietary shielded housing.
	Annulus – Core spray to shroud bolting, core spray nozzles, core spray end brackets Vessel – Top guide periphery
Mast 2 Camera - enclosed in a proprietary aluminum housing.
	Cladding above steam dam Main steam line inlet radius feedwater end brackets feedwater sparger and nozzles feedwater t-box feedwater t-box to pipe feedwater t-box to thermal sleeve core spray header brackets core spray pipe supports dryer guide rod brackets dryer and separator guide rod brackets
Float Can PTZ Camera - enclosed in a proprietary shielded housing.
	Core spray to shroud bolting All external jet pump and jet pump attachment inspections Cladding - below stream dam All horizontal and vertical shroud and vessel welds
1.375 Inch Side View Camera - enclosed in a proprietary shielded housing.
	Internal jet pump inspection through nozzle inlet
2.00 Inch Side View Camera - enclosed in a proprietary shielded housing.
	Core shroud, both annulus and vessel side

Control Consoles:

Modular consoles housed in hard-shell, shippable containers State of the art electronics Super, high resolution monitors Hard drive and DVD recording media Character generation and voice overlay Supports all motors, cameras, and camera lights Provides for remote monitoring of all motor functions All operator functions grouped for similarity and ease of operation

Optional Equipment:

Weld Cleaning System

Two Options: Pole Mounted or Mini Submersible Mounted Both options include a weld brush assembly consisting of a small but rugged clutch protected tilt assembly with 270 degrees of articulation, connected to a brush rotate assembly that has variable speeds from 0 rpm to approximately 800 rpm.  The brush rotate assembly can operate in both clockwise and counter clockwise directions.  A uniquely tapered bristle brush attached to the brush rotate assembly allows access into tight corners and angles. The mini submersible option features an on-board PTZF camera for aiding in brush placement and real-time cleaning inspection. Click here for more details on the R.O.V. weld cleaning system.