Device and installation for extracting at least one migrating body present within a fuel assembly of a nuclear reactor

Abstract

The invention relates in particular to a device (4) for extracting at least one migrating body present within a combustible assembly, characterized in that it comprises: - a platform (40) movable along three perpendicular axes x, y and z, respectively longitudinal, transverse and vertical; - a motorized arm (6) mounted longitudinally on said platform (40), this motorized arm (6) being movable in rotation on itself and provided with a plate (60) shaped to pivot in the plane defined by the axes x and z; - at the free end of the plate (60), a detachable and interchangeable extraction tool (7) selected from the following group: a suction nozzle or cannula, movable in rotation on itself, a micro-gripper whose jaws have a travel, i.e. a maximum opening less than or equal to 3mm, the handling of the jaws of the gripper and of said micro-gripper being remotely controllable. Figure for the summary: Figure 6

Description

Title of the invention: Device and installation for extracting at least one migrating body present within a fuel assembly of a nuclear reactor

[0001] GENERAL TECHNICAL DOMAIN

[0002] The field of the present invention is that of the maintenance of nuclear fuel assemblies used in nuclear reactors, and more particularly that relating to the preparation of assemblies before introduction into reactor or storage in pool.

[0003] The term “preparation” will be understood here as any operation intended to restore the external cleanliness of the fuel assembly to as close as possible to that in which it was originally before its introduction into the core of the nuclear reactor, during its first loading, or before its storage in a pool.

[0004] It relates more particularly to a device and an installation for extracting at least one migrating body present within a fuel assembly of a nuclear reactor. STATE OF THE ART

[0005] With reference to the attached [Fig.1], a fuel assembly 1 is shown among the plurality of assemblies constituting the core of a nuclear reactor.

[0006] It comprises two upper end caps 10 and lower end caps 11 between which are the structure of the assembly (guide tubes 12 and grids 13), as well as fuel rods 14.

[0007] The fuel assembly 1 rests at the bottom of the reactor core 2 by the lower end 11.

[0008] When setting up such assemblies in the core, it is necessary that their positioning in their respective dedicated location gives them a stable hold, in a vertical position with reference to the X-X' axis of the largest dimension of the assembly 1.

[0009] The fuel assembly rests at the bottom of the core 2 on four support points 15, which constitute feet 15a and 15b visible in the attached [Fig.2].

[0010] The two feet 15b are perfectly flat, while the other two have a bore allowing for proper positioning of the tip 11 when installing the core assembly 1. The lower plate of the core is perforated with holes to allow the cooling water to circulate vertically from bottom to top. This cooling water, as it circulates in the primary circuit, may pick up debris, which is called "migrating bodies" (MB).

[0011] To prevent this debris from damaging the pencils, the lower assembly tip is equipped with a "debris-removal grid" 16, which filters it out. This grid can therefore become filled with debris during a cycle.

[0012] In the context of the present invention, the term "migrating body" means any object made of any endogenous or exogenous material that may have various origins and is commonly found in any industrial setting. Without limitation, this may include debris from welding or machining operations.

[0013] This can also include small components such as, for example, screws, nuts, washers, springs, metal shavings, etc.

[0014] During a shutdown with unloading, the assemblies are extracted to be inspected underwater, from all angles, using cameras, in search of various defects, then returned to the core for the next cycle or are placed in a cooling pool in the fuel building in order to remove any detected migrating bodies.

[0015] A migrating body present on the grid can have several impacts if the assembly is reloaded as is:

[0016] • By blocking part of the filter formed by the debris screen, it modifies the circulation of cooling water can induce vibrations / turbulence and lead to "fretting" (friction of the pencils on the skeleton of the assembly causing premature wear);

[0017] • If a migrating body is still present on the debris screen during reloading, During reloading, it could potentially pass through the debris screen and end up between the pencils. If it is a metallic object, there is a risk of cladding perforation and therefore of having an unclean core;

[0018] • During recharging, and in particular upon arrival of the lower nozzle of assembly on the lower core plate, a still-present migrating body can apply deformation to the assembly.

[0019] Potential impacts on the fuel rods can damage them, or even cause a rupture of the cladding which constitutes the first of the three safety barriers which prevents the dispersion of radioactive products contained in the fuel.

[0020] Furthermore, the possible deformation of the assembly due to a migrating body during reloading may make future extraction of this assembly from the core difficult.

[0021] If migrant bodies are detected inside a combustible assembly, they must be removed without fail.

[0022] The extraction of migrant bodies is, moreover, a task made difficult by hostile environmental conditions (irradiation, contamination, heat, etc.) specific to work in ionizing environments.

[0023] Suitable and robust tools must be used to make these operations possible, tools which must also be remotely controlled.

[0024] A fuel assembly AC consists of bundles of rods 14 whose inter-space (i.e. the space between two neighboring rods) is restricted, as shown in the attached [Fig.3], which makes it impossible to extract migrant bodies that may have lodged there, using currently available forceps.

[0025] A known solution to attempt to fulfill this function is shown in [Fig.4].

[0026] This is a tool 3 whose purpose is to perform the extraction of migrating bodies CM present inside AC fuel assemblies.

[0027] This tooling 3 comprises a movable table 30 along two perpendicular axes x and y, on which a clamp 31 is mounted. It is adapted to be positioned on a descender 32, that is to say a vertically movable device as represented in [Fig.5], along an axis z perpendicular to the two aforementioned axes.

[0028] This lowering device 32 is a piece of equipment present in the combustible building, whose main use is to allow the combustible assemblies to be lowered.

[0029] It is used here to support the mobile table 30 and also to ensure the positioning of the latter along the vertical axis (z-axis).

[0030] All of these operations can be controlled remotely and monitored via a "PTZ" camera, i.e. a camera capable of performing three types of movement: "Pan" to rotate, "Tilt" to tilt and "Zoom" to zoom.

[0031] Such a solution has a significant limitation, because:

[0032] 1. Only one pair of pliers can be used: this pair of pliers does not allow access to all the inter-pencil areas, so that extraction proves impossible in certain situations where the migrating body is inaccessible;

[0033] 2. The jaw typology of the pliers is not "FME" (for "Foreign Material"). "Exclusion" (which can be translated as "Exclusion of foreign matter"). Therefore, there is a risk that the jaws of the gripper could become dislodged and released during an operation, which would increase the risk of additional foreign bodies in the nuclear environment. This is therefore a risk to be avoided.

[0034] 3. Managing the torque during clamp insertion is not possible: There are no adjustments to allow for fine-tuning the force. This presents an operational difficulty and, above all, a risk to the tooling and the integrity of the fuel assembly.

[0035] 4. It is not possible to insert oneself into the inter-space beyond the third pencil: this constraint is major because it makes the extraction operation impossible if a body is detected beyond this area.

[0036] 5. The camera used is fixed (movement along the z-axis is impossible): the camera is equipped with a "Pan" and "Tilt" type motorization, but it lacks movement along the vertical axis in order to offer a usable view in all conditions.

[0037] 6. There is no suction device. However, suction can be a solution extraction in the case of light migrant bodies.

[0038] 7. The waste, that is to say the migrating body which is extracted, is managed in a pendulum fashion outside tools. This means that a bowl is suspended via an auxiliary handling system to deposit the waste collected by the grabber.

[0039] 8. There is no assembly retention system. Thus, the movement of The table and the clamp can trigger a movement of the assembly, so the operation of inserting the clamp proves delicate and time-consuming, given the lack of support for the combustible assembly during the operation.

[0040] 9. Only movements along the x and y axes are possible at the table level, of so that it is not possible to give the extraction tool a vertical movement.

[0041] 10. Managing the speeds of movements along the x and y axes is not possible. No adjustment is possible on the axis movement speeds, which impairs the tooling's maneuverability.

[0042] 11. There is no additional lighting system: the lighting is associated with the Surveillance camera. There are areas of shadow that prevent optimal lighting of the area to be inspected.

[0043] 12. There is no control system (no human-machine interface, no vision) (parameters) but a single joystick control. Thus, controlling the tool is tricky and not suited to the precision required to insert the gripper between the pencils.

[0044] 13. There is no tooling mounting support, so the assembly of The tooling requires auxiliary supports.

[0045] 14. The spare parts are specific: they are not commercially available and require special manufacturing.

[0046] 15. The tooling is electrically powered. However, electric motors are sensitive to ionizing radiation, so the lifespan of these elements is limited.

[0047] 16. The tooling is driven via gears, which are equipment with retention zones, which represents a major constraint for decontamination operations.

[0048] 17. The earthquake resistance of this equipment is not defined, so it cannot to be operated continuously in the combustible building without being compatible with earthquake resistance requirements.

[0049] 18. This tooling can only be used when positioned on the descender, so that Since its use is therefore very limited, the fuel assemblies must be handled for each extraction operation in order to be placed near the hoist.

[0050] The present invention aims to provide a simple and practical solution to at least some of these problems. PRESENTATION OF THE INVENTION

[0051] Thus, the invention relates primarily to a device for extracting at least one migrating body present within a fuel assembly of a nuclear reactor, characterized in that it comprises:

[0052] - a mobile platform along three perpendicular axes x, y and z, respectively longitudinal, transverse and vertical;

[0053] - a motorized arm mounted longitudinally on said platform, this motorized arm being mobile in rotation on itself and provided with a plate shaped to pivot in the plane defined by the x and z axes;

[0054] - at the free end of the plate, a detachable and interchangeable extraction tool chosen from the following group: a suction nozzle or cannula, a mobile clamp rotating on itself, a micro-clamp whose jaws have a travel, i.e. a maximum gap less than or equal to 3mm, the handling of the jaws of the clamp and of said micro-clamp being remotely controllable.

[0055] Thanks to these characteristics, it is possible to carry out aspiration or extraction operations of migrating bodies, even when these are lodged between fuel rods in the fuel assembly, in regions close to the core of the rod bundle, under particularly satisfactory access conditions.

[0056] According to other advantageous and non-limiting features of this device, taken alone or in any technically compatible combination of at least two of them:

[0057] - said tool includes a piston, preferably connected to a compressed air circuit.

[0058] Thus, we obtain greater freedom of movement along the x-axis, as well as an absence of sensitivity to ionizing radiation.

[0059] - said clamp or micro-clamp has magnetizable and lockable jaws.

[0060] Thus, there is no risk of losing it.

[0061] - said platform carries an additional arm, the free end of which is opposite to said platform is equipped with a receptacle for receiving said at least one migrant body.

[0062] Thus, a single device can collect the debris.

[0063] - said additional arm is provided to be telescopic.

[0064] Thanks to this feature, the receptacle can be positioned as close as possible to the extraction tool.

[0065] - said platform carries a camera.

[0066] Thus, the camera can follow the movement of the mobile platform, hence a better view of the migrant body and the extraction operation.

[0067] - said platform is equipped with at least one of the following group of equipment: at at least one electromagnet, for example in the shape of a saber, at least one laser device to facilitate the movement and positioning of the gripper or micro-gripper, at least one saber equipped with a double-sided adhesive tip, at least one force sensor, at least one encoder, at least one endoscope.

[0068] Thanks to this equipment, it is possible to deal with all extraction operations, and / or further improve the vision of the migrant body.

[0069] - said micro-clamp has jaws which have a range of motion, that is to say- specify a maximum gap between 0.8 mm and 3 mm.

[0070] Thus, the micro-gripper can grasp a migrating body, even in the case where the space between the pencils of the assembly is particularly reduced.

[0071] - said micro-clamp is equipped with a booster pump and an emergency air tank allowing the maintenance of its nutrition.

[0072] In this way, even if the power supply to the micro-clamp is interrupted, it is possible to operate it, so that the loss of migrating bodies is avoided.

[0073] The invention also relates to an installation for extracting at least one migrating body present within a fuel assembly of a nuclear reactor, and is characterized by the fact that it comprises a device according to one of the preceding characteristics, as well as a human-machine interface which includes at least one of the following equipment: emergency stop module for said device, remote control lever for said device and its mobile tools, module for limiting the forces on the motors which equip said mobile tools, control unit with display screen.

[0074] Thanks to these features, the operator has a direct view of the operations in progress and can intervene immediately, if necessary. DESCRIPTION OF THE FIGURES

[0075] Other features and advantages of the invention will become apparent from the description which will now be given, with reference to the attached drawings, which represent, by way of example but not limitation, at least one possible embodiment.

[0076] On these drawings:

[0077] Fig. 1 is a simplified perspective view of a combustible assembly in accordance with the prior art and discussed above;

[0078] Figure 2 is a simplified perspective and low-angle view of the face lower end of the lower end of the assembly of the [Fig.l];

[0079] The [Fig.3] is a diagram showing in cross-section, along a horizontal plane, the rods of a combustible assembly;

[0080] Fig. 4 is a perspective diagram of a tool for extracting migrant bodies in accordance with the prior art and discussed above;

[0081] The [Fig.5] is a perspective view intended for mounting a descender with which the tooling of the [Fig.4] can be used;

[0082] Fig. 6 is a perspective view of a possible embodiment of the device according to the invention;

[0083] Fig. 7 is a side view of the device in Fig. 6;

[0084] Figure 8 is a perspective drawing of a trolley that can receive the device according to the invention;

[0085] The [Fig.9] is a perspective diagram of a tooling that can be used with the device of the [Fig.6];

[0086] [Fig. 10] is a side view of part of the tooling of [Fig. 9]. DETAILED DESCRIPTION OF THE INVENTION

[0087] The present invention relates firstly to a device for extracting at least one migrating body CM, present within a fuel assembly 1 of a nuclear reactor, such as that represented in [Fig.1] discussed above.

[0088] In what follows and unless explicitly stated, the motorization means which enable the movement of movable elements have not been shown in the figures, in order not to make them unnecessarily heavy.

[0089] A non-limiting example of such a device is shown in the attached figures 6 and 7.

[0090] This device 4 includes firstly a platform 40, which is intended to be mobile along three perpendicular axes x, y, z, which are respectively designated in this application as longitudinal, transverse and vertical.

[0091] In the example of the figures, the platform 40 comprises a parallelepiped column 400 in a vertical direction, which is engaged by sliding in a sleeve of complementary shape, referenced 401.

[0092] Advantageously, the sleeve 401 is dimensioned so that it can be housed in a known trolley 5, such as that shown in [Fig.8], and more particularly in one of the recesses 50 it comprises.

[0093] This trolley is usually used for transporting fuel assemblies 1. Thus, by properly sizing the sleeve 401, it is possible to use the trolley 5 for moving the device 4, which is particularly advantageous.

[0094] The aforementioned column 400 is advantageously equipped with remotely controllable motorized means, which allow its sliding to be controlled relative to the sleeve 401 along the vertical axis z.

[0095] At the top of column 400 is mounted a table 402 with double shelves 403 and 404.

[0096] The lower platform 403 is fixed relative to the column 400. On the other hand, the upper platform 404 is equipped with double motorized means, remotely controllable, which allow it to move on demand along the longitudinal and transverse directions of the x and y axes.

[0097] The device 4 is also equipped with a motorized arm 6, mounted longitudinally on the table 402, this arm being designed to rotate on its own axis, thanks to a suitable remotely controllable motor. Its free end, which is opposite the table 402, is provided with a plate 60 shaped to be able to pivot vertically on demand, that is to say in the plane defined by the x and z axes.

[0098] At the free end of this plate is provided a detachable and interchangeable extraction tool which is chosen from the following group: a suction nozzle or cannula, a clamp that rotates on itself, a micro-clamp whose jaws have a travel, i.e. a maximum gap less than or equal to 3mm, the handling of the jaws of the clamp and of said micro-clamp being remotely controllable.

[0099] In what follows, the mobile clamp rotating on itself will be designated as the "TOM A type clamp".

[0100] In what follows, the micro-pliers whose jaws have a deflection, i.e. a maximum opening less than or equal to 3mm, will be designated as "DOC type micro-pliers".

[0101] In figures 6 and 7, only a DOC type micro-clamp 7 has been shown, for the sake of simplification.

[0102] As can be seen in Figures 9 and 10, this micro-forceps 7 comprises a cylindrical metal body 70 which is motorized to rotate about itself and whose distal end is provided with a piston 71, preferably connected to an air circuit. This body serves as a receptacle for retractable surgical-type forceps or jaws 72, these forceps or jaws being remotely controllable.

[0103] Advantageously, these clamps have jaws whose travel, i.e. the maximum gap, is between 0.8 mm and 3 mm and can be equipped with a booster and an emergency air balloon allowing the supply to be maintained in the event of a cut-off.

[0104] The spaces between pencils 14 of the assembly of [Fig.3] are generally 3 mm, 1.5 mm or 0.12 mm.

[0105] According to an advantageous embodiment, the device 4 has an additional arm 9, which is fixed under the lower platform 403 of the table 402. This is an arm which extends longitudinally along the x-axis and which is preferably telescopic.

[0106] It carries at its free end a receptacle 90, preferably detachable and interchangeable, which is intended to receive a migrating body extracted by the device 4.

[0107] In another advantageous embodiment, the device 4 is provided, on the upper plate 404, and behind the arm 5, with a gantry 8, which is shaped to receive a CA camera only visible in [Fig.7].

[0108] Preferably, this is a motorized camera, allowing it to be oriented as desired. Thus, because platform 40 is mobile along three axes, this camera is always positioned as close as possible to the point of extraction of the migrant's body.

[0109] A second aspect of the invention relates to an installation for extracting at least one migrating body present within a fuel assembly 1 of a nuclear reactor, which is equipped with a device 4 such as that described above.

[0110] Advantageously, such an installation includes a programmable logic controller which is configured to control all the mobile and motorized equipment of the device 4.

[0111] According to the invention, this installation also includes a human-machine interface (not shown) which includes at least one of the following equipment (and preferably all of them): emergency stop module for said device, remote control lever for said device and its mobile tools, module for limiting the effort of the motors that equip said mobile tools, control unit with display screen, for example to view alarms, as well as feedback information on the operation of device 4 (intensity of motors, encoders, etc.).

[0112] Thanks to the invention and unlike known devices, the present device allows the use of multiple extraction tools.

[0113] In total, five extraction configurations are possible:

[0114] a) Extraction from the pencil bundle with a "standard" TOMA type clamp;

[0115] b) Extraction in the pencil bundle with a DOC type “surgical” micro-forceps;

[0116] c) Extraction in the pencil bundle via a "standard" gripper, of the TOMA type, equipped with magnetic jaws;

[0117] d) Extraction via an aspiration cannula;

[0118] e) Extraction under the fuel assembly.

[0119] In addition, the present device makes it possible to use a clamp having magnetizable and lockable jaws, which makes it impossible to lose.

[0120] Furthermore, management of the forces related to these clamps is possible, via nomograms according to each type of jaw.

[0121] Unlike the known and used solution, the present device allows surgical-type forceps to be inserted between the pencil bundles. This makes the extraction operation possible in previously inaccessible locations.

[0122] The presence of a mobile camera makes it possible to broaden the range of possible orientations and thus enrich the video obtained.

[0123] If necessary, the device can be fitted with an additional vacuum cleaner. The vacuumed waste is then deposited directly into an integrated filter that can be locked underwater.

[0124] When the device incorporates waste management equipment, namely an additional arm 9 and a receptacle 90, then this arm is preferably positionable at at least two different elevations, depending on the extraction tool used

[0125] Advantageously, during extraction, a fuel assembly stabilization device can be used so that the present device can "work" under the best conditions.

[0126] As mentioned above, the platform 40 is mobile along three perpendicular axes x, y and z, respectively longitudinal, transverse and vertical. For illustrative purposes only, the maximum stroke along each axis is 200 mm.

[0127] Advantageously, the installation according to the invention can integrate a movement management system along the three aforementioned perpendicular axes, this system being controllable and programmable via the human-machine interface.

[0128] Advantageously, the device 4 can integrate additional lighting, so that there is no shadow area in the vicinity of the extraction tool and that the images visible via the CA camera are fully usable.

[0129] Advantageously, the device 4 can integrate a mounting support in order to proceed with the preparation of the tooling, in complete safety.

[0130] Preferably, the device of the invention makes use of commercially available spare parts, in order to make the tooling viable and not dependent on an external technology.

[0131] Advantageously, a substantial portion of the normally electric motors are replaced by pneumatic motors in order to optimize the device's resistance to irradiation. Such motors also offer the advantage of allowing more precise control of tightening torques.

[0132] Advantageously, the device and installation according to the invention have been designed to facilitate their decontamination. Thus, the retention areas have been limited and The gears have been replaced with replaceable transmission belts, in order to avoid any risk of spreading contamination.

[0133] Preferably, the installation device according to the invention has made

[0134] the object upstream of a calculation note for earthquake resistance.

[0135] Advantageously, the device according to the invention can be equipped with at least one electromagnet that allows the extraction of magnetic foreign bodies from inside the pencil bundle. Preferably, it is shaped like a saber, for example 2 mm thick, and is controllable from the control station.

[0136] According to the possible embodiment, the device is equipped with at least one laser to facilitate the movement and positioning of the extraction tool inside the pencil beam.

[0137] It also offers the possibility of doing dimensioning with a laser projecting a mesh.

[0138] Advantageously, the device is equipped with a sword with a tip

[0139] double-sided, allowing the extraction of foreign bodies in the first lines of pencils.

[0140] Advantageously, the device can be equipped with a force sensor mounted on a saber, in order to measure the spacing between two rows of pencils.

[0141] According to one possible embodiment, the device can be equipped with a three-axis encoder, for example with an accuracy of 0.1 mm, which allows for precise mapping of foreign bodies inside the combustible element.

[0142] According to one variant, the device incorporates an endoscope, for example saber-shaped, notably 2 mm thick, which allows visualization of the interior of the combustible element by transmitting the video signal and illumination via optical fibers. For illustrative purposes, its characteristics are as follows:

[0143] • Image beam: 6000 or 10,000 points;

[0144] • Axial sighting: 0°;

[0145] • Field: 70° (air);

[0146] • Lighting: polymer optical fiber

[0147] • Stainless steel flat support with extraction clamp passage

[0148] By way of example only, the device according to the invention can be carried at arm's length 6, an extraction tool of 12 kg, regardless of the movements it is commanded to perform.

[0149] It is possible to equip the device according to the invention with an additional camera, located, for example, approximately 80 cm away. The transmission of the video signal is, for example, achieved using twelve lenses.

[0150] The advantage of this system lies in the remote location of the electronic components in order to mitigate the effects of radiation. The transmission rod comprising the twelve lenses measures, for illustrative purposes, 12 mm in diameter and 80 cm in length.

Claims

Demands

1. Device (4) for extracting at least one migrating body present within a fuel assembly (1) of a nuclear reactor, characterized in that it comprises: - a platform (40) movable along three perpendicular axes x, y and z, respectively longitudinal, transverse and vertical; - a motorized arm (6) mounted longitudinally on said platform (40), this motorized arm (6) being movable in rotation about itself and provided with a plate (60) shaped to pivot in the plane defined by the axes x and z; - at the free end of the plate (60), a detachable and interchangeable extraction tool (7) chosen from the following group: a suction nozzle or cannula, a mobile clamp rotating on itself, a micro-clamp whose jaws (72) have a travel, i.e. a maximum gap less than or equal to 3mm, the handling of the jaws of the clamp and of said micro-clamp being remotely controllable.

2. Device (4) according to claim 1, characterized in that said tool (7) comprises a piston (71), preferably connected to a compressed air circuit.

3. Device (4) according to either of claims 1 and 2, wherein said tool is a clamp or micro-clamp, characterized in that said clamp or micro-clamp has magnetizable and lockable jaws.

4. Device (4) according to any one of claims 1 to 3, characterized in that said platform (40) carries an additional arm (9), the free end of which opposite said platform is provided with a receptacle (90) for receiving said at least one migrant body.

5. Device (4) according to claim 4, characterized in that said additional arm (9) is provided to be telescopic.

6. Device according to any one of claims 1 to 5, characterized in that said platform carries a camera (CA).

7. Device (4) according to any one of claims 1 to 6, characterized in that said platform (40) is provided with at least one of the following group of equipment: at least one electromagnet, for example saber-shaped, at least one laser device enabling the movement and positioning of the gripper or the micro-clamp (72), at least one sword equipped with a double-sided adhesive tip, at least one force sensor, at least one encoder, at least one endoscope.

8. 8. Device (4) according to any one of the preceding claims, characterized in that said micro-clamp has jaws which have a travel, i.e. a maximum gap of between 0.8 mm and 3 mm.

9. 9. Device (4) according to any one of the preceding claims, characterized in that said micro-clamp is equipped with a booster and an emergency air balloon allowing its supply to be maintained.

10. 10. Installation for the extraction of at least one migrating body present within a fuel assembly (1) of a nuclear reactor, characterized in that it comprises a device (4) according to any one of claims 1 to 9, as well as a human-machine interface which includes at least one of the following equipment: emergency stop module for said device, remote control lever for said device and its mobile tools, module for limiting the forces on the motors which equip said mobile tools, control unit with display screen.

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