Calandria shell and tube sheet segmentation tool and method of using same

Abstract

A cutting tool and method for segmenting a calandria vessel is provided, The tool comprises: a delivery assembly for coupling to a mount; a robotic arm having a first portion and a second portion, and a cutting head. The first portion of the robotic arm is coupled to delivery assembly by a first rotary joint to allow rotation about a longitudinal axis of first portion, and the second portion coupled to the first portion by a second rotary joint to allow rotation of the second portion relative to the first portion. The cutting head is positioned on the second portion of the robotic arm. The delivery assembly is configured to extend the robotic arm into the calandria vessel through a port of the calandria vessel.

Description

CALANDRIA SHELL AND TUBE SHEET SEGMENTATION TOOL AND METHOD OF USING SAMECROSS REFERENCE TO RELATED APPLICATION AND CLAIM OF PRIORITY

[0001] The present application claims priority to U.S. provisional patent application no. 63 / 584,335 filed on September 21 , 2023, the entire contents of which are hereby incorporated by reference.TECHNICAL FIELD

[0002] The disclosure relates generally to decommissioning a nuclear reactor, and more particularly to removing a calandria at end of life.BACKGROUND

[0003] A nuclear reactor has a limited operational life. For example, second generation CANDUTM-type reactors (“CANada Deuterium Uranium”) are designed to operate for approximately 25 to 30 years. After this time, nuclear reactor may in some instances be decommissioned. Nuclear reactor decommissioning processes include removal of a large number of reactor components and include various other activities, such as shutting down the reactor, preparing the vault, and installing material handling equipment and various platforms and equipment supports. The removal process can also include removing closure plugs and positioning hardware assemblies, disconnecting feeder assemblies, severing bellows, removing end fittings, releasing and removing calandria tube inserts, severing and removing pressure tubes, removing calandria tube, and removing the calandria. Many of the components that are removed may radioactive and require special handling.SUMMARY

[0004] In one aspect, the disclosure describes a cutting tool for segmenting a calandria vessel. The tool comprises: a delivery assembly for coupling to a mount; a robotic arm having a first portion and a second portion, the first portion coupled to delivery assembly by a first rotary joint to allow rotation about a longitudinal axis of first portion, the second portion coupled to the first portion by a second rotary joint to allow rotation of the second portion relative to the first portion; and a cutting head positioned on the second portion of the robotic arm. The delivery assembly is configured to extend the robotic arm into the calandria vessel through a port of the calandria vessel.

[0005] In an embodiment, in a deployment mode, the first portion and the second portion are parallel and adjacent, a cross-sectional area of the first portion and second portion are smaller than a cross-sectional area of the port

[0006] In an embodiment, the second rotary joint allows universal rotation of second portion relative to first portion.

[0007] In an embodiment, the second portion of the robotic arm comprises telescoping members configured to extend and / or retract a length of the second portion.

[0008] In an embodiment, the cutting head comprises any one of a plasma arc tool, laser cutting tool, waterjet cutting tool, or milling tool.

[0009] In an embodiment, the mount is a worktable, crane, or a fueling machine bridge.

[0010] In an embodiment, the port is any one of an fuel channel assembly, a lattice tube, an ion chamber port, an horizontal flux detector port, a feeder pipe, a viewing port, a liquid zone control unit port, a vertical flux detector port, a liquid injection shut down nozzle, or a reactivity control unit nozzle.

[0011] In an embodiment, the cutting tool comprises a controller configured to send data to extend the robotic arm through the port, where the second portion of the robotic arm is positioned parallel and adjacent to the first portion of the robotic arm. The controller may be configured to send data to move the at least one of the delivery assembly and the robotic arm toward the vault of the nuclear reactor comprising the calandria vessel to move the robotic arm through the port.

[0012] In an embodiment, the controller is configured to send data to rotate the second portion of the robotic arm relative to the first portion. In another embodiment, the controller is configured to send data to position the cutting head a distance from a work piece of the calandria vessel. In another embodiment, the controller is configured to send data to actuate the cutting head to segment a work piece of the calandria vessel.

[0013] In an embodiment, the controller is configured to move a gripper coupled to a segmented work piece, and release the segmented work piece into a waste collection container. The controller may be configured to send data to couple the gripper to the waste collection container and moving the waste collection container out of the calandria vault. In another embodiment, the controller is configured to send data to moving a gripper to couple to a workpiece; operations for holding the work piece in position; and to send data to actuate the cutting tool to segment the work piece.

[0014] Embodiments may include combinations of the above features.

[0015] In another aspect, the disclosure describes a system for segmenting a calandria vessel in a calandria vault. The system comprises: the cutting tool according to this disclosure; and a gripper coupled to a reactivity mechanism deck by a robotic arm, the gripper having an end effector configured to engage and move segmented components of the calandria vessel to waste collection containers.

[0016] In an embodiment, the system comprises a moveable contamination barrier for covering an opening defined by the calandria vault, the moveable contamination barrier configured to move between a first position in which the opening is closed and a second position in which the opening is open allowing the waste collection containers to pass through the opening.

[0017] Embodiments may include combinations of the above features.

[0018] In a further aspect, the disclosure describes a method for segmenting a calandria vessel in a calandria vault. The method comprises: providing the cutting tool of according to this disclosure; extending the robotic arm through a port in the calandria vault, the second portion of the robotic arm positioned parallel and adjacent to the first portion of the robotic arm; rotating the second portion of the robotic arm relative to the first portion; positioning the cutting head a distance from a work piece of the calandria vessel; and segmenting the work piece.

[0019] In an embodiment, when extending the robotic arm through the port, a cross- sectional area of the first portion and second portion are smaller than a cross-sectional area of the port.

[0020] In an embodiment, the method comprises moving the mount toward the calandria vault to move the robotic arm through the port in the calandria vault.

[0021] In an embodiment, the method comprises moving the segmented work piece to a waste collection container, and moving the waste collection container out of the calandria vault.

[0022] In an embodiment, the port is any one of an ion chamber port, a horizontal flux detector port, , viewing port, liquid zone control unit port, vertical flux detector port, liquid injection shut down nozzle, reactivity control unit nozzle, reactivity mechanism deck port, or a fuel channel assembly of the calandria vessel.

[0023] Embodiments may include combinations of the above features.

[0024] In a further aspect, the disclosure describes a computer program product for implementing control of cutting tool in a vault of a nuclear reactor, the computer program product comprising a non-transitory computer readable storage medium having program code embodied therewith, the program code readable / executable by a computer, processor or logic circuit to perform a method according to this disclosure.

[0025] Further details of these and other aspects of the subject matter of this application will be apparent from the detailed description included below and the drawings.DESCRIPTION OF THE DRAWINGS

[0026] Reference is now made to the accompanying drawings, in which:

[0027] FIG. 1 is a perspective view of a CANDU™-type reactor.

[0028] FIG. 2A is a cutaway view of a CANDUTM-type nuclear reactor fuel channel assembly.

[0029] FIG. 2B is a perspective view of a platform, work table and a calandria tube insert removal tool adjacent a face of the CANDUTM-type reactor, according to an embodiment.

[0030] FIG. 3 is a schematic view of an example cutting tool inserted into a calandria vessel of the reactor shown in FIG. 1.

[0031] FIG. 4A is a schematic view of an example cutting tool according to this disclosure.

[0032] FIG. 4B is the a schematic view of the cutting tool of FIG. 4A extending through a fuel channel assembly.

[0033] FIG. 4G is a schematic view of the cutting tool of FIG. 4A deployed inside a calandria vessel.

[0034] FIG. 5 is a flowchart of an example method for segmenting a calandria vessel in a calandria vault, in accordance with some embodiments.

[0035] FIG. 6 is a schematic view of a control system for a cutting tool, in accordance with an embodiment of the present application.DETAILED DESCRIPTION

[0036] Before any embodiments are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement ofcomponents set forth in the following description or illustrated in the accompanying drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways.

[0037] DEFINITIONS

[0038] Although terms such as “maximize”, “minimize” and “optimize” may be used in the present disclosure, it should be understood that such term may be used to refer to improvements, tuning and refinements which may not be strictly limited to maximal, minimal or optimal.

[0039] The term “connected” or "coupled to" may include both direct coupling (in which two elements that are coupled to each other and contact each other) and indirect coupling (in which at least one additional element is located between the two elements).

[0040] The term “substantially” as used herein may be applied to modify any quantitative representation which could permissibly vary without resulting in a change in the basic function to which it is related.

[0041] Terms such as "up to", "at least", "greater than", "less than", "more than", "or more", and the like, include the number recited and such terms refer to ranges that can be subsequently broken down into sub-ranges. In the same manner, all ratios recited herein also include all subratios falling within the broader ratio.

[0042] The singular forms "a," "an," and "the" include the plural reference unless the context clearly dictates otherwise. The term "and / or" means any one of the items, any combination of the items, or all of the items with which this term is associated.

[0043] The term "about" can refer to a variation of± 5%, ± 10%, ± 20%, or± 25% of the value specified. For example, "about 50" percent can in some embodiments carry a variation from 45 to 55 percent. For integer ranges, the term "about" can include one or two integers greater than and / or less than a recited integer at each end of the range. Unless indicated otherwise herein, the term "about" is intended to include values and ranges proximate to the recited range that are equivalent in terms of the functionality of the composition, or the embodiment.

[0044] The term “port” refers to an opening defined by the calandria vault and / or calandria shell through which a cutting tool according to this disclosure may be inserted and, in an example, may include any one of a fuel channel assembly of an end shield, a lattice tube, an ion chamber port, a horizontal flux detector port, a feeder pipe, a viewing port, a liquid zone control unit port, a vertical flux detector port, a liquid injection shut down nozzle, and a reactivity control unit nozzle.

[0045] Aspects of various embodiments are described through reference to the drawings.

[0046] FIG. 1 is a perspective of a reactor core of a CANDUTM-type reactor 6. The reactor core is typically contained within a vault that is sealed with an air lock for radiation control and shielding. Although aspects are described with particular reference to the CANDUTM-type reactor 6 for convenience, the disclosure is not limited to CANDU™-type reactors, and may be useful outside this particular field as well. A generally cylindrical vessel, known as the calandria vessel 10 of the CANDU™-type reactor 6, contains a heavy-water moderator. The calandria vessel 10 has an annular shell 14 and a tube sheet 18 at a first end 22 and a second end 24. The tube sheets 18 include a plurality of apertures (referred to herein as bores 19) that each accept a fuel channel assembly 28. As shown in FIG. 1 , a number of fuel channel assemblies 28 pass through the tube sheets 18 of calandria vessel 10 from the first end 22 to the second end 24.

[0047] As in the illustrated embodiment of Figs. 1 and 2A, in some embodiments the reactor core is provided with two walls at each end 22, 24 of the reactor core: an inner wall defined by the tube sheet 18 at each end 22, 24 of the reactor core, and an outer wall 64 (often referred to as a “end shield”) located a distance outboard from the tube sheet 18 at each end 22, 24 of the reactor core. A lattice tube 65 spans the distance between the tube sheet 18 and the end shield 64 at each pair of bores 19 (i.e., in the tube sheet 18 and the end shield 64, respectively).

[0048] FIG. 2A is a cutaway view of one fuel channel assembly 28 of the reactor core illustrated in FIG. 1 . As illustrated in FIG. 2A, each fuel channel assembly 28 includes a calandria tube (“CT”) 32 surrounding other components of the fuel channel assembly 28. The CTs 32 each span the distance between the tube sheets 18. Also, the opposite ends of each CT 32 are received within and sealed to respective bores 19 in the tube sheets 18. In some embodiments, a rolled joint insert, for example calandria tube insert 34, is used to secure the CT 32 to the tube sheet 18 within the bores 19. A pressure tube (“PT”) 36 forms an inner wall of the fuel channel assembly 28. The PT 36 provides a conduit for reactor coolant and fuel bundles or assemblies 40. The PT 36, for example, generally holds two or more fuel assemblies 40, and acts as a conduit for reactor coolant that passes through each fuel assembly 40. An annulus space 44 is defined by a gap between each PT 36 and its corresponding CT 32. The annulus space 44 is normally filled with a circulating gas, such as dry carbon dioxide, helium, nitrogen, air, or mixtures thereof. One or more annulus spacers or garter springs 48 are disposed between the CT 32 and PT 36. The annulus spacers 48 maintain the gap between the PT 36 and the corresponding CT 32, while allowing passage of annulus gas through and around the annulus spacers 48.

[0049] As also shown in FIG. 2A, each end of each fuel channel assembly 28 is provided with an end fitting assembly 50 located outside of the corresponding tube sheet 18. Each end fitting assembly 50 includes an end fitting body 57 and an end fitting liner 58. At the terminal end of each end fitting assembly 50 is a closure plug 52. Each end fitting assembly 50 also includes a feeder assembly 54. The feeder assemblies 54 feed reactor coolant into or remove reactor coolant from the PTs 36 via feeder tubes 59 (FIG. 1). In particular, for a single fuel channel assembly 28, the feeder assembly 54 on one end of the fuel channel assembly 28 acts as an inlet feeder, and the feeder assembly 54 on the opposite end of the fuel channel assembly 28 acts as an outlet feeder. As shown in FIG. 2A, the feeder assemblies 54 can be attached to the end fitting assemblies 50 using a coupling assembly 56 including a number of screws, washers, seals, and / or other types of connectors. The lattice tube 65 (described above) encases the connection between the end fitting assembly 50 and the PT 36 containing the fuel assemblies 40. Shielding ball bearings 66 and cooling water surround the exterior of the lattice tubes 65, which provides additional radiation shielding.

[0050] A positioning hardware assembly 60 and bellows 62 are also coupled to each end fitting assembly 50. The bellows 62 allows the fuel channel assemblies 28 to move axially - a capability that can be important where fuel channel assemblies 28 experience changes in length over time, which is common in many reactors. The positioning hardware assemblies 60 can be used to set an end of a fuel channel assembly 28 in either a locked configuration that fixes the axial position, or an unlocked configuration. The positioning hardware assemblies 60 are also coupled to the end shield 64. The illustrated positioning hardware assemblies 60 each include a rod having an end that is received in a bore of the respective end shield 64. In some embodiments, the rod end and the bore in the end shield 64 are threaded. Again, it should be understood that although a CANDUTM-type reactor is illustrated in FIGS. 1-2A, the invention may also apply to other types of reactors, including reactors having components that are similar to those illustrated in FIGS. 1-2A.

[0051] FIG. 2B illustrates one embodiment of a heavy work table (“HWT”) 96 installed on a tooling platform (“RTP”) 95 adjacent the end 24 of the nuclear reactor. A similar HWT can be installed adjacent the end 22 of the nuclear reactor. The HWT 96 and any tools mounted on the HWT are controlled by a control station (not shown).

[0052] As shown in FIG. 3, A calandria cutting tool 100 may be mounted on the HWT 96 and is positioned to remove calandria tube inserts 34 from tube sheet 18 at the end 24. The control of the position of the calandria cutting tool 100 with respect to the end shield 64 andoperation of the tool 100 may occur from the control station. Specifically, the operator can control the height of the RTP 95 along axis Y, the location of the cutting tool 100 on the HWT 96 along axis X and the pitch with respect to the end shield 64 to orient axis Z to be perpendicular to the end shield 64. In some embodiments, the height of RTP 95 may be adjusted by ball screws, for example, by way of one ball screw at each corner of RTP 95.

[0053] When the cutting tool 100 is aligned with the selected opening in the end shield 64, the operator can insert the calandria cutting tool 100 into the appropriate fuel channel along axis Z. The cutting tool 100 can include any number of suitable sensors and / or cameras to verify that the cutting tool 100 is properly aligned with the respective opening in the end shield 64. Once inserted, cutting tool 100 may commence cutting operations as described below. Due to the high radiation fields in calandria vessel 10, all cut operations may be performed remotely. As such, a controller 2000 may be provided for controlling the movement cutting tool 100, worktable 96, platform 95, crane 101 , fuel machine bridge 110, gripper 103, moveable contamination barrier 104, etc.

[0054] FIG. 3 illustrates a schematic view of cutting tool 100 inserted into calandria vessel 10. As shown, cutting tool 100 may be position on worktable 96 on platform 95. In other embodiments, cutting tool 100 may be positioned on crane 101 , fueling machine bridge 110, or other suitable mount for accessing a port of vault 11 . Crane 101 may be provided for handling of segmented calandria vessel 10 pieces and may be installed on the Reactivity Mechanisms (RM) Deck 102. A gripper 103 may extend from RM Deck 102 which can be deployed inside calandria vault 11 to grip segmented portions of calandria vessel 10. Gripper 103 may extend into vault 11 through holes cut in the vault 11 to permit access to calandria 10. In some embodiments, Gripper 103 may extend into vault 11 and calandria vessel 10 through ports in reactivity mechanism deck 102 which allow vertical access to calandria vessel 10. In an example the ports may include the viewing port, liquid zone control unit port, flux detector port, liquid injection shut down nozzle, reactivity control unit nozzles, etc. Cutting calandria vessel 10 inside vault 11 may allow containment of debris and / or cutting by-products, such as dust and particles, from migrating outside vault 11. During operation of cutting tool 100, the interior of vault 11 may be kept at vacuum pressure relative to the exterior of vault 11 , e.g. by an active ventilation system (not shown).

[0055] As cutting tool 100 cuts / segments components of calandria vessel 10, gripper 103 may couple to the segmented components and move them to waste collection container 106. Remotely controlled demolition robots (not shown) may also be positioned inside the calandriavault 11 to assist in handling of the segmented portion of calandria vessel 10. Holes may also be cut by cutting tool 100 in calandria vessel 10 for handling segmented pieces of calandria vessel 10. Cutting tool 100 may cut calandria vessel 10 using cutting techniques such as plasma arc, laser, waterjet, milling, etc.

[0056] In an embodiment, contamination barriers 104, such as a movable shielding wall or shielding door, may be installed to shield a bottom portion of the calandria vault 11 after it is opened. Contamination barrier 104 may be made from a material that reduces or prevents radioactivity from passing through the barrier. Barrier 104 may be installed prior to demolishing process. When necessary (during removal of segmented portion of calandria vessel 10 from inside calandria vault 11), to isolate the operating area, existing shielding walls between Fueling Machine (FM) Maintenance rooms and Transfer corridor could be activated. As an alternative, large shielding doors between FM Room and FM Maintenance rooms could be activated. In an embodiment, before the Calandria Vault is drained, shielding walls 104 may be installed.

[0057] To access the inside of Calandria Vault 11 , a wall of Calandria Vault 11 may be removed. Barrier 104 may be installed prior to demolishing of the wall of calandria vault 11 .

[0058] As described above, platform 95 may be installed on both reactor faces to provide Y direction movements for the tools installed on it. Worktable 96 may be installed on the platform 95 to provide X direction movements for the tools installed on it. Delivery assembly 107 may also be configured to move robotic arm 108 in the Z-direction toward or away from the port of vault 11 . In an example, delivery assembly 107 may move toward a port of vault 11 to extend robotic arm 108 through the port and into calandria 10.

[0059] A waste collection trolley 105 may be positioned inside vault 11 underneath of calandria 10. Waste collection containers 106, such as waste transfer flasks, may be positioned on trolley 105 to collect segmented pieces. During segmenting of calandria 10, barrier 104 may be positioned to close the opening in vault 11. When container 106 is full, barrier 104 may be moved / opened such that container 106 may be moved out to a segmentation room, where waste may be further segmented, assayed, and packed.

[0060] FIGs. 4A and 4B show a schematic view of an example cutting tool 100. Cutting tool 100 is configured for cutting all the components of calandria 10, including the calandria tube sheet 18 and / or shell 14. Due to the high radiation fields present in calandria 10 all cut operations may be performed remotely.

[0061] In an embodiment, cutting tool 100 may be positioned on a mount such as worktable 96, crane 101 , or a fueling machine bridge 110 of the nuclear reactor, and may access the inside of calandria vessel 10 via fuel channel assemblies 28 or horizontal ports in vault 11. Example horizontal ports include an ion chamber port, horizontal flux detector port, feeder pipes, etc. In another embodiment, cutting tool may be positioned on RM deck 102 and access calandria vessel 10 through vertical ports in vault 11 such as the viewing port, liquid zone control unit port, flux detector port, liquid injection shut down nozzle, reactivity control unit nozzles, etc.

[0062] Cutting tool 100 may comprise a delivery assembly 107 coupled to a robotic arm 108. Robotic arm 108 may comprise a first portion 108a, and a second portion 108b. A cutting head 109 may be positioned at the end of the robotic arm 108, e.g. at the end of second portion 108b. As shown in FIG. 4a, delivery assembly 107 of cutting tool 100 may slidably couple to work table 96 to provide the movement in Z-direction, while worktable 96 may move in the X-direction and / or Y-Direction. First portion 108a of robotic arm 108 may be coupled to delivery assembly 107 by a rotary joint allowing rotation about a longitudinal axis of first portion 108a which is illustrated as direction A in FIG. 4A. The rotary motion for robotic arm 108 relative to delivery assembly 107 around a Z-axis may be provided at the joint where robotic arm 108 couples to delivery assembly 107. Second portion 108b may be universally rotatable about first portion 108b in a range of 0-360 degrees in both the X orY-directions. Rotation of second portion 108b relative to first portion 108a from 0-306 degrees in a plane is shown a direction B. Second portion 108b may also extend or contract its length, e.g. via telescoping members, shown as direction C in FIG. 4A. As shown in FIG. 4B, in a deployment mode, second portion 108b may be folded parallel and adjacent to first portion 108a such that robotic arm 108 and cutting head 109 may pass through fuel channel assemblies 28 and / or counterpart lattice tube 65. In an embodiment, in the deployment mode, the first portion 108a and the second portion 108b are parallel and adjacent, and the cross-sectional area of the first portion 108a and second portion 108b is smaller than the cross-sectional area of the port, illustrated as a lattice tube 65 in FIG. 4B.

[0063] As shown in FIG. 4G, once cutting head 109 is inside calandria vessel 10, second portion 108b may be extended by rotating second portion 108b relative to first portion 108a, and / or expanding or contracting second portion 108b, to increase or decrease the length of the second portion 108b, in direction C, such that cutting head 109 is positioned at a desired distance from a work piece to be cut / segmented.

[0064] In some embodiments, cutting head 109 may be positioned a distance from a work piece being cut. To maintain the distance, second portion 108b of robotic arm 108 may betelescopic and it’s motion may be synchronized with the motion of delivery assembly 107 to maintain a desired distance of cutting head 109 from the work piece. Cutting head 109 may be any cutting head suitable for cutting calandria vessel 10. In an example, cutting head 109 may comprise a plasma cutting, laser cutter, abrasive waterjet, milling tool, explosive jet cutter, etc.. Cutting head 109 may be replaced with a different cutting head, e.g. a plasma cutting head may be changed to a laser cutting head, depending upon the work piece required to be cut / segmented. The work piece may be any component of calandria vessel 10 including calandria shell 14, tubesheet 18, fuel channels 28, lattice tubes 65, etc.

[0065] In some embodiments, segmentation of calandria vessel 10 may be performed under water shield such that contaminants from the cutting / segmenting process are contained by the water. Fuel channels 28 may be sealed with watertight plugs and all pipes connected to calandria are cut, calandria vault 11 penetrations sealed. Calandria vault 11 may then be flooded. Cutting tool 100 may be used to segment calandria shell 14 into pieces sized to be ready for packing. After Calandria shell 14 is segmented, segmentation of tubesheet 18 followed by lattice tubes 65 may be performed under water by cutting tool 100. Grippers 103 may couple to segmented components for removal from vault 11 from above and transfer the segmented components to waste collection containers which may be positioned inside or outside vault 11. After components of calandria vessel 10 are removed from vault 11 , water may be drained from vault 11.

[0066] In some embodiments, packing of segmented components may be performed under water. Waste contained may be positioned in the water filled vault 11 and filled with segmented components of calandria vessel 10. Because space may be limited inside vault 11 , to manipulate cut segments and position the waste collection containers, the waste collection containers may be positioned at the upper sections of calandria vault 11. Segmentation of calandria vessel 10 may progress from top to bottom, such that waste containers could be lowered all the way to a floor of vault 11. As soon as the waste container(s) are loaded with segmented components, they may be lifted, drained inside vault 11 and positioned in a shielded container.

[0067] FIG. 5 shows a schematic diagram illustrating a method 500 for segmenting a calandria vessel in a calandria vault.

[0068] At 502, the method comprises providing the cutting tool according to this disclosure. For example, providing cutting tool 100 described above.

[0069] At 504, the method comprises extending the robotic arm through a port in the calandria vault, the second portion of the robotic arm positioned parallel and adjacent to the first portion of the robotic arm. In an embodiment, the port is any one of an ion chamber port, horizontal flux detector port, feeder pipes, viewing port, liquid zone control unit port, vertical flux detector port, liquid injection shut down nozzle, reactivity control unit nozzles, or a fuel channel assembly of the calandria vessel.

[0070] At 506, the method comprises rotating the second portion of the robotic arm relative to the first portion.

[0071] At 508, the method comprises positioning the cutting head a distance from a work piece of the calandria vessel

[0072] At 510, the method comprises segmenting the work piece.

[0073] In an embodiment, method 500 comprises moving the segmented work piece to a waste collection container, and moving the waste collection container out of the calandria vault.

[0074] In another embodiment, method 500 comprises filling the calandria vault with water before segmenting the work piece.

[0075] CONTROLLER

[0076] FIG. 6 shows a generalized schematic view of example system 2000 for controlling a cutting tool for segmenting a calandria vessel. System 2000 may comprise controller 2001 , described herein. Controller 2001 includes a processor 2002 configured to implement processor readable instructions that, when executed, configure the processor 2002 to conduct operations described herein. The processor 2002 may be a microprocessor or microcontroller, a digital signal processing (DSP) processor, an integrated circuit, a field programmable gate array (FPGA), a reconfigurable processor, a programmable read-only memory (PROM), or combinations thereof. Controller 2001 may include a communication interface 2004 to communicate with other computing or sensor devices, to access or connect to network resources, or to perform other computing applications by connecting to a network (or multiple networks) capable of carrying data. In some examples, the communication interface 2004 may include one or more busses, interconnects, wires, circuits, and / or any other connection and / or control circuit, or combination thereof. The communication interface 2004 may provide an interface for communicating data between the system 2000 and a display 2015.

[0077] Controller 2001 may also comprise connections for communicating with any of cutting tool 100, worktable 96, platform 95, barrier 104, crane 101 , and / or gripper 103 according to this disclosure to transmit setpoint(s) or receive data such as position, orientation, and cutting tool status, among other data.

[0078] Controller 2001 may comprise a sensor 2010 and connection(s) for monitoring position, orientation, and / or cutting tool status (e.g. temperature, flow rate of cutting medium, etc.) of the cutting tool 100.

[0079] Controller 2001 may be coupled to a data system 2014 for storing system data and / or may be configured to communicate with cloud services such as iCloud, Dropbox, Google clouds, or any other digital data servers. Data system 2014 may also comprises a universal asynchronous receiver-transmitter (LIART) to allow communication with other devices, e.g. a smartphone or a computer, for transmitting data for analysis and / or storage. LIART may include or be coupled to a wireless transceiver for wireless communication with such other devices, e.g., by way of infra-red, Bluetooth, Wi-Fi, or the like. Network 2500 may include any wired or wireless communication path, such as an electrical circuit. In some embodiments, the network 2500 may include one or more busses, interconnects, wires, circuits, and / or any other connection and / or control circuit, or a combination thereof. In some embodiments, the network 2500 may include a wired or a wireless wide area network (WAN), local area network (LAN), a combination thereof, or the like. In some embodiments, the network 2500 may include a Bluetooth® network, a Bluetooth® low energy network, a short-range communication network, or the like.

[0080] Controller 2001 may include memory 2006. The memory 2006 may include one or a combination of computer memory, such as static random-access memory (SRAM), randomaccess memory (RAM), read-only memory (ROM), electro-optical memory, magneto-optical memory, erasable programmable read-only memory (EPROM), and electrically-erasable programmable read-only memory (EEPROM), Ferroelectric RAM (FRAM) or the like.

[0081] The memory 2006 may store an application 2012 including processor readable instructions for conducting operations described herein. In some examples, the application 2012 may include operations for controlling a cutting tool according to this disclosure.

[0082] In an embodiment, application 2012 may include operations for extending the robotic arm through a port in the calandria vault, where the second portion of the robotic arm positioned parallel and adjacent to the first portion of the robotic arm. Application 2012 may alsoinclude operations for moving the delivery assembly and / or the robotic arm toward the vault of the nuclear reactor, to move the extended robotic arm through the port in the calandria vault.

[0083] In an embodiment, the port is any one of an ion chamber port, horizontal flux detector port, feeder pipes, viewing port, liquid zone control unit port, vertical flux detector port, liquid injection shut down nozzle, reactivity control unit nozzles, or a fuel channel assembly of the calandria vessel.

[0084] In another embodiment, application 2012 may include operations for rotating the second portion of the robotic arm relative to the first portion.

[0085] In another embodiment, application 2012 may include operations for positioning the cutting head a distance from a work piece of the calandria vessel.

[0086] In another embodiment, application 2012 may include operations for actuating the cutting head to segment a work piece of the calandria vessel.

[0087] In another embodiment, application 2012 may include operations for moving a gripper coupled to a segmented work piece, and releasing the segmented work piece into a waste collection container. Application 2012 may also include operations for coupling the gripper to the waste collection container and moving the waste collection container out of the calandria vault.

[0088] In another embodiment, application 2012 may include operations for moving a gripper to couple to a work piece; operations for holding the work piece in position; and operations for actuating the cutting tool to segment the work piece.

[0089] Alternate embodiments

[0090] The above description is meant to be exemplary only, and one skilled in the relevant arts will recognize that changes may be made to the embodiments described without departing from the scope of the invention disclosed. The present disclosure may be embodied in other specific forms without departing from the subject matter of the claims. The present disclosure is intended to cover and embrace all suitable changes in technology. Modifications which fall within the scope of the present invention will be apparent to those skilled in the art, in light of a review of this disclosure, and such modifications are intended to fall within the appended claims. Also, the scope of the claims should not be limited by the preferred embodiments set forth in the examples, but should be given the broadest interpretation consistent with the description as a whole.

[0091] As can be understood, the detailed embodiments described above and illustrated are intended to be examples only. The invention is defined by the appended claims.

[0092] The claims are not intended to include, and should not be interpreted to include, means-plus- or step-plus-function limitations, unless such a limitation is explicitly recited in a given claim using the phrase(s) “means for” or “step for,” respectively.

Claims

WHAT IS CLAIMED IS:

1. A cutting tool for segmenting a calandria vessel in a calandria vault, the tool comprising: a delivery assembly for coupling to a mount; a robotic arm having a first portion and a second portion, the first portion coupled to delivery assembly by a first rotary joint to allow rotation about a longitudinal axis of first portion, the second portion coupled to the first portion by a second rotary joint to allow rotation of the second portion relative to the first portion; and a cutting head positioned on the second portion of the robotic arm, wherein the delivery assembly is configured to extend the robotic arm into the calandria vessel through a port of the calandria vessel.

2. The cutting tool of claim 1 , wherein in a deployment mode, the first portion and the second portion are parallel and adjacent, a cross-sectional area of the first portion and second portion are smaller than a cross-sectional area of the port.

3. The cutting tool of claim 1 or 2, wherein the second rotary joint allows universal rotation of second portion relative to first portion.

4. The cutting tool of any one of claims 1 -3, wherein the second portion of the robotic arm comprises telescoping members configured to extend and / or retract a length of the second portion.

5. The cutting tool of any one of claims 1-4, wherein the cutting head comprises any one of a plasma arc tool, laser cutting tool, waterjet cutting tool, or milling tool.

6. The cutting tool of any one of claims 1-5, wherein the mount is a worktable, crane, or a fueling machine bridge.

7. The cutting tool of any one of claims 1-6, wherein the port is any one of an fuel channel assembly, a lattice tube, an ion chamber port, an horizontal flux detector port, a feeder pipe, a viewing port, a liquid zone control unit port, a vertical flux detector port, a liquid injection shut down nozzle, or a reactivity control unit nozzle.

8. The cutting tool of any one of claims 1-7, comprising a controller configured to send data to extend the robotic arm through the port, where the second portion of the robotic arm is positioned parallel and adjacent to the first portion of the robotic arm.

9. The cutting tool of claim 8, wherein the controller is configured to send data to move the at least one of the delivery assembly and the robotic arm toward the vault of the nuclear reactor comprising the calandria vessel to move the robotic arm through the port.

10. The cutting tool of any one of claims 8-9, wherein the controller is configured to send data to rotate the second portion of the robotic arm relative to the first portion.

11. The cutting tool of any one of claims 8-10, wherein the controller is configured to send data to position the cutting head a distance from a work piece of the calandria vessel.

12. The cutting tool of any one of claims 8-11 , wherein the controller is configured to send data to actuate the cutting head to segment a work piece of the calandria vessel.

13. The cutting tool of any one of claims 8-12, wherein the controller is configured to move a gripper coupled to a segmented work piece, and release the segmented work piece into a waste collection container.

14. The cutting tool of claim 13, wherein the controller is configured to send data to couple the gripper to the waste collection container and moving the waste collection container out of the calandria vault.

15. The cutting tool of any one of claims 8-12, wherein the controller is configured to send data to moving a gripper to couple to a work piece; operations for holding the work piece in position; and to send data to actuate the cutting tool to segment the work piece.

16. A system for segmenting a calandria vessel in a calandria vault, the system comprising: the cutting tool of any one of claims 1-15; a gripper coupled to a reactivity mechanism deck by a robotic arm, the gripper having an end effector configured to engage and move segmented components of the calandria vessel to waste collection containers.

17. The system of claim 16, comprising a moveable contamination barrier for covering an opening defined by the calandria vault, the moveable contamination barrier configured to move between a first position in which the opening is closed and a second position in which the opening is open allowing the waste collection containers to pass through the opening.

18. A method for segmenting a calandria vessel in a calandria vault, the method comprising: providing the cutting tool of any one of claims 1-15; extending the robotic arm through a port in the calandria vault, the second portion of the robotic arm positioned parallel and adjacent to the first portion of the robotic arm; rotating the second portion of the robotic arm relative to the first portion; positioning the cutting head a distance from a work piece of the calandria vessel; and segmenting the work piece.

19. The method of claim 18, wherein when extending the robotic arm through the port, a cross-sectional area of the first portion and second portion are smaller than a cross- sectional area of the port.

20. The method of any one of claims 18, comprising moving the mount toward the calandria vault to move the robotic arm through the port in the calandria vault.

21. The method of any one of claims 18-20, comprising moving the segmented work piece to a waste collection container, and moving the waste collection container out of the calandria vault.

22. The method of any one of claims 18-21 , wherein the port is any one of an ion chamber port, a horizontal flux detector port, , viewing port, liquid zone control unit port, vertical flux detector port, liquid injection shut down nozzle, reactivity control unit nozzle, reactivity mechanism deck port, or a fuel channel assembly of the calandria vessel.

23. A computer program product for implementing control of cutting tool in a vault of a nuclear reactor, the computer program product comprising a non-transitory computer readable storage medium having program code embodied therewith, the program codereadable / executable by a computer, processor or logic circuit to perform a method defined in any one of claims 18-22.

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