Abstract:
In inspection system for inspecting the interior of a steam generator includes, in one aspect, a first boom and a second, telescoping boom having a proximal end pivotally attached to the first boom and a distal end bearing a delivery capsule, the delivery capsule defining a storage bay. The inspection system includes a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay and itself defines a storage bay. The first robotic inspection vehicle includes at least one inspection camera and at least one lighting system. The first robotic inspection vehicle further includes cabling connecting the first robotic inspection vehicle to the delivery capsule. The inspection system also includes a second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay. The second robotic inspection vehicle includes at least one inspection camera and at least one lighting system and further includes cabling connecting the second robotic inspection vehicle to the first robotic inspection vehicle.

Description:
CROSS-REFERENCE 
       [0001]    This application claims the benefit of priority from and incorporates by reference in its entirety U.S. Provisional Patent Application Ser. No. 61/181,560 filed on May 27, 2009, entitled “Steam Generator Upper Bundle Inspection Tools”. 
     
    
     FIELD OF THE INVENTION 
       [0002]    The present invention relates to the field of inspection devices generally, and more specifically to power plant steam generator inspection devices, and still more specifically to nuclear power plant steam generator inspection devices. 
       BACKGROUND OF THE INVENTION 
       [0003]    In a nuclear reactor power plant, a nuclear reactor vessel is used to generate heat for the production of steam and electricity. The reactor vessel is typically a pressurized vessel enclosing a core of nuclear fuel and cooling water. Such nuclear power plants typically contain three major components: a reactor vessel containing fuel which produces superheated water for transport to one or more steam generators, which output steam to drive a multi-stage steam turbine to generate electric power. 
         [0004]    The superheated water is transported to the steam generator by pipes. These pipes feed the water into numerous tubes within the steam generator. These tubes are U-shaped, feeding the water back to the pipes at the outlet of the steam generator to be re-circulated back to the reactor. The tubes in a nuclear steam generator typically form an inverted “U” separated by a lane, and held together by a plurality of support plates, separated at periodic vertical intervals. The height of each tube row may exceed thirty-two feet. Six to eight or more support plates are used, each separated vertically at three to six foot intervals. In the steam generator, the tube carrying the superheated water are quenched with cool water, which generates the steam which drives the turbine to produce electricity. 
         [0005]    This procedure for generating steam presents several problems. The water used to quench the tubes often has impurities and chemicals which may corrode both the steam generator tubes and the support plates and lead to other damage. Even though periodic inspections of nuclear steam generators are required for compliance with safety regulations, monitoring steam generator cleanliness remains a problem. The highly corrosive environment of the steam generator is particularly problematic for many of the older nuclear reactors in service throughout the world. 
         [0006]    In the past, steam generator tubes and support plates were inaccessible for visual inspection. Information was gathered by complicated systems which could not adequately inspect all sections of tubes and support plates. Because of the highly radioactive environment and the heat of the pipes, direct visual human inspection has typically been restricted to between three and five minutes per man per six month period. This time period does not provide ample opportunity for the careful inspection for corrosion, holes and leaks. It is therefore difficult to inspect within the narrow lanes and tube separation gaps at the support plates, because of the heat, radioactivity and narrowness of the lanes separating the tubes. 
         [0007]    Tubes typically extend through support plates at quatrefoil holes. These openings provide flow through features to improve water flow in the generator and to reduce the build-up of sediment at the support plates. Nevertheless, the small areas where the quatrefoil opening must contact the tube results in areas of material build-up on the tubes, or even adherence of material being “plated out” on the tubes. This material will contribute to premature corrosion of the tubes. With known inspection devices, this condition will go undetected on all but the tubes bordering the lane. 
         [0008]    Further, the orientation of component parts within steam generators provides extreme challenges to designing workable devices for inspecting such areas. Insertion holes (also known as hand holes) at the bottom of the steam generators are often as small as a five or six inch diameter. For the purpose of this application such portals will be referred to inclusively as access ports. Flow distribution baffles within the generator often obstruct any room to maneuver equipment within the generator. Inspection within steam generators at elevations as high as thirty feet or more provide significant engineering challenges. In addition, the flow slots between tube rows are often less than two inches wide and tube separation gap dimensions are often less than one inch (down to about 0.30 inches). 
       SUMMARY OF THE DISCLOSURE 
       [0009]    The aspects of the present concepts disclosed herein are generally directed to coin exchange machines configured to provide security measures to guard against the unauthorized access and/or use, and to protect against counterfeiting or forging of vouchers or negotiable instruments issued therefrom. 
         [0010]    In some aspects of the present concepts, an inspection system for inspecting the interior of a steam generator includes a first boom and a second, telescoping boom having a proximal end pivotally attached to the first boom and a distal end bearing a delivery capsule, the delivery capsule defining a storage bay. The inspection system includes a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay and itself defines a storage bay. The first robotic inspection vehicle includes a drive system, at least one inspection camera and at least one lighting system. The first robotic inspection vehicle further includes cabling connecting the first robotic inspection vehicle to the delivery capsule. The inspection system also includes a second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay. The second robotic inspection vehicle includes at least one inspection camera and at least one lighting system and further includes cabling connecting the second robotic inspection vehicle to the first robotic inspection vehicle. 
         [0011]    In another aspect of the present concepts, a vehicular inspection system for inspecting the interior of a steam generator includes a magnetic inspection vehicle comprising a drive system utilizing magnets, electromagnets, or a combination thereof to facilitate vertical movement of the magnetic inspection vehicle along a vertical surface comprising a ferrous metal, the magnetic inspection vehicle defining a storage bay and comprising at least one inspection camera and at least one lighting system, the magnetic inspection vehicle further comprising cabling connecting the magnetic inspection vehicle to, at a distal end, to one or more of a cable management system, a video screen, a power supply, and a controller outside of a steam generator. The vehicular inspection system also include an in-bundle robotic inspection vehicle dimensioned to fit in the magnetic inspection vehicle storage bay, the in-bundle robotic inspection vehicle comprising a drive system, at least one inspection camera and at least one lighting system and further comprising cabling connecting the in-bundle robotic inspection vehicle to the magnetic inspection vehicle. 
         [0012]    In still another aspect of the present concepts, a vehicular inspection system for inspecting the interior of a steam generator includes a first inspection vehicle comprising a dual track drive system, a plurality of inspection cameras and a plurality of lights, the first inspection vehicle comprising a chassis defining an internal storage bay, the magnetic inspection vehicle further comprising cabling connecting the magnetic inspection vehicle to a distal controller. An in-bundle robotic inspection vehicle is also provided and comprises a single track drive system, the in-bundle robotic inspection vehicle being dimensioned to fit in the first inspection vehicle internal storage bay, the in-bundle robotic inspection vehicle comprising a plurality of inspection cameras and a plurality of lights and further comprising cabling connecting the in-bundle robotic inspection vehicle to the first inspection vehicle. 
         [0013]    The above summary of the present invention is not intended to represent each embodiment, or every aspect, of the present invention. Additional features and benefits of the present invention will become apparent from the detailed description, figures, and claims set forth below. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0014]    Other objects and advantages of the invention will become apparent upon reading the following detailed description in conjunction with the drawings. 
           [0015]      FIG. 1  shows a perspective view of a vertical deployment system (VDS) for steam generators in accord with at least some aspects of the present concepts. 
           [0016]      FIGS. 2   a - 2   b  show views of a portion of the VDS of  FIG. 1  showing a delivery capsule in accord with at least some aspects of the present concepts. 
           [0017]      FIG. 3  shows the VDS of the preceding figures inserted into a steam generator in accord with at least some aspects of the present concepts. 
           [0018]      FIG. 4  shows the VDS of the preceding figures in an installed and collapsed state in a steam generator in accord with at least some aspects of the present concepts. 
           [0019]      FIG. 5  shows the VDS of the preceding figures in an installed and extended state in a steam generator in accord with at least some aspects of the present concepts. 
           [0020]      FIG. 6  shows another view of the VDS of the preceding figures in an installed and extended state in a steam generator in accord with at least some aspects of the present concepts. 
           [0021]      FIG. 7  shows another view of the VDS of the preceding figures in an installed and extended state in a steam generator, wherein a rover is deployed, in accord with at least some aspects of the present concepts. 
           [0022]      FIG. 8  shows another view of the delivery capsule, deployed rover and deployed in-bundle rover in accord with at least some aspects of the present concepts. 
           [0023]      FIG. 9  shows a view of the delivery capsule with the rover retained therein in accord with at least some aspects of the present concepts. 
           [0024]      FIG. 10  shows a view of a deployed rover and deployed in-bundle rover in accord with at least some aspects of the present concepts. 
           [0025]      FIG. 11   a  show another embodiment of an inspection vehicle for inspection steam generators in accord with at least some aspects of the present concepts. 
           [0026]      FIG. 11   b  shows the inspection vehicle of  FIG. 11   a  deploying an in-bundle rover in accord with at least some aspects of the present concepts. 
           [0027]      FIGS. 12   a - 12   c  show a sequence of movement of the inspection vehicle of  FIGS. 11   a - 11   b  in accord with at least some aspects of the present concepts transitioning from movement along the steam generator wrapper to a steam generator support plate. 
           [0028]      FIG. 12   d  is a front view of an inspection vehicle in accord with at least some aspects of the present concepts disposed on a top steam generator support plate. 
           [0029]      FIGS. 12   e - 12   f  show a sequence of movement of the inspection vehicle of  FIGS. 11   a - 11   b  in accord with at least some aspects of the present concepts transitioning from movement along a steam generator support plate to the steam generator wrapper. 
           [0030]      FIGS. 12   g - 12   h  are perspective cut-away views of an inspection vehicle deploying an in-bundle rover in accord with at least some aspects of the present concepts disposed on a top steam generator support plate. 
           [0031]      FIG. 13  shows another view of the inspection vehicle of  FIGS. 11   a - 11   b  in accord with at least some aspects of the present concepts. 
           [0032]      FIG. 14  shows an example of a control layout for the VDS of  FIGS. 1-10 . 
       
    
    
       [0033]    While the invention is susceptible to various modifications and alternative forms, specific embodiments have been shown by way of example in the drawings and will be described in detail herein. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed. Rather, the invention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. 
       DETAILED DESCRIPTION OF THE INVENTION 
       [0034]      FIGS. 1-9  show various aspects of a vertical deployment system (VDS)  100  generally corresponding in structure to the device for inspecting the interior of steam generators disclosed in U.S. Pat. No. 6,145,583, issued on Nov. 14, 2000, to Gay et al., which device is configured to visually inspect steam generator tubes, including upper portions of steam generator tubes, tops and bottoms of support plates, wrapper-to-support plate welds, and other steam generator internal structures. 
         [0035]    In general, the VDS  100  is designed for a vertical lift of instruments, sensors, tools and/or payloads about 30-33 feet or more, depending on the structure of the particular type of steam generator to be inspected. In the accompanying figures, the steam generator represented is the FRAMATOME model 68/19, but the VDS may be utilized in other steam generators such as, but not limited to the Westinghouse Model F steam generator and other steam generators. The VDS  100  is deployable on steam generator models having the Flow Distribution Baffle (FDB)  275  (see  FIG. 3 ) on center or below the hand hole access which have at a minimum a 4″ (102 mm) diameter clear access into the steam generator. In an alternative configuration, a deployable support may be utilized in combination with the rail assembly  110  to provide a support to another steam generator component or surface. In yet another configuration, the rail assembly may be simply connected to the access port  205  such that the rail assembly is cantilevered within the steam generator. The steam generator support plates  225  must also contain flow holes in the approximate dimension of about 3.5″ (89 mm) in diameter or equivalent in width for a rectangular cut out, or larger. 
         [0036]    The VDS  100  comprises two main structural components, a rail assembly  110  (e.g., a “first boom”) and a telescoping boom assembly  120  (e.g., “second boom”). In at least some aspects of the present concepts, the telescoping boom assembly  120  comprises a hydraulically-actuated stacked cylinder set and, at a distal end, a delivery capsule  130 , described below. 
         [0037]    The rail assembly  110  of the VDS  100 , as is shown in  FIGS. 1-5 , for example, is disposed through an access port  205  of the steam generator  200  wall and is attached to an access port flange (not shown) by an access port mounting plate (not shown). When the rail assembly  110  is attached, at a proximal end, to the access port  110 , the rail assembly provides a stabilization leg that provides system stability for deployment of the telescoping boom assembly  120 , such as is shown in U.S. Pat. No. 5,265,129, U.S. Pat. No. 5,504,788, and U.S. Pat. No. 6,145,583, each of which is incorporated by reference in its entirety herein. The rail assembly  110  attaches, at a distal end, to the telescoping boom assembly  120  at a pivot clamp  135  that can be manually actuated or actuated via a conventional actuating device, such as a rotary actuator or a linear actuator. 
         [0038]    In at least one configuration, a rack drive servo motor attaches to the access port mounting plate and a manual crank handle  140  drives a linkage (e.g., gear(s) or gear(s) and rod(s)) attached at a distal end to the pivot clamp  135 , which is secured to the telescoping boom assembly  120 . Once the VDS  100  is inserted in thru the tube lane or “no-tube lane” as it is sometimes called, shown in  FIGS. 3-5 , and secured, the telescoping boom assembly  120  can then be up-righted using the mechanical crank handle  140 . The tube lane is the narrow area created by the innermost inverted U-tubes. Steam enters one side of the U-bend (the hot pipe) and travels around the U-bend of the pipe and is quenched by the cool water in the steam generator and proceeds around to the other side of the U-bend (the cool pipe). The manual crank handle  140  is operatable to both deploy the telescoping boom  120  and to retract the telescoping boom to the retracted position for extraction of the VDS  100 . In lieu of the manual crank, one or more actuators (e.g., linear actuator(s), rotary actuator(s), or combination thereof, etc.) could alternatively be used. As is shown in  FIG. 3 , following securement of the VDS  100  to the access port  205  of the steam generator  200 , the retracted or folded VDS is extended horizontally into the steam generator through the flanged access port and through the steam generator wrapper  201 . In this configuration, the telescoping boom assembly  120  is aligned to be substantially parallel with the rail assembly  110  to facilitate insertion through the access port  205 . 
         [0039]    The VDS  100  is disposed initially near the base of the steam generator  200  in the tube lane, the narrow area created by the innermost inverted U-tubes  210 , and more specifically through the “no-tube lane” thereof, as is shown in  FIG. 3 . In this installed configuration, the VDS  100  system is about 90″ long, 4″ high, and 4″ wide. This length can be adjusted to a greater or lesser length during the installation process via insertable and removable section if the plant geometry and drawback requirements dictate. 
         [0040]    Once the VDS  100  is installed horizontally through the access portion, as shown in  FIG. 3 , the telescoping boom assembly  120  and delivery capsule  130  borne thereby is raised to a vertical position in the tube lane to a height of about 30″, and extended via actuation of the telescoping boom assembly  120  stacked cylinder set, through a flow slot  220  in the support plates  225  of the steam generator, as is shown in  FIG. 4 .  FIG. 5  shows continued extension of the telescoping boom assembly  120  and delivery capsule  130  borne to successively higher flow slots  220  in higher support plates  225 , as is further shown in  FIG. 6 . 
         [0041]    A camera  134  is provided at a top portion of the delivery capsule  130  and may comprise a fixed camera or, as is shown in  FIG. 2   b , a pan, tilt and/or zoom camera. The delivery capsule  130  itself may be fixed to a distal end of telescoping boom assembly  120  or may alternatively be rotatably attached thereto with an associated drive system (e.g., motor, rotary actuator, etc.) to rotate the delivery capsule  130  through a selected range. The camera  134  enhances the operator&#39;s ability to navigate the delivery capsule  130  vertically through the flow slots  220  and, for the pan, tilt and/or zoom embodiment, provides additional visual inspection capability as well.  FIG. 7  shows the delivery capsule  130  extending through an inner flow slot  220  above a steam generator  200  support plate  225 . 
         [0042]    The rail assembly  110  is configured to be moved in or out of the steam generator  200  to align the telescoping boom assembly  120  with a desired one of the flow slots along the support plates  225 . The rail assembly  110  may be moved back and forth slightly or jogged to facilitate vertical movement of the telescoping boom assembly  120  so as to keep the delivery capsule  130  aligned with the flow slot  220  in each support plate  225 . The telescoping boom assembly  120  is able to extend telescopically to any desired vertical position in the steam generator  200  along the flow slots  220 . As noted above, the support plates  225  are disposed in a spaced relation vertically throughout the height of the steam generator at about three foot to six foot intervals, depending on the make and model of the steam generator. 
         [0043]    As is represented in  FIGS. 3-5 , for example, the hydraulically-controlled telescoping boom assembly  120  is activated to extend vertically to a desired height within the steam generator  200 . The vertical movement of the telescoping boom assembly  120  and/or horizontal movement of the rail assembly  110  may be computer-controlled or, alternatively, manually controlled. When the telescoping boom assembly  120  is initially deployed into a vertical position at a desired horizontal position, the horizontal position is verified. This verification may be accomplished either visually (e.g., by reference to the tube columns or other visual landmarks), via mechanical or electromechanical devices (e.g., mechanical distancing apparatuses, such as pulleys or gears, rotary encoders, etc.), or via one or more positioning sensors. To facilitate horizontal or lateral movement of the telescoping boom assembly  120 , a registration apparatus is preferably provided, the registration apparatus (not shown) comprising sets of registration guides (e.g., finger-like projections) that can be selectively pneumatically powered outwardly from a retracted position at rest or inwardly from an extended position. When each guide set is extended, one guide set contacts the hot leg of a U-tube and one guide set contacts the “cold” leg of the same U-tube. 
         [0044]    Hydraulic control of the telescoping boom assembly  120  is provided by a conventional electrically driven hydraulic pump system. The presently preferred hydraulic pump for the telescoping boom assembly  120  comprises a centrifugal vane pump, pressure relief valve, two proportional control valves, a solenoid block valve, a fluid reservoir and pressure gauges. Control power and signals are fed from the main control console over a single cable and main 110V AC power to operate the pump is obtained from a source local to the pump. The telescoping boom assembly  120  may alternatively comprise a pneumatically-driven design, as opposed to hydraulically-driven. 
         [0045]    Operation of the VDS  100  are controlled by a main operating station where data from the VDS instrumentation and cameras (and systems deployed by the VDS) are stored in or on a physical storage media and/or viewed.  FIG. 14  is a schematic of one potential control layout for the VDS  100 . Area monitor  300 , control interface computer  302 , optional auxiliary electronics  304 , and hydraulic pump  306  are preferably positioned outside of a bioshield  308  and have their cables  310  directed to control electronics  312  and power and air supplies  314 , which are set up adjacent the generator access opening  321 . A rack and pinion drive  316  is attached to rail assembly  110  which is attached to pivot clamp  135 . The control hardware for the present invention is optionally divided into primary control hardware and operator station hardware, wherein the primary control hardware is set up at the steam generator platform. In this configuration, the primary control hardware comprises two small suitcase-sized cases  312 ,  314 , the first containing the main control console  312  and the second case  314  containing bulk power supplies. Plant supplied AC power and compressed air are supplied to these cases for system operation. A switching-type power supply provides power to computer hardware from the main control console case. 
         [0046]    The main control console  312  provides the system manual control capability. Power for motor loads, lighting, cameras and support circuitry is supplied by the bulk power supply case  314  via appropriate electrical connectors  317 . Line  318  represents control cabling for the delivery capsule  130  and all associated systems including, but not limited to, electrical power cable, A/V cables, pneumatic supply line, etcetera, to operate all delivery capsule systems and subsystems. All system component connections terminate at the main control console  302 . The operator station for the device preferably contains a control computer  302 , running a graphical user interface (e.g., a Microsoft Windows® platform), associated control hardware  304 , video monitoring  300  and recording equipment and audio communication equipment. In one embodiment, audio communications link the steam generator platform and the operator station to assist in setup, installation, and/or operation. 
         [0047]    As described above, the VDS  100  is used to access internal regions of steam generators, specifically the various support plate  225  elevations. Following extension of a distal end of the telescoping boom assembly  120  to a desired support plate  225 , such as is shown in  FIG. 7 , a robot or “rover”  150  is deployed from the delivery capsule  130 , such as is shown in  FIG. 8 . The rover  150  is controlled via a tether/umbilical cable  155  housing all control, video and auxiliary conductors necessary for operation of and positive retention of the rover  150  and all associated systems. On-board equipment for the rover  150  may comprise, but is not limited to, one or more cameras or video recording devices, one or more LED packages or other lighting systems, one or more examination probes, an eddy current sensor and deployment tool, and/or retrieval tooling. 
         [0048]    The rover  150  chassis comprises a main frame  152  to which all components are attached to or reside within. Twin polymer tracks  154  are mounted on either side of the frame centerline and are independently driven by respective DC servo-gear motors for use with a closed loop control system or by DC stepper motors allowing use of an open loop control system. 
         [0049]    To facilitate operation and examination of steam generator internals, a plurality of on-board camera assemblies are advantageously provided to provide visual feedback not only of the steam generator internals, but also of the immediately surroundings of the rover, such as to facilitate navigation. In one aspect, a first camera assembly  155 , which may be a black and white camera or a color camera utilizing LED lighting or an infrared camera utilizing infra red LEDs, is mounted on the front of the crawler. In another aspect, a second camera assembly (not shown) is mounted on another side of the rover  150  (e.g., a back side or a lateral side). These camera systems for the rover  150 , where a plurality of cameras are provided, advantageously comprise a mix of color cameras, utilizing LED lighting, and infrared cameras utilizing infra red LED&#39;s. Examination of the no-tube lane, or other accessible portions of the steam generator, may be accomplished using one or more of the rover  150  cameras while the rover is securely retained within the delivery capsule  130 . 
         [0050]    In-bundle examination (i.e., examination between the steam generator U-tubes  203 ) can be accomplished by deploying, from a cavity or storage bay  158  of the rover  150 , a small, mechanized in-bundle rover  160  that itself comprises on-board video and lighting (color video, IR, UV, CCD, etc.) and optionally, one or more additional sensors and/or tools (e.g., a retrieval tool). The in-bundle rover comprises a drive system (e.g., motor-operated belt(s), track(s), wheels, etc.) that permit the in-bundle inspection rover to move laterally away from the rover  150  and into the tube bundle region. To facilitate movement of the in-bundle rover  160  between the steam generator U-tubes, the width of the in-bundle rover  160  must correspondingly be less than that of the spacing of adjacent U-tubes (e.g., less than 0.5,″ less than about 0.25,″ etc.) and in at least one aspect is about 0.25″ in width. 
         [0051]    The in-bundle rover  160  comprises a forward facing camera  164 , such as a Q-SEE QMSCC ultra-mini color camera, manufactured by Digital Peripheral Systems, Inc. of Anaheim, Calif., which is 4.6 mm in diameter and approximately 17 mm in length. In another aspect, the on-board video and lighting of the in-bundle rover  160  comprises a video probe including a flexible stainless jacket, or a laminated flexible wand, containing structural reinforcement to provide structural support while allowing some flexibility and containing all associated camera and lighting conductors. Optionally, a rear facing camera and/or a down facing camera (front and/or rear) are also provided, with attendant lighting (e.g., LED, IR LED, etc.). The in-bundle rover  160  may also optionally comprise sensors (e.g., non-destructive testing/examination, etc.) and/or retrieval (e.g., grappling) tooling. 
         [0052]    The in-bundle rover  160  is attached to the rover  150  by cabling (e.g., electrical cable, A/V cable, etc.)  169 , which may be unified in an outer cable jacket, that is in turn connected to a rotating drum configured to let out and retract the cabling  169  as the in-bundle rover  160  moves outwardly and back, respectively, through the steam generator tube  203  columns. In-bundle positioning of the in-bundle rover  160  is accomplished, in at least some aspects, using electronic encoding (e.g., a rotary encoder used in combination with the rotating drum) in combination with the on-board video capabilities to provide feedback on the deployed distance and tube position. 
         [0053]    Once the VDS  100  is inserted and the telescoping boom assembly  120  is locked in the upright position, a stabilization leg (not shown) is lowered to further stabilize the system. The telescoping boom assembly  120  is then deployed vertically via the stacked hydraulic cylinder to the desired support plate elevation with height positional feedback provided by sensors, such as string encoders. Once the delivery capsule  130  is at the desired elevation, the rover  150  may be deployed from the delivery housing onto the support plate  225 , index the tube columns and begin examinations utilizing its on-board video system. Retrieval of the system begins with recalling the in-bundle rover  160  into the storage bay  158  of the rover  150 , recalling the rover  150  into the storage bay  132  of the delivery capsule  130 . Once the rover  150  is secured in position, the stack cylinder set slowly releases fluid pressure to lower the system to the collapsed state shown in  FIG. 4  and then into the insertion state shown in  FIG. 3  by rotation of the telescoping boom assembly  120 . The VDS  100  may then be disengaged from the access port  205  and removed. 
         [0054]    The hydraulically-controlled telescoping boom assembly  120  is then activated allowing the device to extend vertically to the desired height which may cause the device to proceed through the flow slots of successive support plates  225 . Computer-controlled or manually controlled machinery sensitively and accurately measures the height of the distal end of the telescoping boom assembly  120  to ensure precise vertical positioning and of the delivery capsule within the steam generator  200 . In conjunction with the vertical extension and monitoring of the vertical position of the telescoping boom assembly  120 , the horizontal position of the telescoping boom assembly  120  is also preferably verified visually (e.g., via the delivery capsule camera  134  and/or numerically (e.g., encoder, mechanical distancing apparatuses such as pulleys or gears, position sensors, pattern recognition sensors, etc.). Horizontal movement of the telescoping boom assembly  120  may be accomplished, for example, using a pneumatically-powered registration apparatus to sequentially extend and retract sets of registration guides, finger-like movable members configured to extend from a first position to a second position, to provide a “walking” motion. When each registration guide set is extended, one guide will contact the hot tube and, on the opposing side, another guide will contact the cool tube of the same U-tube. 
         [0055]    Thus, in accord with the above-described VDS  100  and rovers  150 ,  160  borne thereby, an operator may move the delivery capsule to a desired support plate  225 , deploy the rover  150  to a desired position along the center lane of the support plate, and further deploy the in-bundle rover  160 , which, as noted above, comprises its own drive system (e.g., belt(s), track(s), wheels, etc.) that permit the in-bundle inspection rover to move laterally away from the plate rover and into the tube bundle region. 
         [0056]      FIGS. 11   a - 11   b  show a magnetic rover delivery system  500  configured to be inserted into an access port  205  (e.g., hand hole) of a steam generator  200  or other vessel or enclosed area. The overall dimensions of the magnetic rover  500  are about 8″ in length, 3.2″ in height, and 3.5″ in width. The magnetic rover  500  system is deployable on steam generator models having the Flow Distribution Baffle (FDB) on center or below the hand hole access which have at a minimum a 4″ (102 mm) access port or hand hole, wrapper cutouts in the support plates in 3.75″ (95.25 mm) wide and 3.6″ (91.4 mm) in depth measured from the wrapper tangent to the back of the cut. If the FDB is above the hand hole access the FDB must also contain these cutouts. 
         [0057]    The operator of the magnetic rover  500  is located outside of the steam generator (e.g., remotely) and uses a user interface (e.g., GUI, joystick, etc.) to receive sensor feedback from the magnetic rover  500  (e.g., visual feedback, GPS signal, etc.) to control the movement of the magnetic rover. The magnetic rover  500  comprises rare earth magnets (e.g., neodymium, etc.) or electromagnets in the tracks  554  or under tracks  554  (or wheels, optionally provided with scrapers). The total number of magnets in the tracks could vary. In some aspects, there are approximately twenty magnets distributed along each track. In various aspects, the total magnetic force required to maintain the magnetic rover firmly in place when vertically disposed on the wrapped would exceed  5  pounds of force and would still more preferably exceed about 10 pounds of force. 
         [0058]    By way of example, the tracks  554  may comprise a rubber lug type track or a custom rubber track with magnet lugs. In another example, a plurality of separate, independently actuatable electromagnets (e.g., front, mid, rear) are provided. The magnetic tracks  554  (or wheels) permit the magnetic rover  500  to climb vertically along the inner diameter (ID) of the steam generator wrapper  201  between the wrapper  201  and the tube  203  bundle and through openings  210  in the tube support plates  225 , such as the openings  210  in the FRAMATOME 68/19 steam generator, as shown in  FIG. 12   a . The magnetic tracks  554  (or wheels) are advantageously, but not necessarily, configured to permit the magnetic rover to also move while upside down. 
         [0059]    As shown in  FIGS. 11   a - 11   b,  a forward-facing camera  555  and associated lights  556  (e.g., LEDs, etc.) are provided for navigation. A storage bay  558 , described below, is also provided.  FIG. 11   b  shows an in-bundle rover  160 , as described above, deployed from the storage bay  558  of the magnetic rover  500 , the in-bundle rover  160  being connected to the magnetic rover  500  by retractable cabling  169 , as previously described. A plurality of position and inspection cameras (e.g., HD CCD camera)  557  and corresponding lights (e.g., white LEDs)(not shown) for illumination are advantageously provided in locations about the magnetic rover  500  to provide extensive, potentially even redundant, image data for positional feedback and inspection. 
         [0060]    To access the in-bundle region, the magnetic rover  500  utilizes the in-bundle rover  160  to deliver inspection cameras in-bundle, allowing the inspection of many attainable columns of tubes. In one aspect, one camera/lighting assembly  555  is mounted on the front of the crawler and two camera/lighting assemblies are mounted on the lateral sides of the magnetic rover. It is advantageous, but not necessary, for the magnetic rover  550  to comprise a combination of different camera systems of differing cover, such as one or more color camera(s) utilizing LED lighting and one or more infrared cameras utilizing infrared LED&#39;s. 
         [0061]    The magnetic rover  500  chassis comprises a main frame having dual polymer/magnet tracks  554  are mounted on opposing sides of the frame centerline. The polymer/magnet tracks  554  are independently driven by DC servo-gear motors for use with a closed loop control system or by DC stepper motors allowing use of an open loop control system. Combined with the magnetic tracks  554 , the main frame also advantageously houses an electromagnet, or a plurality of electromagnets, utilizable during deployment of the magnetic rover  500  to the various support plate  225  elevations. Mounted on the side of the magnetic rover  500  track carriage is an actuator member  550 , such as an electro-mechanical or pneumatic arm, configured to aids the magnetic rover&#39;s  500  egression from the wrapper  201  onto the support plate  225  and vice versa by pushing the rover away from or lifting it up to the wrapper. 
         [0062]      FIG. 12   b  shows the magnetic rover  500  in an intermediate position transitioning between movement along the steam generator wrapper  201  to movement along the support plate  225 . The actuator member  550 , noted above, is configured to push against the wrapper  201  to counter the magnetic forces causing the magnetic rover  500  to adhere to the wrapper. The actuator member  550  pushes against the wrapper  201  and rotates generally synchronously with the forward motion of the magnetic rover  500 , thereby causing the magnetic rover to separate from the wrapper with an increasing angle for increased forward movement of the magnetic rover. At some point, the center of gravity of the magnetic rover  500  will shift sufficiently so that gravity will pull the front part of the magnetic rover down to the position shown in  FIG. 12   c.    
         [0063]    Alternatively, other devices may be employed to achieve separation of the magnetic rover  500  from the wrapper  201 , such as but not limited to, a pneumatic nozzle blowing compressed air or an extendable linear actuator. Where the magnetic rover comprises a plurality of electromagnets, the front, mid, and then rear electromagnets are sequentially deactivated to facilitate the separate of the magnetic rover  500  from the wrapper  201  in conjunction with the action of the actuator member. 
         [0064]      FIG. 12   c  shows the magnetic rover  500  positioned over the opening  210  (not shown in  FIG. 12   c ), wherein it is able to then resume movement along the support plate  225  to any desired location, as is generally shown in  FIGS. 12   g - 12   h  (or optionally to return and move downwardly back through the opening  210 ). 
         [0065]      FIG. 12   d  shows the magnetic rover  500  on a support plate  225  in the tube lane region between the hot legs and cold legs of the U-tubes  203 . Accordingly, the magnetic rover  500  is configured to both perform inspections and to deploy an in-bundle rover  160 , described above, and does not require use of the VDS  100 , described above, or other related systems developed by R. Brooks Associates of Williamson, N.Y., shown by way of example in U.S. Pat. No. 6,145,583 and U.S. Pat. No. 5,265,129, to get into position. 
         [0066]      FIGS. 12   e - 12   f  show the magnetic rover  500  positioned midway into the opening  210  as it returns back into contact with the steam generator wrapper  201 , wherein it would then be able to resume movement upwardly or downwardly along the wrapper. In this operation, the actuator member  550  is deployed differently than that described above with respect to the movement of the magnetic rover  500  onto the support plate  225 . Specifically, the actuator member  550  is shown to provide a resistive force against the support plate to retard downward motion of the magnetic rover  500 . As the magnetic rover  500  moves into greater and greater contact with the wrapper, the actuator member  550  is rotatable out of the way so as to permit increased forward movement of the magnetic rover. At some point, the magnetic force of the magnetic rover  500  magnets are sufficiently to securely adhere the magnetic rover to the wrapper. 
         [0067]      FIGS. 12   g - 12   h  show the in-bundle rover  160  in a deployed position wherein the in-bundle inspection rover, under the control of its own drive system  162  (e.g., belt(s), track(s), wheels, etc.) moves laterally away from the magnetic rover  500  and into the tube  203  bundle region. The in-bundle rover  160  itself comprises, as noted above, a variety of cameras (e.g., front, rear, down) and associated lights (e.g., white LEDs) providing positional data useful for maneuvering and/or positioning the in-bundle rover, as well as for obtaining useful inspection data. 
         [0068]    The magnetic rover  500  is controlled via cabling  539  containing all associated control, video and auxiliary conductors for operation of the magnetic rover, in-bundle rover  160  and all associated systems (e.g., lighting, video, actuators, etc.). On-board equipment for the magnetic rover  500  and/or the in-bundle rover  160  may include, but is not limited to, camera/LED units of various type (e.g., color, black and white, IR, etc.) allowing a wide range of viewing options, to stored examination probes/devices, sensors, and tools and retrieval tooling that may be deployed from the magnetic rover  500  storage bay  558  or another storage bay. For example, a robotic arm (not shown) may be used to attach and remove a variety of tools and sensors to corresponding ports of the in-bundle rover  160 . 
         [0069]    The magnetic rover  500  system advantageously utilizes a cable management system like that shown in U.S. patent application Ser. No. 12/714,090, titled “Inspection System And Inspection Process Utilizing Magnetic Inspection Vehicle,” which is assigned to the assignee of the present application, and which is incorporated herein by reference in its entirety, to feed in and feed out the appropriate amount of cabling. Such cable management system feeds and controls the cables and tubes linking the magnetic rover  500  to external systems (e.g., computer used by operator, open loop control box, etc.) and comprises, for example, a mount flange to permit the cable management system to be mounted to the steam generator access port  205  and a roller housing that houses the rollers and motors that grip or “pinch” the cabling to positively drive it into or out of the steam generator responsive to or synchronously with control signals provided by the operator to the magnetic rover. Electric drive motors, such as MicroMo 2842S012S+30/1 246:1 motors, may be used in combination with rollers to pinch and push the cable in or out of the access port. The cable management system also advantageously comprises a tension adjuster comprising a shaft that can be pulled to facilitate cable installation and a spring to maintain tension on the cable(s). An electrical interface box comprises the electrical connection point or interface between the internal electric DC servo motors of the cable management system and the control module, the open loop control system (OLCS). To set up the magnetic rover  500  for inspection, a cable management mounting plate is installed to the access port and the magnetic rover is inserted into the steam generator  200  and the cable (reference number  539  in  FIG. 11   a ) is threaded through the cable entry of the cable guide, which is then installed on the access port. A motorized cable feeder is then mounted to the access port mount and the cable  539  inserted through a cable slot by pulling up on a spring loaded plate. When the cable  539  is properly positioned between the feed wheels, the spring plate is released and both the front and back cable  539  positioned and held in place. The cable container is positioned directly behind the cable management system and cable coiled inside so to minimize any tangling. 
         [0070]    The foregoing disclosure has been presented for purposes of illustration and description. The foregoing description is not intended to limit the present concepts to the forms, features, configurations, modules, or applications described herein by way of example. Other non-enumerated configurations, combinations, and/or sub-combinations of such forms, features, configurations, modules, and/or applications are considered to lie within the scope of the disclosed concepts.