SYSTEMS, TOOLS AND METHODS FOR DISASSEMBLING AND SEGMENTING A CALANDRIA NUCLEAR REACTOR

Technical Field

[0001] This disclosure relates generally to calandria nuclear reactors, and more specifically, to systems, tools and methods for disassembling and segmenting a calandria nuclear reactor.

Background

[0002] The following is not an admission that anything discussed below is part of the prior art or part of the common general knowledge of a person skilled in the art.

[0003] A CANDU (Canada Deuterium Uranium) reactor assembly includes a horizontal cylindrical tank known as a calandria. The calandria typically has about 380 to 480 horizontal fuel channels aligned with an axis of the calandria. The calandria typically also has both vertical and horizontal reactivity control mechanisms oriented perpendicular to the axes of the calandria and fuel channels.

[0004] Decommissioning CANDU reactors necessitates disassembling and/or segmenting the existing calandria. Given the radiation hazard posed by the calandria and associated components, careful consideration needs to be given when designing systems and methods for disassembling and segmenting a calandria.

[0005] Known methods for disassembling a calandria of a nuclear reactor core involve deploying skilled workers into the nuclear reactor vault which houses the nuclear reactor core. Within the vault, the workers use a plurality of hand-held and/or hand- controlled tools when disassembling the calandria. Although there is no nuclear fuel within the nuclear reactor core during the disassembly process, components of the nuclear reactor core can contain and emit high amounts of radiation. Accordingly, the workers can be subjected to high levels of radiation when performing the calandria disassembly. Further, because of the complexity and scale of the project, workers may be required to be in the vault for long periods of time. [0006] There is a need for new systems, tools and methods for disassembling and segmenting a calandria.

Summary

[0007] This summary is intended to introduce the reader to the more detailed description that follows and not to limit or define any claimed or as yet unclaimed invention. One or more inventions may reside in any combination or sub-combination of the elements or process steps disclosed in any part of this document including its claims and figures.

[0008] In accordance with a broad aspect, systems and methods of disassembling and segmenting a calandria are described herein. The method includes positioning a remote demolition robot at one or more reactor face of the calandria; positioning a gantry and mast system on a reactivity deck of the calandria; removing reactivity deck components from the reactivity deck; removing bellows from the one or more reactor face of the calandria using the remote demolition robot; removing a top portion of a shell from the calandria to produce an opening into the calandria; cutting and removing pressure tubes and calandria tubes from the calandria through the opening in the shell and through the reactivity deck using the gantry and mast system; removing a remainder of the shell from the calandria; and removing embedment rings from the calandria.

[0009] In at least one embodiment, cutting and removing the pressure tubes and calandria tubes from the calandria through the opening in the shell and through the reactivity deck using the gantry and mast system includes cutting the pressure tubes and calandria tubes with a saw attached to a mast of the mast and gantry system.

[0010] In at least one embodiment, cutting and removing the pressure tubes and calandria tubes from the calandria through the opening in the shell and through the reactivity deck using the gantry and mast system includes cutting the pressure tubes and calandria tubes into portions having a length of about 10 feet.

[0011] In at least one embodiment, cutting and removing the pressure tubes and calandria tubes from the calandria through the opening in the shell and through the reactivity deck using the gantry and mast system includes cutting along a centre of an axial length of the pressure tubes and calandria tubes and next to a calandria tube sheet at each end of the pressure tubes and calandria tubes.

[0012] In at least one embodiment, removing reactivity deck components from the reactivity deck includes removing reactivity deck plugs from the reactivity deck with the gantry and mast system.

[0013] In at least one embodiment, removing the top portion of the shell from the calandria includes removing by the gantry and mast system the top portion of the shell from the calandria.

[0014] In at least one embodiment, removing the top portion of the shell from the calandria includes using a grip and cut tool attached to the gantry and mast system to remove the top portion of the shell from the calandria.

[0015] In at least one embodiment, removing the top portion of the shell from the calandria includes cutting the top portion of the shell into circular or semi-circular shaped pieces with a plasma torch.

[0016] In at least one embodiment, removing a remainder of the shell from the calandria includes removing the remainder of the shell from the calandria by the mast and gantry system.

[0017] In at least one embodiment, the method further comprises removing a Fueling Machine (FM) tube sheet by the remote demolition robot.

[0018] In at least one embodiment, the method further comprises removing a calandria vault surrounding the calandria.

[0019] In accordance with a broad aspect, which may be used by itself or with one or more of the other aspects disclosed herein, there is provided an end effector for disassembling a calandria, the end effector comprising a main body extending longitudinally along a main body axis between a main body first end and a main body second end, a gripper coupled to the main body proximate the main body second end for gripping a portion of the calandria, and a cutter coupled to the main body proximate the main body first end for cutting the portion of the calandria away from a remaining portion of the calandria. [0020] In at least one embodiment, the cutter is moveable relative to the main body axis.

[0021] In at least one embodiment, the cutter is mounted on an arm outwardly extending from the main body.

[0022] In at least one embodiment, the arm is rotatable about the main body axis.

[0023] In at least one embodiment, the arm is pivotable relative to the main body axis.

[0024] In at least one embodiment, the cutter is translatable along the arm for adjusting a radial distance between the main body axis and the cutter.

[0025] In at least one embodiment, the arm is coupled to a rotatable sleeve that encircles an upper portion of the tool body, the rotatable sleeve is rotatable about the upper portion of the main body.

[0026] In at least one embodiment, the cutter is a plasma torch.

[0027] In at least one embodiment, the gripper is moveable relative to the main body axis.

[0028] In at least one embodiment, the gripper comprises a first jaw and a second jaw that are moveable between a gripping position and a release position.

[0029] In at least one embodiment, a hydraulic actuator controls movement of the first jaw and the second jaw between the gripping position and the release position.

[0030] In at least one embodiment, the gripper is pivotable relative to the main body axis.

[0031] In at least one embodiment, the main body first end comprises a mount for securing the tool to a drive system.

[0032] In at least one embodiment, the drive system comprises a gantry and mast.

[0033] In at least one embodiment, the drive system is operable to rotate the main body. [0034] In accordance with a broad aspect, a method of disassembling a calandria is described herein. The method includes gripping a portion of the calandria, cutting the portion of the calandria away from a remaining portion of the calandria, and releasing the portion of the calandria in a waste container.

[0035] In at least one embodiment, one or more steps are repeated until a desired amount of the calandria has been disassembled.

[0036] In at least one embodiment, one or more steps comprises rotating a cutter for cutting the portion of the calandria away from the remaining portion of the calandria about a gripper for gripping the removable portion of the nuclear calandria.

[0037] In at least one embodiment, the cutter and the gripper are coupled to a common main body.

[0038] In accordance with a broad aspect, there is provided a method of removing an end fitting from a fuel channel of a nuclear reactor, comprising positioning an end fitting gripper at a position next to the end fitting; forcing, while the end fitting gripper is next to the end fitting, a first jaw of the end fitting gripper closed around the end fitting; forcing, while the end fitting gripper is next to the end fitting, a second jaw of the end fitting gripper closed around the end fitting at a location spaced apart from the first jaw; and pulling, while the first and second jaws are closed, the end fitting away from an end shield of the calandria.

[0039] In at least one embodiment, the end fitting gripper is mounted to a remotely operable robot.

[0040] In at least one embodiment, positioning the end fitting gripper at the position next to the end fitting includes operating the robot from a remote location to move the end fitting gripper.

[0041] In at least one embodiment, the remotely operable robot includes an arm, and the end fitting gripper is mounted to a free end of the arm.

[0042] In at least one embodiment, pulling the end fitting away from the end shield of the calandria includes operating the robot from a remote location to pull the end fitting gripper. [0043] In at least one embodiment, pulling the end fitting away from the end shield of the calandria includes moving the end fitting linearly along a path that is perpendicular to an outer face of the end shield.

[0044] In at least one embodiment, the method further comprises cutting a tube assembly free from the end fitting prior to pulling the end fitting away from the end shield.

[0045] In at least one embodiment, cutting the pressure tube free includes making a cut inside the calandria at a location separated by the end shield of the calandria from the position next to the end fitting.

[0046] In accordance with a broad aspect, there is provided a reactor end fitting gripper, comprising a frame having a first end and a second end spaced from the first end along a longitudinal axis of the frame; a robot coupling at the first end; a first gripping jaw mounted to the frame spaced from the robot coupling towards the second end, the first gripping jaw moveable between open and closed positions; a second gripping jaw mounted to the frame between the robot coupling and the first gripping jaw, the second gripping jaw moveable between open and closed positions; a first hydraulic assembly mounted to the frame and coupled to the first gripping jaw to force the first gripping jaw to the closed position; and a second hydraulic assembly mounted to the frame and coupled to the second gripping jaw to force the second gripping jaw to the closed position.

[0047] In at least one embodiment, the first hydraulic assembly is operable to drive a first linear motion and the second hydraulic assembly is operable to drive a second linear motion parallel to the first linear motion, and the first and second linear motions are each perpendicular to the longitudinal axis.

[0048] In at least one embodiment, only a single hydraulic cylinder is drivingly coupled to the first gripping jaw, the single hydraulic cylinder drivingly coupled to the first gripping jaw being part of the first hydraulic assembly, and wherein only a single hydraulic cylinder is drivingly coupled to the second gripping jaw, the single hydraulic cylinder drivingly coupled to the second gripping jaw being part of the second hydraulic assembly. [0049] In at least one embodiment, a jaw spacing between the first gripping jaw and the second gripping jaw is at least three times as large as an offset between the robot coupling and the second gripping jaw.

[0050] In at least one embodiment, each the first and second jaws has an encompassing grip in the closed position.

[0051] In at least one embodiment, the first and second gripping jaws are arranged to hold the end fitting with a longitudinal axis of the end fitting extending generally parallel to the longitudinal axis of the frame.

[0052] In at least one embodiment, the frame includes a coupling body at the first end and a boom extending from the coupling body, the first and second gripping jaws mounted to the boom.

[0053] In at least one embodiment, the first and second gripping jaws are mounted to the boom and depend down from an underside of the boom, and the first and second gripping jaws each include a mouth directed downward.

[0054] In at least one embodiment, the frame further includes a support extending between the boom and a portion of the coupling body that projects downwardly generally parallel to the gripping jaws.

[0055] In at least one embodiment, the frame includes a pair of supports each extending between the boom and the portion of the coupling body, and the second jaw is received between the pair of supports.

[0056] In at least one embodiment, the second gripping jaw includes fingers that move in a plane between the open and closed positions, and the supports extend at least as far downward in the plane as the fingers in each of the open and closed positions.

[0057] In at least one embodiment, the boom is a latticed boom and each support is a strut.

[0058] In accordance with a broad aspect, a fuel channel grip and cut tool is described herein. The tool includes a gripping assembly and a cutting system. The cutting system includes a cutting member and a translation mechanism for translating the cutting member between a first raised position and a second lowered position. [0059] In at least one embodiment, the cutting system further comprises a motor assembly coupled to the cutting member.

[0060] In at least one embodiment, the cutting member comprises a rotatable cutting blade.

[0061] In at least one embodiment, the gripping assembly includes a support beam extending between a first end and a second end.

[0062] In at least one embodiment, the cutting system is mounted at the first end of the support beam.

[0063] In at least one embodiment, the gripping assembly comprises one or more gripping mechanisms.

[0064] In at least one embodiment, the support beam has an upper side and a lower side, and the one or more gripping mechanisms are attached to the lower side.

[0065] In at least one embodiment, each of the one or more gripping mechanisms comprises two clamping members axially spaced along the support beam.

[0066] In at least one embodiment, the gripping assembly further comprises a drive mechanism coupled to each of the clamping members to rotate the clamping members between an open position and a closed position.

[0067] In at least one embodiment, each drive mechanism comprises a hydraulic piston.

[0068] In at least one embodiment, the support beam extends along a longitudinal axis, and the clamping members rotates about an axis parallel to the longitudinal axis.

[0069] In at least one embodiment, a vertical axis is defined orthogonally to the longitudinal axis, and the translation mechanism translates between the first and second position along the vertical axis.

[0070] In at least one embodiment, the support beam includes an engagement plate mounted on an upper side of the beam for removably coupling to a gantry and mast system. [0071] In accordance with a broad aspect, a method for operating a fuel channel grip and cut tool is described herein. The method includes operating a gripping assembly to grip around a fuel channel; controlling a translation mechanism of a cutting system of the tool to translate a cutting member from a first raised position to a second lowered position, wherein in the second lowered position the cutting member is used to cut through the fuel channel; and controlling the translation mechanism to translate the cutting member from the second lowered position to the first raised position.

[0072] In at least one embodiment, the method includes, after operating the gripping assembly, activating a motor assembly, of the cutting system of the tool, to enable rotation of the cutting member.

[0073] In at least one embodiment, the gripping assembly comprises one or more gripping mechanisms operable to translate between an open and closed position.

[0074] In at least one embodiment, the gripping assembly further comprises a drive mechanism coupled to each of gripping mechanism to rotate the gripping mechanisms between the open position and the closed position.

[0075] In at least one embodiment, the fuel channel comprises a calandria tube and a pressure tube, and the drive mechanisms are operated to apply sufficient force to the crush the calandria tube into the pressure tube.

[0076] In at least one embodiment, the method is performed by a processor of the tool.

[0077] In at least one embodiment, the method also includes the processor receiving control signals from a remote computing terminal.

[0078] In accordance with a broad aspect, tools and method of segmenting a tube sheet of a calandria are described herein. The tube sheet grip and cut tool for removing a tube sheet segment comprises a body, a rotary tube in rotatable communication with the body, the rotary tube for rotating an extension arm, a cutting head in communication with the extension arm, the cutting head configured to cut the tube sheet segment, and a gripping portion in communication with the body, the gripping portion configured to attach to a tube sheet segment, wherein the rotary tube rotates to allow the cutting head to cut a tube sheet segment.

[0079] In at least one embodiment, the tool further comprises a coupling portion in communication with the body, the coupling portion for attaching the tube sheet grip and cut tool to a mechanism for movement.

[0080] In at least one embodiment, the mechanism is deployed from a reactivity deck of a nuclear reactor core.

[0081] In at least one embodiment, the mechanism is a gantry and mast system, a demolition robot, or another type of robot.

[0082] In at least one embodiment, the gripping portion radially extends to grip the tube sheet segment.

[0083] In at least one embodiment, the cutting head is moveable along the extension arm to increase or decrease the size of the tube sheet segment.

[0084] In at least one embodiment, the tube sheet grip and cut tool is configured to approach the tube sheet segment for removal, attach to the tube sheet segment by the gripping portion, move the extension arm and the cutting head to cut the tube sheet segment, and remove the tube sheet segment by the gripping portion.

[0085] In at least one embodiment, the tube sheet grip and cut tool is coupled to the mast and gantry system by the coupling portion.

[0086] In at least one embodiment, movement of the tube sheet grip and cut tool is conducted by a processor configured to automatically control the operations thereof.

[0087] In accordance with a broad aspect, a method of cutting and removing a tube sheet segment includes approaching the tube sheet segment for removal with a tube sheet grip and cut tool comprising a body, a rotary tube in rotatable communication with the body, the rotary tube for rotating an extension arm, a cutting head in communication with the extension arm, the cutting head configured to cut the tube sheet segment, and a gripping portion in communication with the body, the gripping portion configured to attach to a tube sheet segment, wherein the rotary tube rotates to allow the cutting head to cut a tube sheet segment. The method further includes attaching, by the gripping portion, the tube sheet grip and cut tool to the tube sheet segment, moving the extension arm and the cutting head, cutting, by the cutting head, the tube sheet segment, and removing the tube sheet segment by the gripping portion.

[0088] In at least one embodiment, the tube sheet grip and cut tool further comprises a coupling portion in communication with the body, the coupling portion for attaching the tube sheet grip and cut tool to a mechanism for movement.

[0089] In at least one embodiment, the method includes attaching, by the coupling portion, the tube sheet grip and cut tool to the mast and gantry system prior to approaching the tube sheet segment.

[0090] In at least one embodiment, the movement of the tube sheet grip and cut tool is facilitated by the mast and gantry system.

[0091] In at least one embodiment, the cutting head is moveable along the extension arm to increase or decrease the size of the tube sheet segment.

[0092] In at least one embodiment, movement of the tube sheet grip and cut tool is conducted by a processor configured to automatically control the operations thereof.

[0093] In at least one embodiment, after removal of the tube sheet segment by the gripping portion, the tube sheet segment is deposited in a waste container after removal.

[0094] In accordance with a broad aspect, a cutting tool is described herein. The cutting tool includes a main body having a first end and a second end spaced apart from the first end along a longitudinal axis of the main body; a coupling mechanism positioned at the first end for attaching the cutting tool to a robot; a gripping mechanism comprising a pair of clamps mounted to the main body towards the second end, each of the clamps being configured to grip the embedment ring; and a cutting assembly configured to slide relative to the main body along the longitudinal axis. The cutting assembly includes: a frame; a cutting element supported on the frame; and a plurality of spindles mounted to the frame and configured to support the cutting element and guide rotation of the cutting element to segment the embedment ring.

[0095] In at least one embodiment, the pair of clamps are movable between a gripping position and a release position to grip the embedment ring. [0096] In at least one embodiment, the gripping mechanism further comprises a pair of hydraulic cylinders mounted to the main body towards the second end, each of the hydraulic cylinders being configured to move one of the pair of clamps between the gripping position and the release position.

[0097] In at least one embodiment, each of the pair of hydraulic cylinders is mounted to a side of the main body opposed to the cutting assembly.

[0098] In at least one embodiment, each of the hydraulic cylinders moves one of the pair of clamps in a direction transverse to a longitudinal axis of the main body.

[0099] In at least one embodiment, each of the hydraulic cylinders moves one of the pair of clamps in a direction orthogonal to a longitudinal axis of the main body.

[00100] In at least one embodiment, each of the hydraulic cylinders moves one of the pair of clamps in a direction directly towards the other one of the pair of clamps.

[00101] In at least one embodiment, the cutting assembly further comprises a motor mounted to the main body towards the first end of the main body to control movement of the cutting assembly relative to the main body.

[00102] In at least one embodiment, the cutting assembly further comprises a ball screw shaft extending between the motor and the frame of the cutting assembly, the motor being configured to rotate the ball screw shaft to move the cutting assembly in a direction along the longitudinal axis of the main body between a retracted position and an extended position.

[00103] In at least one embodiment, the tool also includes a pair of rails mounted to the main body and extending in a direction along the longitudinal axis and a pair of guides mounted to the frame of the cutting assembly, each of the rails being configured to engage one of the pair of guides to direct the sliding of the cutting assembly.

[00104] In at least one embodiment, each of the pair of rails is positioned on an upper surface of the main body.

[00105] In at least one embodiment, each of the pair of guides is mounted to an underside of the frame of the cutting assembly. [00106] In at least one embodiment, the main body includes a first main body arm and a second main body arm each positioned towards the second end of the main body, the first main body arm and the second main body arm being spaced apart from each other in a direction transverse to the longitudinal axis of the main body to define a main body opening therebetween.

[00107] In at least one embodiment, the frame of the cutting assembly includes a first cutting frame arm and a second cutting frame arm each positioned towards the second end of the main body, the first cutting frame arm and the second cutting frame arm being spaced apart from each other in a direction transverse to the longitudinal axis of the main body to define a cutting frame opening therebetween.

[00108] In at least one embodiment, the main body opening and the cutting frame opening have a same width, the width being greater than a width of the embedment ring.

[00109] In at least one embodiment, the cutting element is a diamond wire that extends across the cutting frame opening in a direction that is transverse to the longitudinal axis of the main body.

[00110] In at least one embodiment, one of the spindles of the cutting assembly is configured to rotate the diamond wire about the plurality of spindles to segment the embedment ring.

[00111] In accordance with another broad aspect, a method of segmenting an object is described herein. The method includes activating a cutting element of a cutting assembly of a cutting tool, the cutting element being configured to move relative to a frame of the cutting assembly, the cutting element being supported on the frame of the cutting assembly, the frame of the cutting assembly being slidingly coupled to a main body of the cutting tool; controlling movement of the cutting tool to position a first main body arm of the tool and a second main body arm of the tool around opposed sides of the object; and as the cutting element is activated, controlling movement of the cutting assembly to slide relative to the main frame to engage the object with the cutting element to segment the object. [00112] In at least one embodiment, the object is an embedment ring of a calandria nuclear reactor.

[00113] In accordance with a broad aspect, which may be used by itself or with one or more of the other aspects disclosed herein, there is provided an end effector for severing bellows of a fuel channel assembly installed in a calandria. The end effector includes a main body extending along a longitudinal axis between a main body first end and a main body second end; a cutter coupled to the main body at the main body first end, the cutter for severing the bellows extending between an end fitting of the fuel channel assembly of the calandria and an end shield of the calandria. The cutter may be movable toward the longitudinal axis from a retracted position to a cutting position, the cutter may apply a force onto the bellows when in the cutting position, and the cutter may be rotatable about the longitudinal axis when in the cutting position.

[00114] In at least one embodiment, the cutter may include a cutting blade and a cutting blade mount, the cutting blade mount may be coupled to the main body and may be operable to move the cutting blade from the retracted position to the cutting position.

[00115] In at least one embodiment, the cutting blade mount may be a mechanical linkage having a first arm extending from a pivot joint to a first arm distal end, the cutting blade may be mounted to the first arm distal end, and a second arm extending from the pivot joint to a second arm distal end. Rotation of the second arm distal end about the longitudinal axis of the fuel channel assembly may move the cutting blade from the retracted position to the cutting position.

[00116] In at least one embodiment, the mechanical linkage may include a third arm pivotally connected between the second arm distal end and the main body.

[00117] In at least one embodiment, the main body may include a longitudinally extending inner cylindrical body and a longitudinally extending outer cylindrical body, the outer cylindrical body may be rotatable about the inner cylindrical body.

[00118] In at least one embodiment, the pivot joint may be pivotally coupled to the inner cylindrical body; the second arm distal end may be coupled to the outer cylindrical body; and rotation of the outer cylindrical body about the inner cylindrical body may move the cutting blade between the retracted position and the cutting position.

[00119] In at least one embodiment, the inner cylindrical body may include a rack gear extending about an outer circumference of the inner cylindrical body; a pinion gear may be coupled to the outer cylindrical body and may be drivingly connected to the rack gear; and rotation of the pinion gear may rotate the outer cylindrical body about the inner cylindrical body.

[00120] In at least one embodiment, the rack gear may be positioned at the main body second end.

[00121] In at least one embodiment, the main body second end may include a mount for attaching the end effector to a drive system.

[00122] In at least one embodiment, each of the inner cylindrical body and the outer cylindrical body may be rotatable about the longitudinal axis relative to the mount.

[00123] In at least one embodiment, a second pinion gear may be coupled to the mount and may be drivingly connected to the rack gear; and rotation of the second pinion gear may rotate the inner cylindrical body and the outer cylindrical body relative to the mount.

[00124] In at least one embodiment, the main body first end may include a plurality of wheels; each wheel of the plurality of wheels may have a rolling surface; and the rolling surface of each wheel may define a distal end of the end effector.

[00125] In at least one embodiment, the cutter may include a plurality of cutting members each coupled to the main body.

[00126] In accordance with a broad aspect, a method of severing bellows extending between an end fitting of a fuel channel assembly having a longitudinal axis and an end shield of a calandria is described herein. The method includes positioning a cutter radially outward of the bellows; advancing the cutter radially inwardly toward the longitudinal axis of the fuel channel assembly; and cutting the bellows by rotating the cutter about the longitudinal axis of the fuel channel assembly and moving the cutter radially inwardly toward the longitudinal axis of the fuel channel assembly. [00127] In at least one embodiment, the cutter may be mounted to a main body comprising a longitudinally extending inner cylindrical body and a longitudinally extending outer cylindrical body; and advancing the cutter radially inwardly may include rotating the outer cylindrical body relative to the inner cylindrical body.

[00128] In at least one embodiment, cutting the bellows by rotating the cutter about the longitudinal axis of the fuel channel assembly may include rotating each of the outer cylindrical body and the inner cylindrical body about the longitudinal axis of the fuel channel assembly.

[00129] In at least one embodiment, positioning the cutter radially outward of the bellows may include inserting the end fitting of the fuel channel assembly into the inner cylindrical body.

[00130] In at least one embodiment, the cutter may be coupled to the main body proximate a main body first end; and positioning the cutter radially outward of the bellows may include abutting the main body second end with the end shield.

[00131] In accordance with a broad aspect, a cutting tool for cutting an object is described herein. The cutting tool includes a housing comprising: a first motor; a cutting element driven by the first motor; and a second motor configured to move a first pulley engaging the cutting element between a first position where the first pulley is positioned within the housing and a second position where the first pulley extends outwardly from the housing. The cutting tool also includes an arm coupled to and extending longitudinally from the housing, the arm having a first end coupled to the housing and a second end spaced apart from the housing. The cutting tool also includes an arm extension member pivotally coupled to the second end of the arm, the arm extension member being configured to pivot about an axis perpendicular to a longitudinal axis of the arm as the first pulley moves between the first position and the second position, the arm extension member having a second pulley at a distal end of the arm extension member engaging the cutting element as the cutting element moves laterally relative to the arm in the same direction as the first pulley moves to support the cutting element as the cutting element cuts the object. [00132] In at least one embodiment, the arm extension member is movable between an extended position and a retracted position.

[00133] In at least one embodiment, the tool further comprises a hydraulic cylinder having a first end mounted to the arm towards the second end of the arm and a second end coupled to the arm extension member, the hydraulic cylinder being configured to move the arm extension member between the extended position and the retracted position.

[00134] In at least one embodiment, the arm further comprises a clamp mounted to the arm towards the second end, the clamp being configured to grip the object being cut.

[00135] In at least one embodiment, the clamp is movable between a gripping position and a release position to grip the object being cut.

[00136] In at least one embodiment, the arm further comprises a cylinder mounted to the arm towards the second end, the cylinder being configured to move the clamp between the gripping position and the release position.

[00137] In at least one embodiment, the housing further comprises a plate, the plate being configured to move between a gripping position and a release position to grip the object being cut.

[00138] In at least one embodiment, the housing further comprises a pair of cylinders, the pair of cylinders being configured to move the plate between the gripping position and the release position.

[00139] In at least one embodiment, the housing further comprises a ball screw shaft attached to the second motor, the second motor being configured to rotate the ball screw shaft to move the first pulley in a direction parallel with a longitudinal axis of the ball screw shaft between the first position and the second position.

[00140] In at least one embodiment, the tool further comprises a plurality of rollers, each roller being configured to support the cutting element and guide the rotation of the cutting element along a cutting path.

[00141] In at least one embodiment, the first pulley includes a first roller, the first motor being communicatively coupled to the first motor to rotate the first roller. [00142] In at least one embodiment, the cutting tool further comprises a third pulley mounted to the arm towards the first end of the arm.

[00143] In at least one embodiment, the cutting tool further comprises a fourth pulley mounted to the arm at a joint between the arm and the arm extension member.

[00144] In at least one embodiment, the cutting tool further comprises a fifth pulley mounted to the pulley and guides the cutting element as it is moves between the first and second positions.

[00145] In at least one embodiment, the cutting element is a diamond wire that extends along a path between the first pulley and the second pulley.

[00146] In at least one embodiment, the arm has a length that is greater than the length of the pipe being cut.

[00147] In accordance with another broad aspect, a method of cutting an object is described herein. The method includes positioning an arm of a cutting tool inside an inner cavity of an object; activating a cutting element of the cutting tool, the cutting element being supported by a housing and an arm of the cutting tool and configured to rotate relative to the arm; and controlling movement of the cutting element away from the housing and the arm for the cutting element to engage the object and cut the object.

[00148] In at least one embodiment, positioning the arm of the cutting tool inside the inner cavity includes activating axial clamps extending outwardly from the arm of the cutting tool to engage an inner surface of the object being cut to support the cutting tool inside of the inner cavity.

[00149] In at least one embodiment, controlling movement of the cutting element away from the housing and the arm includes simultaneously actuating a first actuator within the housing and a second actuator at an end of the cutting tool opposed to the housing to index each at the same lateral speed and provide for the cutting element to move in a direction outwardly relative to the housing and the arm as it is driven to rotate about the tool to cut the object. [00150] It will be appreciated by a person skilled in the art that a system or method disclosed herein may embody any one or more of the features contained herein and that the features may be used in any particular combination or sub-combination.

[00151] These and other features and advantages of the present application will become apparent from the following detailed description taken together with the accompanying drawings. It should be understood, however, that the detailed description and the specific examples, while indicating preferred embodiments of the application, are given by way of illustration only, since various changes and modifications within the spirit and scope of the application will become apparent to those skilled in the art from this detailed description.

Brief Description of the Drawings

[00152] For a better understanding of the various embodiments described herein, and to show more clearly how these various embodiments may be carried into effect, reference will be made, by way of example, to the accompanying drawings which show at least one example embodiment, and which are now described. The drawings are not intended to limit the scope of the teachings described herein.

[00153] FIG. 1 is a perspective view of a remote demolition robot positioned at a reactor face of a calandria, according to at least one embodiment described herein.

[00154] FIG. 2 is a block diagram of a method of disassembling and segmenting a calandria, according to at least one embodiment described herein

[00155] FIG. 3 is a perspective view of a remote demolition robot positioned at a reactor face of a calandria cutting bellows of the calandria, according to at least one embodiment described herein. The gantry and mast system are shown installed at the reactivity deck.

[00156] FIG. 4 is a perspective view of a saw cutting the pressure tubes (PTs) and calandria tubes (CTs) of the calandria to be removed through a reactivity deck of the calandria, according to at least one embodiment described herein.

[00157] FIG. 5 is a perspective view of a calandria grip and cut tool, according to at least one embodiment described herein. [00158] FIG. 6 is a perspective view of a calandria grip and cut tool, attached to gantry and mast delivery system, according to at least one embodiment described herein.

[00159] FIG. 7 is a perspective view of an end fitting grip tool, according to at least one embodiment described herein.

[00160] FIG. 8 is a perspective view of an end fitting grip tool attached to a remote demolition robot, according to at least one embodiment described herein.

[00161] FIG. 9 is a perspective view of a calandria tube and pressure tube grip and cut tool, according to at least one embodiment described herein.

[00162] FIG. 10 is a perspective view of a calandria tube and pressure tube grip and cut tool attached to a gantry and mast delivery system, according to at least one embodiment described herein.

[00163] FIG. 11 is a perspective view of a tube sheet grip and cut tool, according to at least one embodiment described herein.

[00164] FIG. 12 is a perspective view of a tube sheet grip and cut tool attached to a gantry and mast delivery system, according to at least one embodiment described herein.

[00165] FIG. 13 is a perspective view of an embedment ring cut tool, according to at least one embodiment described herein.

[00166] FIG. 14 is a perspective view of an embedment ring cut tool attached to a remote demolition robot, according to at least one embodiment described herein.

[00167] FIG. 15 is a perspective view of an end effector for use when disassembling a calandria.

[00168] FIG. 16 is a perspective view of a calandria, portions of the calandria shown are removed for illustrative purposes.

[00169] FIG. 17 is a perspective view of a nuclear reactor vault, within the nuclear reactor vault a drive system positioned on a reactivity deck of a casing surrounding a calandria is shown. [00170] FIG. 18 is a perspective view of the nuclear reactor vault of FIG. 17, a portion of the casing surround the calandria is removed to show the end effector of FIG. 15 operably coupled to the drive system.

[00171] FIG. 19 is a perspective view of a reactor end fitting removal system.

[00172] FIG. 20 is a top perspective view of a reactor end fitting gripper.

[00173] FIG. 21 is a side perspective view of the end fitting gripper of FIG. 20.

[00174] FIG. 22 is an end view of the end fitting gripper of FIG. 20.

[00175] FIG. 23 is a first side view of the end fitting gripper of FIG. 20.

[00176] FIG. 24 is a second side view of the end fitting gripper of FIG. 20.

[00177] FIG. 25 is a top view of the end fitting gripper of FIG. 20.

[00178] FIG. 26 is a bottom view of the end fitting gripper of FIG. 20.

[00179] FIG. 27 is a perspective view of the end fitting gripper of FIG. 20 with the jaws in the open position.

[00180] FIG. 28 is a perspective view of the end fitting gripper of FIG. 20 with the jaws closed around an end fitting.

[00181] FIG. 29 is a flow diagram of a method of removing an end fitting from a fuel channel of a nuclear reactor.

[00182] FIG. 30A is a perspective view of a remote demolition robot positioned at a reactor face of a calandria, and further showing a gantry and mast delivery system installed at the reactivity deck.

[00183] FIG. 30B is a perspective view of a fuel channel grip and cut tool, attached to the gantry and mast delivery system, according to at least one embodiment described herein.

[00184] FIG. 31 A is a schematic illustration of a portion of a calandria with a plurality of longitudinal fuel channel assemblies.

[00185] FIG. 31 B is a schematic illustration of an example calandria and pressure tube. [00186] FIGS. 32A - 32D illustrate an example process for using a fuel channel grip and cut tool.

[00187] FIG. 33A is an image of the example fuel channel grip and cut tool engaged around a fuel channel assembly, and whereby the cutter is in a first, raised position.

[00188] FIG. 33B is an image of the example fuel channel grip and cut tool engaged around a fuel channel assembly, and whereby the cutter is in a second, lowered position.

[00189] FIG. 34A is a perspective view of an example fuel channel grip and cut tool, in accordance with the teachings herein.

[00190] FIG. 34B is a side elevation view of the example fuel channel grip and cut tool.

[00191] FIG. 34C is a rear perspective view of the example fuel channel grip and cut tool.

[00192] FIG. 34D is a side perspective of the fuel channel grip and cut tool, showing the cutter in a first, raised position.

[00193] FIG. 34E is a side perspective of the fuel channel grip and cut tool, showing the cutter in a second, lowered position.

[00194] FIG. 34F is a cross-sectional perspective view of the example fuel channel grip and cut tool, taken along the section line 34F-34F’ in FIG. 34B.

[00195] FIG. 34G is a cross-sectional perspective view of a portion of an example fuel channel grip and cut tool, taken along the section line 34G-34G’ in FIG. 34E.

[00196] FIG. 35 is an example simplified electrical hardware block diagram for a fuel channel grip and cut tool.

[00197] FIG. 36 is an example method for operating a fuel channel grip and cut tool.

[00198] FIG. 37 is an example system for operating the fuel channel grip and cut tool.

[00199] FIG. 38 is a perspective view of a calandria of a nuclear reactor core. [00200] FIG. 39 is a perspective view of mast and gantry system installed at a reactivity deck of the nuclear reactor core.

[00201] FIG. 40 is a perspective view of a tube sheet grip and cut tool.

[00202] FIG. 41 is a perspective view of tube sheet grip and cut tool attached to a gantry and mast delivery system.

[00203] FIG. 42 is a block diagram of a method of segmenting a tube sheet of a calandria, according to at least one embodiment described herein.

[00204] FIG. 43 is a perspective view of a remote demolition robot positioned at a reactor face of a calandria, and further showing a gantry and mast delivery system installed at the reactivity deck.

[00205] FIG. 44 is a perspective view of a cutting tool for segmenting an embedment ring of a calandria nuclear reactor, according to at least one embodiment described herein.

[00206] FIG. 45 is an exploded view of the cutting tool of FIG. 43.

[00207] FIG. 46 is a bottom view of the cutting tool of FIG. 43.

[00208] FIG. 47 is a first side view of the cutting tool of FIG 43.

[00209] FIG. 48 is a rear view of the cutting tool of FIG. 43.

[00210] FIG. 49 is a perspective view of a nuclear reactor core.

[00211] FIG. 50 is a perspective view of an end fitting of a fuel channel assembly installed in a calandria of a nuclear reactor core.

[00212] FIG. 51 is a rear perspective view of an end effector for use when disassembling a calandria.

[00213] FIG. 52 is a top view of the end effector of FIG. 51.

[00214] FIG. 53 is a side view of the end effector of FIG. 51 .

[00215] FIG. 54 is front view of the end effector of FIG. 51 .

[00216] FIG. 55 is a front perspective view of the end effector of FIG. 51 , a cutter of the end effector shown in a retracted position. [00217] FIG. 56 is a front perspective view of the end effector of FIG. 51 , a cutter of the end effector shown in a cutting position.

[00218] FIG. 57 is perspective view of the end effector of FIG. 51 , shown in use.

[00219] FIG. 58 is a flow chart illustrating a method of severing bellows extending between an end fitting of a fuel channel assembly and an end shield of a calandria.

[00220] FIG. 59 is a perspective view of a remote demolition robot positioned at a reactor face of a calandria.

[00221] FIG. 60 is a perspective view of a cutting tool for cutting an object, shown in a retracted position, according to at least one embodiment described herein.

[00222] FIG. 61 is a perspective view of the cutting tool of FIG. 59, shown in an extended position.

[00223] FIG. 62 is detailed view of a clamp of the cutting tool of FIG. 59, shown in a first release position.

[00224] FIG. 63 is a detailed view of a clamp of the cutting tool of FIG. 59, shown in a second gripping position.

[00225] FIG. 64 is a detailed view of a plate of the cutting tool of FIG. 59.

[00226] FIG. 65 is a detailed view of a pulley mechanism of the cutting tool of FIG.

59, shown in a first position.

[00227] FIG. 66 is a detailed view of a pulley mechanism of the cutting tool of FIG.

60, shown in a second position.

[00228] FIG. 67A is a perspective view of the cutting tool of FIG. 59 positioned at a reactor face of a calandria, shown in a first retracted position.

[00229] FIG. 67B is a perspective view of the cutting tool of FIG. 59 positioned at a reactor face of a calandria, shown in a second extended position.

[00230] FIG. 68 is a top view of the cutting tool of FIG. 59, shown in a second extended position.

24

RECTIFIED SHEET (RULE 91 ) [00231] FIG. 69 is a flow chart of a method of cutting a pipe from an inner cavity of the pipe, according to an embodiment.

[00232] Further aspects and features of the example embodiments described herein will appear from the following description taken together with the accompanying drawings.

Detailed Description

[00233] Various apparatuses, methods and compositions are described below to provide an example of at least one embodiment of the claimed subject matter. No embodiment described below limits any claimed subject matter and any claimed subject matter may cover apparatuses and methods that differ from those described below. The claimed subject matter are not limited to apparatuses, methods and compositions having all of the features of any one apparatus, method or composition described below or to features common to multiple or all of the apparatuses, methods or compositions described below. It is possible that an apparatus, method or composition described below is not an embodiment of any claimed subject matter. Any subject matter that is disclosed in an apparatus, method or composition described herein that is not claimed in this document may be the subject matter of another protective instrument, for example, a continuing patent application, and the applicant(s), inventor(s) and/or owner(s) do not intend to abandon, disclaim, or dedicate to the public any such invention by its disclosure in this document.

[00234] Furthermore, it will be appreciated that for simplicity and clarity of illustration, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the example embodiments described herein. However, it will be understood by those of ordinary skill in the art that the example embodiments described herein may be practiced without these specific details. In other instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the example embodiments described herein. Also, the description is not to be considered as limiting the scope of the example embodiments described herein.

25

RECTIFIED SHEET (RULE 91 ) [00235] It should be noted that terms of degree such as "substantially", "about" and "approximately" as used herein mean a reasonable amount of deviation of the modified term such that the end result is not significantly changed. These terms of degree should be construed as including a deviation of the modified term, such as 1 %, 2%, 5%, or 10%, for example, if this deviation does not negate the meaning of the term it modifies.

[00236] Furthermore, the recitation of any numerical ranges by endpoints herein includes all numbers and fractions subsumed within that range (e.g. 1 to 5 includes 1 , 1.5, 2, 2.75, 3, 3.90, 4, and 5). It is also to be understood that all numbers and fractions thereof are presumed to be modified by the term "about" which means a variation up to a certain amount of the number to which reference is being made, such as 1 %, 2%, 5%, or 10%, for example, if the end result is not significantly changed.

[00237] It should also be noted that, as used herein, the wording “and/or” is intended to represent an inclusive - or. That is, “X and/or Y” is intended to mean X, Y or X and Y, for example. As a further example, “X, Y, and/or Z” is intended to mean X or Y or Z or any combination thereof. Also, the expression of A, B and C means various combinations including A; B; C; A and B; A and C; B and C; or A, B and C.

[00238] The following description is not intended to limit or define any claimed or as yet unclaimed subject matter. Subject matter that may be claimed may reside in any combination or sub-combination of the elements or process steps disclosed in any part of this document including its claims and figures. Accordingly, it will be appreciated by a person skilled in the art that an apparatus, system or method disclosed in accordance with the teachings herein may embody any one or more of the features contained herein and that the features may be used in any particular combination or sub-combination that is physically feasible and realizable for its intended purpose.

[00239] Recently, there has been a growing interest in developing new systems and methods for disassembling and segmenting a calandria.

[00240] Turning to the FIGs., referring first to FIG. 1 , shown therein is a perspective view of a portion of a nuclear reactor core 100. In the example illustrated, the nuclear reactor core 100 is a CANDU-type reactor. As illustrated, the nuclear reactor core 100 includes a calandria 105 that is a generally cylindrical vessel that, when in use, contains a heavy-water moderator. The calandria 105 includes a shell 109 that extends longitudinally between a first reactor face 104 and a second reactor face (not shown). In FIG. 1 , a remote demolition robot 102 is positioned adjacent to reactor face 104 of calandria 105 and is shown removing end fittings 107 of calandria 105, according to at least one embodiment described herein.

[00241] Remote demolition robot 102 may be any demolition robot that can be remotely controlled, such as but not limited to a Brokk® remote demolition robot.

[00242] As shown in FIG. 2, in at least one embodiment described herein, a method 200 for disassembling and segmenting a calandria such as but not limited to calandria 105 is provided.

[00243] At a first step 202 of method 200, remote demolition robot 102 is positioned at or adjacent to a reactor face 104 of calandria 105. Herein, the term “reactor face” is used to refer to a face of a calandria where fuel channels of the calandria, or more specifically end fittings, protrude outwardly from a body, or shell, of the calandria.

[00244] Remote demolition robot 102 is configured to receive, support and use one or more attachments in the disassembly and segmentation of calandria 105. Example embodiments of these attachments are described in great detail below.

[00245] At first step 202, a mast and gantry system 114 can be positioned on a reactivity deck 115 of the nuclear reactor core 100. One embodiment of a mast and gantry system 114 being positioned on reactivity deck 115 of the nuclear reactor core 100 is shown in FIG. 3.

[00246] Herein, the term “reactivity deck” is used to refer to an upper portion, or deck, of a concrete casing surrounding calandria 105. In some examples, the reactivity deck supports upper ends of reactivity control units, their mechanisms, shielding, and connecting tubes and cables.

[00247] Continuing with the method 200, at second step 204, reactivity deck components of the calandria 105 are removed. Generally, reactivity deck components and reactivity mechanisms are removed by a gantry and mast system 114. In at least one embodiment, an existing crane may alternatively be used to remove the reactivity deck components.

[00248] Reactivity deck components and reactivity mechanisms may include but are not limited adjustor rods, control rods, shutoff rods, liquid zone control units, vertical flux detectors, horizontal flux detectors and poison injection nozzles.

[00249] After removal of reactivity deck components, the reactivity deck components may be deposited into flasks or shielding containers and removed from the vault using a remotely operated transporter. In at least one embodiment, existing tooling may be used for removing of reactivity deck components.

[00250] In at least one embodiment, at step 204, the reactivity deck plugs are removed. To remove the deck plugs, each plug is cut into sections, such as but not limited to by a diamond wire saw.

[00251] After cutting the reactivity deck plugs, sections of the reactivity deck plugs may be hoisted into waste containers (not shown). Following this, horizontal reactivity components of calandria 105 are removed, ion chambers of calandria 105 are removed and a gantry and mast system for removing components through the reactivity deck is set up.

[00252] Continuing with the method 200, at step 206, bellows of calandria 105 are cut. During step 206, remote demolition robot 102 may deliver the tooling to cut the bellows. In at least one embodiment, a hydraulic jack may be used to shear the bellows. The resultant force from the hydraulic jack could be restrained by the end fitting 107.

[00253] Continuing with the method 200, at step 208, a top portion, or quadrant, of a shell 109 may be cut and removed from calandria 105 by the gantry and mast system 114. During step 208, relief ducts, and other piping may be removed from calandria 105 first.

[00254] In at least one embodiment, a grip and cut tool may be attached to the gantry and mast system 114 for removing the top portion, or quadrant, of the shell 109 from calandria 105. In at least one embodiment, a long swing arm with a plasma torch attached thereto may rotate around the grip and cut tool and cut shell 109 of calandria 105. Calandria shell 109 may be cut in circular or semi-circular shaped pieces, for example.

[00255] Continuing with the method 200, at step 210, the PTs and CTs 124 of calandria 105 may be cut and removed through the reactivity deck of calandria 105. A CT is the outer portion of the fuel channel, which houses annulus spacers and a PT, therein.

[00256] At step 210, a saw 126 with a gripper 128 is attached a mast of the mast and gantry system 114 for cutting and removing the PTs and CTs 124 through the reactivity deck. One embodiment of saw 126 with gripper 128 is shown in FIG. 4.

[00257] Gripper 128 engages each of the PTs and CTs 124. Engaging the PTs and CTs 124 helps stabilize the cutting blade of saw 126. As saw 126 starts, it moved towards PTs and CTs 124 and cuts PTs and CTs 124. In some embodiments, saw 126 may be hydraulically actuated.

[00258] Typically, each section of PTs and CTs 124 is about 10 feet long and the total length between calandria tube sheets is about 20 feet. The tube sheets of the reactor are positioned at opposite ends of the calandria 105.

[00259] In at least one embodiment, a cut is made along the centre of the axial length of the PTs and CTs 124. Cuts are then made next to the calandria tube sheet, which results in two pieces of PTs and CTs 124 that are each about 10 feet long.

[00260] Continuing with the method 200, at step 212, the remainder of the top half of calandria shell 109 may be removed.

[00261] Next, removal of remaining PTs and CTs 124 may be completed and removal of End Fitting (EF) assemblies may be performed.

[00262] At step 212, robot 102 may grab the EF assemblies and the EF assemblies, the bellows and the shield plug may be removed from face 104. These components may then be placed in a trough, ready to be cut. In some embodiments, a dedicated EF cut station may be provided.

[00263] Subsequently, a shielding ‘thumbtack’ may be installed in the fueling tube sheet. At this step, PTs and CTs 124 may be stub cut (e.g., into about 4 inch long pieces, and optionally up to 16 inches long if tooling has trouble cutting right at the calandria tube sheet face) from the EF and placed in a volume reduction machine. EF pieces may be cut in half. EF pieces may then be placed in Low Level Waste (LLW) (outboard end of EF, closure plug) or Intermediate Level Waste (ILW) (inboard end of EF, bellows, SP).

[00264] Following this, the lattice tube may be cut inboard of the fueling tube sheet.

[00265] In at least one embodiment, cuts on the calandria tube sheet may be performed with a plasma cutter attached to a mast of the mast and gantry system 114. A gripper tool attached to the mast may grab the lattice tube/calandria tube sheet sections.

[00266] In at least one embodiment, end shield balls may be collected with an electromagnet.

[00267] At step 212, the remainder (e.g. lower half) of the calandria shell 109 may also be removed (e.g. by the mast and gantry system 1 14).

[00268] At step 214, the fueling machine (FM) tube sheet may be removed. Here, robot 102 aligns tooling on the FM tube sheet bore, and cuts in a circle with, for example, a plasma cutter. Once complete, shielding slabs and embedment rings are removed. In some embodiments, a diamond wire saw may be useful for cutting these components. In some embodiments, cut pieces may be pushed as they are cut into the calandria vault.

[00269] It should be understood that the embedment rings are typically made from carbon steel. As such, it may be desirable to pick up pieces using an electromagnet and hoist the pieces up through reactivity deck. It should be understood that this may only be desired when the embedment rings are not so active that the slow cutting diamond wire saw cannot withstand the total dose.

[00270] At step 216, the calandria vault concrete is removed.

[00271] Here, an option may be to fill the calandria shell 109 with light water.

[00272] Also provided herein are several tools that may be used in the methods described above.

[00273] For example, FIG. 5 is a perspective view of a calandria grip and cut tool 300, according to at least one embodiment described herein. [00274] FIG. 6 is a perspective view of the calandria grip and cut tool 300, attached to gantry and mast delivery system, according to at least one embodiment described herein.

[00275] FIG. 7 is a perspective view of an end fitting grip tool 400, according to at least one embodiment described herein.

[00276] FIG. 8 is a perspective view of the end fitting grip tool 400 attached to a remote demolition robot, according to at least one embodiment described herein.

[00277] FIG. 9 is a perspective view of a calandria tube and pressure tube grip and cut tool 500, according to at least one embodiment described herein.

[00278] FIG. 10 is a perspective view of the calandria tube and pressure tube grip and cut tool 500 attached to a gantry and mast delivery system, according to at least one embodiment described herein.

[00279] FIG. 11 is a perspective view of a tubesheet grip and cut tool 600, according to at least one embodiment described herein.

[00280] FIG. 12 is a perspective view of the tubesheet grip and cut tool 600 attached to a gantry and mast delivery system, according to at least one embodiment described herein.

[00281] FIG. 13 is a perspective view of an embedment ring cut tool 700, according to at least one embodiment described herein.

[00282] FIG. 14 is a perspective view of the embedment ring cut tool 700 attached to a remote demolition robot, according to at least one embodiment described herein.

[00283] Turning now to the Figures, referring first to FIG. 15, shown therein is a perspective view of an end effector 1100 for use when disassembling a calandria 1102. In particular, the end effector 1100 may be used, for example, to remove at least a portion of a calandria shell 1104 of the calandria 1102. As shown in FIG. 16, the calandria shell 1104 may extend longitudinally between a first reactor face 1106 and a second reactor face (not shown) of the calandria 1102. Typically, the calandria shell 1104 is made of steel, such as stainless steel. [00284] Referring back to FIG. 15, the end effector 1100 has a main body 1110. As shown, the main body 1110 may extend along a main body axis 1112 between a main body first end 1114 and a main body second end 1116.

[00285] Coupled to the main body 1110, the end effector 1100 has a gripper 1120. The gripper 1120 is for gripping a portion of the calandria 1102 (e.g., a portion of the calandria shell 1104). Also coupled to the main body 1110 is a cutter 1122. The cutter 1122 is for cutting the portion of the calandria 1102 away from a remaining portion of the calandria 1102. Specifically, the cutter 1122 may cut the portion of the calandria 1102 away from the remaining portion of the calandria 1102 while the gripper 1120 is gripping that portion of the calandria 1102. It may be desirable to grip the portion of the calandria 1102 with the gripper 1120 while cutting that portion away from the remaining portion of the calandria 1102 so that that portion of the calandria 1102 does not fall and damage the remaining portion of the calandria 1102 and/or any nearby equipment.

[00286] After the portion of the calandria 1102 gripped by the gripper 1120 is cut away from the remaining portion of the calandria 1102 by the cutter 1122, that portion may be disposed in a waste container. The end effector 1100 may be drivingly coupled to a drive system 1130 which may be operable to orient/control the end effector 1100 to grip and cut the portion of the calandria 1102 as well as reposition the end effector 1100 to a location where the portion of the calandria 1102 cut away from the remaining portion can be disposed.

[00287] In the example illustrated, the cutter 1122 is coupled to the main body 1110 proximate an upper end 1124 of the main body 1110. As shown in FIG. 18, the upper end 1124 of the main body 1110 may be proximate the drive system 1130 (e.g., a robotic arm) for controlling movement of the end effector 1100. Referring back to FIG. 15, in the example illustrated, the gripper 1120 is coupled to the main body 1110 proximate a lower end 1126 of the main body 1110. It will be appreciated that in other examples, the gripper 1120 may be coupled to the main body 1110 proximate the upper end 1124 of the main body 1110 (i.e. , proximate the drive system 1130) and the cutter 1122 may be coupled to the main body 1110 proximate the lower end 1126 of the main body 1110. [00288] Any cutter 1122 known in the art capable of cutting the portion of the calandria 1102 away from the remaining portion of the calandria 1102 may be used. For example, the cutter 1122 may be a saw, a grinder, a plasma torch, etc., or any combination thereof. In the example illustrated in FIG. 15, the cutter 1122 is a plasma torch.

[00289] The position of the cutter 1122 relative to the main body axis 1112 may be adjustable. Any means known in the art for moving the cutter 1122 relative to the main body axis 1112 may be used. It will be appreciated that the portion gripped by the gripper 1120 may be irregular in shape, accordingly, it may be desirable for the position of the cutter 1122 relative to the main body axis 1112 (and the gripper 1120) to be adjustable. Further, it may be desirable for the cutter 1122 to be moveable relative to the main body 1110 so that the cutter 1122 may make an extended cut while the main body 1110 of the end effector 1100 remains stationary.

[00290] Optionally, as shown in FIG. 15, the cutter 1122 may be mounted on an arm 1140 that extends outwardly from the main body 1110. In the example shown, the arm 1140 is pivotally coupled to the main body 1110 at a pivot joint 1142. A hydraulic actuator 1144 may be operable to change an angle 1146 between the arm 1140 and the main body axis 1112. That is, the arm 1140 may be pivotable relative to the main body 1110. It may be desirable for the arm 1140 to pivot relative to the main body 1110 so that a distance 1148, measured parallel to the main body axis 1112, between the gripper 1120 and the cutter 1122 may be adjustable.

[00291] In addition, or alternatively, to the cutter 1122 being pivotable relative to the main body axis 1112, the cutter 1122 may be rotatable about the main body axis 1112. Any means known in the art for rotating the cutter 1122 about the main body axis 1112 may be used. For example, as shown in FIG. 15, the cutter 1122 (specifically the arm 1140 in the example illustrated) may be mounted to a rotatable sleeve 1150 that encircles an upper portion 1152 of the main body 1110. As shown, the rotatable sleeve 1150 may comprise a pinion gear 1154 drivingly coupled thereto that engages a rack gear 1156 driving ly coupled the main body 1110. It will be appreciated that in the example illustrated, rotation of the pinion gear 1154 (driven by any means known in the art) may cause rotation of the rotatable sleeve 1150 (and the arm 1140 mounted thereto) about the main body axis 1112.

[00292] In addition, or alternatively, to the cutter 1122 being pivotable relative to the main body axis 1112 and/or the cutter 1122 being rotatable about the main body axis 1112, the cutter 1122 may be translatable relative to the main body axis 1112 for adjusting a radial distance 1158 between the main body axis 1112 and the cutter 1122. Any means known in the art for translating the cutter 1122 toward and away from the main body axis 1112 in the radial direction (i.e., transverse to the main body axis 1112) may be used.

[00293] In the example illustrated, the cutter 1122 is mounted on a carrier 1160. As shown, the carrier 1160 may be drivingly coupled to a leadscrew 1162 (i.e., the carrier may have a threaded internal bore (not shown) which threadedly engages the leadscrew 1162). It will be appreciated that, for example, if the leadscrew 1162 is rotated clockwise, the carrier 1160 may translate toward a distal end 1166 of the arm 1140 (i.e., away from the main body 1110), whereas if the leadscrew 1162 is rotated counterclockwise, the carrier 1160 may translate toward the main body 1110, or vice versa.

[00294] Still referring to FIG. 15 and as described above, the end effector 1100 may include a gripper 1120 for gripping the portion of the calandria (e.g., a portion of the calandria shell 1104). Any gripper 1120 known in the art capable of gripping the portion of the calandria to be cut away from the remaining portion of the calandria may be used. For example, the gripper 1120 may be a jaw-type gripper (two-jaw, three-jaw, etc.), a bellow gripper, an O-ring gripper, a needle gripper, hand-type gripper, a vacuum, a magnet, etc., or any combination thereof.

[00295] In the example illustrated, the gripper 1120 includes a first jaw 1170 and a second jaw 1172 that are moveable between a gripping position and a release position. Any actuator operable to move the first jaw 1170 and second jaw 1172 between the gripping position and the release position may be used.

[00296] As shown, a hydraulic actuator 1174 may extend between the main body 1110 of the end effector 1100 and a scissor hinge 1176 that extends between the first jaw 1170 and the second jaw 1172. It will be appreciated that, in the example illustrated, as the hydraulic actuator 1174 extends toward a distal end 1178 of the gripper 1120, first and second arms 1180, 1182 of the scissor hinge 1176 will rotate relative to each other until they are aligned. When the first and second arms 1180, 1182 of the scissor hinge 1176 are aligned, the first and second jaws 1170, 1172 will be separated. In the example illustrated, when the hydraulic actuator 1174 retracts from the position shown in FIG. 15, the first and second jaws 1170, 1172 will close.

[00297] Optionally, the gripper 1120 may be moveable relative to the main body axis 1112. Movement of the gripper 1120 may or may not be independent from movement of the cutter 1122. Any means known in the art for moving the gripper 1120 relative to the main body axis 1112 may be used.

[00298] In the example illustrated in FIG. 15, the gripper 1120 is pivotable relative to the main body axis 1112. In the example illustrated, the gripper 1120 is pivotally mounted to the main body 1110 at a pivot joint 1188. As shown, a hydraulic actuator 1184 may be operable to pivot the gripper 1120 between a first position and a second position. Accordingly, as shown, the gripper 1120 may be pivoted independently from movement of the cutter 1122.

[00299] In addition, or alternatively, to the gripper 1120 being pivotable relative to the main body axis 1112, the gripper may be rotatable about the main body axis 1112. In the example illustrated, the gripper 1120 is not rotatable relative to the main body axis 1112. In the example shown in FIG. 15, the main body 1110 (with the gripper 1120 coupled thereto) may be rotatable relative to the calandria 1102 via the drive system 1130. That is, the drive system 1130 may be operable to rotate the main body 1110, and therefore, the gripper 1120 may be rotated into a desired position to grip the portion of the calandria 1102 to be cut away from the remaining portion of the calandria 1102. It will be appreciated that rotation of the main body 1110 by the drive system 1130 may cause rotation of the cutter 1122 and the gripper 1120.

[00300] In other embodiments, the gripper 1120 may be rotatably mounted to the main body 1110.

[00301] Still referring to FIG. 15, in the example illustrated, the main body first end 1114 includes a mount 1186 for securing the end effector 1100 to the drive system 1130. In the example illustrated, the mount 1186 is detachably attachable to the drive system 1130. An example of the end effector 1100 shown in FIG. 15 mounted to a drive system

1130 is shown in FIG. 18.

[00302] It may be desirable for the mount 1186 to be detachably attachable to the drive system 1130 so that the drive system 1130 can be used to operate multiple end effectors. In other embodiments, the end effector 1100 may not be detachably attachable to the drive system 1130 and may be an integral component thereof.

[00303] Referring now to FIG. 17, shown therein is an example of a drive system 1130 in position to disassemble a calandria 1102. Specifically, FIG. 17. shows the drive system 1130 positioned on a reactivity deck 1190 of a casing 1192 surrounding a calandria 1102 within a nuclear reactor vault 1194. The reactivity deck 1190 is an upper portion, or deck, of a concrete casing 1192 that may surround the calandria 1102. In some examples, the reactivity deck 1190 supports upper ends of reactivity control units, their mechanisms, shielding, and connecting tubes and cables. In the example illustrated, the drive system 1130 includes a mast and gantry.

[00304] When disassembling a calandria 1102 using the end effector 1100 described above, the following steps may be performed (a) gripping a portion of the calandria 1102; (b) cutting the portion of the calandria 1102 away from a remaining portion of the calandria 1102; and (c) releasing the portion of the calandria 1102 in a waste container. Steps (a) to (c) may be repeated until a desired amount of the calandria 1102 has been disassembled.

[00305] In some exemplary methods, a first portion of the calandria 1102 may be disassembled using the end effector 1100 described herein. After the first portion of the calandria 1102 has been disassembled the end effector 1100 may be detached from the drive system 1130 and an alternative end effector may be attached thereto to disassemble a second portion of the calandria 1102. Optionally, after the alternative end effector is used to disassemble the second portion of the calandria 1102, that end effector may be detached and the end effector 1100 described herein may be reattached to the drive system 1130 to disassemble a third portion of the calandria 1102. [00306] When operating the end effector 1100 to cut away a portion of the calandria 1102, the cutter 1122 may be rotated about the gripper 1120. Optionally, the gripper 1120 may remain stationary as the cutter 1122 is rotated thereabout.

[00307] Referring to FIG. 19, illustrated is a calandria 2100. Calandria 2100 includes an interior 2102. An end shield 2104 closes one end of the interior 2102. Inside the interior 2102 are fuel channel assemblies 2106. The fuel channel assemblies 2106 may include an outer calandria tube with a pressure tube received inside the calandria tube. Each fuel channel assembly 2106 extends to the end shield 2104 and is joined to an end fitting 2110 on the opposite end shield 2104.

[00308] End fittings 2110 project from the end shield. As exemplified in FIG. 19, end fittings 2110 may extend generally perpendicular to a plane 2112 and/or face 2113 of the end shield 2104. The end fittings 2110 may be engaged by a robot 2120 that is adjacent the end shield 2104. The robot 2120 is arranged outside the interior 2102 on a floor 2114 of a nuclear facility 2116. The nuclear facility 2116 includes a nuclear reactor 2108 which includes the calandria 2100, the fuel channel assemblies 2106, and the end fittings 2110. The robot 2120 is moveable relative to the end fittings 2110. The robot 2120 is operable to engage the end fittings 2110.

[00309] In some embodiments, a reactor end fitting removal system 2128 includes the robot 2120 and a reactor end fitting gripper 2130. The robot 2120 may be operable to engage the end fittings 2110 using the reactor end fitting gripper 2130, as described further below.

[00310] The robot 2120 may be a rugged demolition robot. For example, the robot 2120 may be a Brokk 900 Rotoboom ^TM demolition robot. The robot 2120 includes an arm 2122, which may be an articulating arm. The arm 2122 allows the robot 2120 to reach end fittings 2110 across the end shield 2104.

[00311] In some embodiments, the robot 2120 is a remote controlled robot. A human operator at a remote location (e.g., a control room of the nuclear facility) may operate the robot 2120. In some examples, the robot 2120 is tethered and operated from a distance by pendent. The operator may use one or more camera of system 2128, the camera(s) arranged with a view of the robot 2120 and/or reactor end fitting gripper 2130 to operate system 2128. A remote controlled robot may allow an operator to be remote from radioactive or potentially-radioactive areas. However, it will be appreciated that in some embodiments the operator could also operate the robot 2120 while in the same room and observing the system 2128 directly, and system 2128 may not include cameras.

[00312] A remote controlled robot may be cheaper or easier to use than an autonomous robot. A remote controlled robot may be precise enough for demolition work. However, it will be appreciated that the robot 2120 may be autonomous or semi- autonomous in some embodiments. It will also be appreciated that the reactor end fitting gripper 2130 may be used with various types or robots, or may be provided and/or used without a robot.

[00313] Referring now to FIGs. 20 to 28, the reactor end fitting gripper 2130 is illustrated. The end fitting gripper 2130 includes a longitudinal axis 2132 extending between a first end 2134 and a second end 2136 opposite the first end 2134. The gripper 2130 also includes a vertical axis 2138 extending between an upper end 2140 and a lower end 2142 opposite the upper end 2140. The vertical axis 2138 is perpendicular to the longitudinal axis 2132. The gripper 2130 also includes a transverse axis 2144 extending between a first lateral side 2146 and a second lateral side 2148. The transverse axis 2144 is perpendicular to the longitudinal axis 2132 and the vertical axis 2138.

[00314] The gripper 2130 includes a frame 2150 supporting a fastening assembly 2152. The fastening assembly 2152 is configured to be releasably secured to an end fitting 2110. The fastening assembly 2152 may be operable to be releasably secured to the end fitting, e.g., magnetically and/or mechanically. A mechanical fastening assembly 2152 may include, e.g., a jaw to close around the end fitting and/or a fastener operable to pierce the end fitting 2110 (e.g., a screw or spike).

[00315] As exemplified, in some embodiments the fastening assembly 2152 includes a jaw to close around the end fitting. A fastening assembly 2152 using a jaw to grasp the end fitting 2110 may hold the end fitting more securely, may be more easily operated, and/or may be less likely to cause a release of radioactive contamination than other ways of securing the gripper to the end fitting. [00316] As exemplified, the gripper 2130 includes two spaced-apart fastening assemblies 2152 supported by the frame 2150. A pair of assemblies 2152 allows the end fitting 2110 to be held at two spaced-apart locations for a more stable grip. It will be appreciated that more than two spaced-apart assemblies 2152 may be used, although more than two may result in increased costs without comparable increased performance.

[00317] As exemplified, in some embodiments the frame 2130 supports a first jaw 2160 and a second jaw 2162 spaced from the first jaw 2160. The gripper 2130 also includes a robot coupling 2170. In some embodiments, as exemplified, the robot coupling 2170 is formed in the frame 2150. The exemplary robot coupling 2170 includes a first coupling member 2172 and a second coupling member 2174 spaced from the first coupling member 2172. The first and second coupling members 2172, 2174 allow the robot 2120 to hold the gripper 2130 via separate members of the robot 2130 (i.e. , separate arms or separate branches of the arm). Although it will be appreciated that one or more than two coupling members and/or locations may be used in some embodiments. The exemplary coupling members 2174 each include a bore to receive a body of the robot 2120, although it will be appreciated that any coupling member may be used.

[00318] In some embodiments, the gripper 2130 is electrically and/or hydraulically coupled to the robot 2120 in addition to being mechanically coupled to the robot 2120 (e.g., to allow for electrically and/or fluid from the robot to power actuators of the gripper 2130). In some embodiments, there is a quick-release coupling at the joint between the end fitting gripper 2130 and the robot 2120 to pass hydraulic and/or electrical power from a control panel up the robot arm to the end fitting gripper. It will be appreciated that movement of the jaws of the gripper 2130 may be controlled via the robot control system, or via a separate control system.

[00319] As exemplified, the robot coupling 2170 is at the first end 2134. The first jaw 2160 is mounted to the frame 2150 spaced from the robot coupling 2170 towards the second end 2136. The second jaw 2162 is mounted to the frame 2150 between the robot coupling 2170 and the first jaw 2160. The robot coupling 2170 is spaced from the second gripping jaw 2162 by an offset distance 2176. The first and second gripping jaws 2160, 2162 are spaced from each other by a jaw spacing distance 2178. In some embodiments, the gripping jaw locations are selected as far apart as possible to improve stability (e.g., to have the jaws as far as possible from the end fitting center of gravity as possible). In some embodiments the jaw spacing distance 2178 is at least three, four, or five times the size of the offset distance 2176. The offset distance 2176 may be relatively small to prevent a large moment arm. In some embodiments, the first and second gripping jaws 2160, 2162 are arranged to hold the end fitting 2110 with a longitudinal axis 2118 (FIG. 19) of the end fitting 2110 extending generally parallel to the longitudinal axis 2132.

[00320] As exemplified in FIGs. 20 to 28, in some embodiments the frame 2150 includes a coupling body 2180 at the first end 2134 and a boom 2182 extending from the coupling body 2180. The robot coupling 2170 is part of the coupling body 2180. The boom 2182 extends along the longitudinal axis 2132. As exemplified, the coupling body 2180 and/or the boom 2182 may be a latticed structure. The exemplary coupling body 2180 is a structure made of bars crossed and fastened together and to the first and second coupling members 2172, 2174. The exemplary boom 2182 is a structure made of bars crossed and fastened together. A latticed structure makes for a lighter frame 2150.

[00321] As exemplified, in some embodiments the jaws 2160, 2162 are mounted to the boom 2182. In some embodiments, as exemplified, the frame 2150 includes a support 2184 extending between the boom 2182 and a portion 2186 of the coupling body 2180 that projects downwardly generally parallel to the gripping jaws 2160, 2162.

[00322] In some embodiments, as exemplified, the gripper 2130 includes a pair of supports 2184, each extending between the boom and the portion of the coupling body. The second jaw 2162 may be received between the pair of supports 2184.

[00323] In some embodiments, the second gripping jaw 2162 includes fingers 2190 that move in a plane 2188 between the open and closed positions, and the supports 2184 extend at least as far downward in the plane 2188 as the fingers 2190 when the figures are in the open position, when the figures are in the closed position, or both. Each support 2184 may be a strut, as illustrated. The exemplary supports 2184 are each a linear beam extending at an angle between the boom 2182 and the portion 2186.

[00324] The jaws 2160, 2162 depend downward from an underside 2192 of the boom 2182. Each of the first and second jaws 2160, 2162 is moveable between an open position and a closed position. As exemplified, in some embodiments each of the jaws 2160, 2162 has a mouth 2160a, 2162a directed downwardly (i.e. , along the vertical axis). In use, the gripper 2130 may be moved towards the end fitting 2110 downwardly, although it will be appreciated that alternatively the gripper 2130 may be moved axially along the longitudinal axis 2132 around the end fitting 2110.

[00325] In some embodiments, the jaws 2160, 2162 are concurrently moved to a position around the end fitting 2110. For example, the end fitting 2110 may enter the mouths 2160a, 2162a concurrently. Alternatively, the end fitting 2110 enters a first of the mouths 2160a, 2162a, and moves through that first mouth, and enters the other of the mouths 2160a, 2162a before it has been fully moved through the first mouth (i.e., entering the second before it has fully cleared the first).

[00326] The gripper 2130 includes an actuator 2200. The actuator 2200 is coupled to at least one of the fastening assemblies 2152 to operate the fastening assembly or assemblies 2152 to secure the gripper 2130 to the end fitting 2110. As exemplified, the gripper 2130 includes an actuator 2200 for each fastening assembly 2152.

[00327] In some embodiments, as exemplified, the gripper 2130 includes a first hydraulic assembly 2202 mounted to the frame 2150 and coupled to the first gripping jaw 2160 operable to force the first gripping jaw 2160 to the closed position. The gripper 2130 also includes a second hydraulic assembly 2204 mounted to the frame 2150 and coupled to the second gripping jaw 2162 operable to force the second gripping jaw 2162 to the closed position.

[00328] Referring now to FIGs. 27 and 28, the jaws 2160, 2162 may be moved between an open position (FIG. 27) and a closed position (FIG. 28). The first hydraulic assembly 2202 is operable to move the first jaw 2160 between the open and closed positions. Hydraulic actuators provide strength to firmly hold the fitting 2110 such that the fitting 2110 can be pulled away from the end shield, though it will be appreciated that other types of actuators could alternatively or additionally be used.

[00329] As exemplified, the first hydraulic assembly 2202 is operable to drive a first linear motion 2208. As exemplified, the first hydraulic assembly 2202 is operable to force fingers 2206 of the first jaw 2160 together to close around the end fitting 2110. In some embodiments, the fingers 2206 of the first jaw 2160 also move within a plane 2220 between open and closed positions. The plane 2220 may be parallel to the plane 2188. In some embodiments, each of the first and second jaws 2160, 2162 has an encompassing grip, as illustrated.

[00330] The second hydraulic assembly 2204 is operable to move the second jaw 2162 between the open and closed positions. As exemplified, the second hydraulic assembly 2204 is operable to drive a second linear motion 2210. The second linear motion 2210 may be parallel to the first linear motion 2208. The first and/or second linear motion 2208, 2210 may be perpendicular to the longitudinal axis 2132 and/or parallel to the plane 2188 in which the fingers 2190 of the second jaw 2162 move. As exemplified, the second hydraulic assembly 2204 is operable to force fingers 2190 of the second jaw 2162 together to close around the end fitting 2110. In some embodiments, the first and second jaws 2160, 2162 are operable to close concurrently.

[00331] In some embodiments, as illustrated, only a single hydraulic cylinder 2212 is drivingly coupled to the first gripping jaw 2160, the single hydraulic cylinder 2212 that is drivingly coupled to the first gripping jaw 2160 being part of the first hydraulic assembly 2202. Also, only a single hydraulic cylinder 2214 is drivingly coupled to the second gripping jaw 2162, the single hydraulic cylinder 2214 that is drivingly coupled to the second gripping jaw 2162 being part of the second hydraulic assembly 2204.

[00332] In some embodiments, a jaw includes a fixed finger 2190a, 2206a and a pivoting finger 2190b, 2206b that is pivotally secured at a point 2230, 2232 such that a free end 2234, 2236 of the finger 2190b, 2206b spaced from the point 2230, 2232 moves between a position close to and a position removed from a free end 2238, 2240 of the fixed finger 2190a, 2206a.

[00333] In some examples, the hydraulic assemblies are operable to both open and close the jaws. The hydraulic cylinders may be bi-directional hydraulic cylinders to open and close the pivoting jaws.

[00334] Referring now to FIG. 29, illustrated is a method 2300 of removing an end fitting from a fuel channel of a nuclear reactor. [00335] In some embodiments, method 2300 includes, at step 2302, cutting a end fitting free from the pressure tube and bellows prior to pulling the end fitting away from the end shield. In some embodiments, step 2302 includes making a cut inside the calandria at a location separated by the end shield of the calandria from the position next to the end fitting. In other words, the fuel channel assemblies may be cut apart inside the calandria before the end fitting is pulled free.

[00336] The method 2300 includes, at step 2304, positioning an end fitting gripper (e.g., gripper 2130) at a position next to the end fitting (e.g., fitting 2110). Step 2304 may include positioning the gripper in position such that hydraulic actuation of jaws of the gripper will close the jaws against the fitting.

[00337] Step 2304 may include securing the gripper to a robot (e.g., robot 2120). The robot may be a remotely operable robot. The gripper may be secured to a free end of an arm of the robot. Step 2304 may include operating the robot from a remote location to move the end fitting gripper.

[00338] The method 2300 includes, at step 2306, forcing, while the end fitting gripper is next to the end fitting, a first jaw (e.g., jaw 2160) of the end fitting gripper closed around the end fitting.

[00339] The method 2300 includes, at step 2308, forcing, while the end fitting gripper is next to the end fitting, a second jaw (e.g., jaw 2162) of the end fitting gripper closed around the end fitting at a location spaced apart from the first jaw. It will be appreciated that steps 2304 and 2306 may be performed in any order, and may be performed concurrently.

[00340] The method 2300 includes, at step 2310, pulling, while the first and second jaws are closed, the end fitting away from an end shield of the calandria. Step 2308 may include operating the robot from a remote location to pull the end fitting gripper. In some embodiments, step 2308 includes moving the end fitting linearly along a path that is perpendicular to an outer face of the end shield.

[00341] Reference is now made to FIG. 30A, which shows a perspective view of a disassembly and segmentation system interacting with a nuclear reactor core. [00342] In the illustrated example, the nuclear reactor core 3100 is a CANDU-type reactor. The nuclear reactor core 3100 includes a calandria 3104 that is a generally cylindrical vessel that, when in use, contains a heavy-water moderator. The calandria 3104 includes a shell 3106 that extends longitudinally between a first reactor face 3108a and a second reactor face (not shown).

[00343] As shown, the disassembly and segmentation system includes a gantry and mast system 3110. Gantry and mast system 3110 is positioned on a reactivity deck 3112 of the nuclear reactor core. The gantry and mast system 3110 is positioned to disassemble the nuclear reactor from the top, in order to reach the calandria 3104. To this end, the gantry and mast system 3110 can retain various disassembly and segmentation tools. In other examples, rather than a gantry and mast system - an existing crane can also be used to remove reactivity deck components.

[00344] As used herein, “reactivity deck” refers to an upper portion, or deck, of a concrete casing surrounding calandria 3104. In some examples, the reactivity deck 3112 supports upper ends of reactivity control units, their mechanisms, shielding, and connecting tubes and cables.

[00345] The disassembly and segmentation system can also include a remote demolition robot 3114. The remote demolition robot 3114 can receive, support and use one or more attachments in the disassembly and segmentation of the calandria 3104. The demolition robot is typically positioned at, or adjacent a first reactor face 3108a. The reactor face refers to a face of the calandria 3104 where fuel channels, or more specifically end fittings, protrude outwardly from a body, or shell of the calandria.

[00346] With reference back to the gantry and mast system 3110 - in the disassembly process, the gantry and mast system 3110 is used to disassemble the top reactivity deck 3104, such as to reach the calandria 3104 (i.e., reactor core). In one example, this disassembly process includes, (i) removing various reactivity deck components and reactivity mechanisms. Reactivity deck components and reactivity mechanisms may include, but are not limited to, adjustor rods, control rods, shutoff rods, liquid zone control units, vertical flux detectors, horizontal flux detectors and poison injection nozzles; (ii) removing reactivity deck plugs; (iii) a top portion, or quadrant, of the calandria shell 3106 may be cut and removed by the gantry and mast system 3110. Relief ducts, and other piping may be removed from calandria 3104 first.

[00347] As shown, in FIG. 30B, once the initial disassembly phase is complete, as described above - the gantry and mast system 3110 may access the calandria 3104. The calandria 3104 is accessible through an opening 3116a in the top disassembled reactivity deck 3112, as well as opening 3116b through the calandria shell 3106.

[00348] As best shown in FIG. 31 A, the calandria 3104 includes a plurality of fuel channel assemblies 3122. Each fuel channel assembly 3122 can extend longitudinally, inside the calandria 3104 between the front and rear faces 3108a, 3108b.

[00349] FIG. 31 B shows an example of a portion of a fuel channel 3122. The fuel channel 3122 includes an outer calandria tube 3210a, and an inner pressure tube 3210b nested within the calandria tube 3210a. The inner pressure tube 3210b contains fuel bundles and the heavy water primary coolant. The calandria tube 3210b keeps the heavy water moderator inside the calandria 104 away from the pressure tube 3210b. While not shown, the fuel channel 3122 also includes end fittings coupled to distal ends.

[00350] Referring back to FIG. 30B, during the disassembly and segmentation process - it is necessary to dismantle the portions of the fuel channel 3122 inside the calandria 3104. In other words, dismantling the calandria and pressure tubes. In accordance with the teaching herein, this is performed using a fuel channel grip and cut tool 3150.

[00351] As shown in FIG. 30B, the tool 3150 couples to the gantry and mast system 3110 (or an existing crane). For example, tool 3150 is coupled to a distal end 3120 of the gantry and mast system 3110. The gantry and mast system 3110 lowers the tool 3150, vertically downwardly into the calandria 3104, and via openings 3116a and 3116b. The tool 3150 is controlled to grip a single fuel channel 3122, and cut the fuel channel 3122 into smaller axial segments. These smaller segments are then lifted away by the gantry and mast system 3110, and out of the calandria 3104 to be disposed of.

[00352] Reference is briefly made to FIGS. 32A - 32D, which pictorially illustrates an example operation process of the tool 3150, for sake of further clarity. [00353] As shown in FIG. 32A, the tool 3150 is initially lowered into the calandria 3104 to engage with a fuel channel 3122. In the exemplified embodiments, the tool 3150 has a gripping assembly 3302 and a cutting system 3304. Gripping assembly 3302 includes one or more gripping mechanisms 3306a, 3306b.

[00354] In FIG. 32B, the gripping assembly 3302 can grip around a longitudinal segment 3350 of a fuel channel 3122. In some examples, in the gripping position - the gripping mechanisms 3306 may apply sufficient force to effectively crush the outer calandria tube 3210a into the inner pressure tube 3210b. This can guarantee a sufficient, tight grip over the fuel channel segment 3350.

[00355] In FIG. 32C, in the gripping position, the cutting system 3304 is used to cut through the fuel channel 3122, and in turn, disconnect segment 3350. This is also pictorially illustrated in FIGS. 33A - 33B. As shown in these figures, the cutting system 3304 is translated from a first, raised position (FIG. 33A) to a second, lowered position (FIG. 33B), such as to cut through the fuel channel 3122. In some examples, the cutting system 3304 can comprise a rotating saw cutter, which facilitates cutting of the calandria and pressure tubes, and anything retained therein (e.g., annulus spacers).

[00356] In FIG. 32D, the gantry and mast system 3110 lifts away the tool 3150 to carry the segment 3350 out of the calandria 3104. For example, segment 3350 is carried to a drop-off disposal area. In at least one example, each segment 3350, of fuel channel 3122, is about 10 feet long.

[00357] The process exemplified in FIGS. 32A - 32D is iterated for the remainder length of the fuel channel 3122, and is further subsequently iterated for each individual fuel channel 3122 in the calandria 3104.

[00358] Reference is now made to FIGS. 34A - 34G, which illustrate various view of an example grip and cut tool 3150.

[00359] As best exemplified in FIGS. 34A and 34B, tool 150 extends between a front end 3502a and a rear end 3502b. The extension occurs along a longitudinal axis 3504. Tool 3150 therefore has an axial length 3516, defined between the opposed ends 3502a, 3502b. [00360] Tool 3150 also includes an upper side 3512a and a lower side 3512b. The upper and lower sides 3512a, 3512b are disposed along a vertical axis 3508, which is defined orthogonal to the longitudinal axis 3504. In the upright position, the upper side 3512a is positioned vertically over the lower side 3512b.

[00361] As noted previously, the tool 3150 includes the gripping assembly 3302 and the cutting system 3304. Each of the gripping assembly 3302 and cutting system 3304 are coupled (i.e., adjoined or mounted) to a support member 3518. Support member 3518 can comprise a beam or the like, and can extend between a front end 3518a and rear end 3518b, along longitudinal axis 3504. The support member 3518 can extend between ends 3518a, 3518b by an axial length 3520. In some examples, the rear support beam end 3518b defines the rear end 3502b, of tool 3150.

[00362] Gripping assembly 3302 is now initially described herein, followed by a description of the cutting system 3304.

[00363] The gripping assembly 3302 includes one or more gripping mechanisms 3306a, 3306b (also referred to herein as “grippers”). In the exemplified embodiment, the tool 3150 includes two grippers 3306a, 3306b coupled, or mounted, to the support beam 3518. This includes a first gripper 3306a disposed proximal the front end 3502a of the tool, and a second gripper 3306b disposed proximal the rear end 3502b. The two grippers 3306a, 3306b are therefore axially spaced by the axial distance 3570 (FIG. 34B).

[00364] In FIG. 34B, grippers 3306a, 3306b can grip around different portions of the fuel channel 3122. In this configuration, the tool 3150 can securely lift the cut-away segment 3350 (FIG. 32D), without risk of the segment 3350 slipping away. More generally, a stronger grip can also stabilize the fuel channel 3122 when using the cutting system 3304.

[00365] Any axial spacing 3570 is provided between the grippers 3306a, 3306b, and is only limited by the support beam axial length 3520. More generally, however, by spacing the two grippers 3306a, 3306b by some axial spacing 3570 - tool 3150 is able to more securely grab around the fuel channel 3122. In some examples, a larger axial spacing 3570 can enable more secure gripping of the fuel channel 3122. For example, if the fuel channel 3122 is heavier in weight - grabbing at further ends may enable more stable engagement.

[00366] While the exemplified embodiments illustrate two grippers 3306a, 3306b, tool 3150 can include any number of grippers 3306a, 3306b. For example, only a single gripper 3306 can be provided on tool 3150. In this example, the single gripper 3306 can be disposed mid-way along the length 3520 of support beam 3518. This allows the tool 3150 to stably engage fuel assembly 3122 at the center of weight. In other examples, three or more grippers 3306 are disposed along different positions along the support beam 3518.

[00367] In more detail, in the upright position, grippers 3306a, 3306b can be disposed along the lower side 3512b of the tool, and oriented downwardly, along vertical axis 3508. An advantage of this configuration is that tool 3150 can be lowered into calandria 3104 (FIG. 30B), and the grippers 3306a, 3306b are conveniently positioned and oriented on the underside to engage the fuel channels 3122 located underneath.

[00368] To this end, grippers 3306a, 3306b can have any suitable design or configuration. For instance, in the illustrated examples, the grippers 3306a, 3306b comprise a clamp mechanism. As best shown in FIG. 34C, each clamp mechanism 3306 can include two clamping members 3522a, 3522b. Each clamping member 3522a, 3522b extends between a respective first clamp member end 3521 and a second clamp member end 3522. In other examples, any other number of clamp members 3522 are provided in each clamp mechanism 3306.

[00369] Clamping members 3522a, 3522b are rotatable between a closed, grip position and an open, non-grip position. The rotation can occur about an axis parallel and/or coaxial to longitudinal axis 3504. In this manner, in the closed position - clamping members 3522a, 3522b rotate inwardly, towards each other, to securely grip around the fuel channel 3122 (FIG. 34B). In the open position, the clamping members 3522a, 3522b separate outwardly to release or disengage the fuel channel 3122.

[00370] In the closed position, the clamping members 3522a, 3522b define a generally circular shape. This design enables the grippers 3306 to at least partially wrap around the outer circumference of the fuel channel 3122. In this design, each clamping member 3522a, 3522b can further define a generally semi-circular shape. In the closed position, the diametric spacing 3526, between opposed clamping members 3522a, 3522b, can be the diameter of the cylindrical fuel channel 3122.

[00371] Other designs for the clamping members 3522a, 3522b can also be used. For example, each clamping member 3522a, 3522b can have a flat, planar design (e.g., a flat clamp design). More generally as well, grippers 3306a, 3306b can also have nonclamp designs. For example, grippers 3306a, 3306b can comprise any other retention mechanism, including suction-type grippers.

[00372] To move the grippers 3306a, 3306b between open and closed position - a drive mechanism may be provided. In the illustrated example, each gripper 3306a, 3306b includes a separate drive mechanism. In other examples, a single drive mechanism is used to concurrently drive both grippers 3306a, 3306b.

[00373] Various drive mechanisms will occur to those skilled in the art. For instance, as exemplified in FIG. 34C, the drive mechanism can be a hydraulic drive mechanism. For example, a hydraulic piston 3530a, 3530b is coupled to each of the clamping members 3522a, 3522b, respectively.

[00374] The hydraulic pistons 3530a, 3530b generally translate along vertical axis 3508 to effect corresponding rotational movement of the clamping members 3522a, 3522b. Each hydraulic piston 3530 can extend between opposed ends 35301 , 35302. The first end 35301 is coupled to a T-member support 3534. Further, the second end 35302 is coupled to the first end 35221 of each clamping member 3522.

[00375] In other examples, one or more drive mechanisms can comprise pneumatic pistons, linear electric actuators, drive motors, or the like.

[00376] Drive mechanisms 3530a, 3530b not only control the grippers 3306a, 3306b in the open and closed positions - but also control the inward force applied in the closed position. That is, by controlling clamping members 3522a, 3522b to rotate further inwardly, the grippers 3306a, 3306b are controlled to apply more inward radial pressure to the fuel channel 3122. [00377] In at least one example, the grippers 3306a, 3306b can be controlled to apply sufficient pressure to effectively crush the outer calandria tube 3210a into the inner pressure tube 3210b. This is done by moving the clamping members 3522a, 3522b together such that the distance 3526 (FIG. 34C) is at least less than the diameter of the fuel channel 3122. An advantage of crushing the outer calandria tube 3210a into the inner pressure tube 3210b, is that the grippers 3306a, 3306b have more sufficient and stable grip over the fuel channel 3122.

[00378] Turning now to the cutting system 3304 - as exemplified in FIGS. 34A and 34B, the cutting system 3304 is disposed (i.e., mounted) at front end 3502a of tool 3150. In other examples, cutting system 3304 can also be disposed at the rear end 3502b.

[00379] In general, the cutting system 3304 includes a cutting member 3538, such as a rotating cutting blade 3538. The cutting blade 3538 can be rotated to cut through the fuel channel assembly 3122 (FIG. 33B). Any other suitable cutting member can also be used in alternative to, or in addition to the cutting blade 3538.

[00380] Rotating cutting blade 3538 may be any rotating cutting blade appropriate for cutting the materials of outer calandria tube 3210a and inner pressure tube 3210b nested within outer calandria tube 3210a. Typically there is an annular space or gap present between outer calandria tube 3210a and inner pressure tube 3210b. In some embodiments, it may be appropriate for rotating cutting blade 3538 to include a selected number of cutting teeth (not shown), optionally of a selected size, to ensure that rotating cutting blade 3538 is able to cut through the materials of outer calandria tube 3210a and inner pressure tube 3210b, and/or to ensure that rotating cutting blade 3538 is not damaged by the annular gap as it cuts through outer calandria tube 3210a and inner pressure tube 3210b.

[00381] In order to control rotation of the cutting blade 3538, the cutting system 3304 can include a motor assembly 3540. The motor assembly 3540 can include a motor 3542 (e.g., electric motor, hydraulic motor) for rotating the cutting blade 3304. The motor 3542 can be housed inside of a motor housing 3544 (FIG. 34G).

[00382] As shown in FIG. 34G, motor 3542 is coupled to the cutting blade 3538 via a rotating shaft 3546. Rotating shaft 3546 is also considered part of the motor assembly 3540. Rotating shaft 3546 can cause rotation of the cutting blade 3538 along motor axis 3548. Motor axis 3548 may be substantially parallel (e.g., ± 10°) to longitudinal axis 3504 (FIG. 34B).

[00383] Cutting system 3304 also includes a translation mechanism 3552 (FIG. 34F). Translation mechanism 3552 translates the cutting blade 3538, and motor assembly 3540, between a first, elevated position (FIG. 34D) and a second, lowered position (FIG. 34E).

[00384] In the lowered position (FIG. 34E), the cutting blade 3538 is lowered to cut- through the fuel channel 3122, which is now retained by grippers 3306. This is shown by example in FIG. 33B. Alternatively, the cutting blade 3538 is translated to the first, elevated position (FIG. 33A), in which the cutting blade 3538 disengages from the fuel channel 3122.

[00385] In more detail, in the lowered position (FIG. 34E), the cutting blade 3538 and motor assembly 3540 are translated downwardly along vertical axis 3508. The cutting blade 3538 is lowered until at least a portion of the cutting blade 3538 is level - e.g., along an axis parallel to longitudinal axis 3504 - with the grippers 3306a, 3306b (e.g., below the support beam 3518). This position ensures the cutting blade 3538 is able to saw through the fuel channel assembly 3122 (FIG. 34B). Alternatively, in the raised position (FIG. 34D), the cutting blade is translated upwardly along vertical axis 3508. In this position, the cutting blade 3538 is raised above the grippers 3306 to disengage from the fuel channel 3122.

[00386] An advantage of this translative configuration is to enable control over when the cutting blade 3538 is activated, and in turn, when the cutting blade 3538 cuts through the fuel channel 3122. For example, this control allows the tool 3150 to be initially reoriented to grip over the correct and desired segment of the fuel channel 3122. Once the tool 3150 is correctly positioned and the grippers 3306a, 3306b enabled - the cutting blade 3538 can be translated into the lower position while the motor 3542 is activated.

[00387] Here it will be appreciated that other designs for the cutting member are possible without departing from the disclosed teachings. For example, a “guillotine-type” cutting system can be used. In this example, rather than using a rotating cutting blade - a static cutting member is translated from the first, raised position to the second, lowered position, to cut through the fuel channel. This can be actively achieved through the translation mechanism 3552, or otherwise exploiting downward gravitational force. In some other examples, rather than using only a single cutting member, the cutting system 3304 can also include any number of cutting members (e.g., a plurality of rotating cutting blades).

[00388] Any translation mechanism 3552 known in the art can be used to translate cutting blade 538 and/or motor assembly 3540 between the first and second positions. In the illustrated example, and as best shown in FIG. 34F, the translation mechanism 3552 comprises a sliding rail assembly.

[00389] As shown in FIG. 34F, the sliding rail assembly can include one or more rails 3554a, 3554b extending vertically, parallel to vertical axis 3508. Rails 3554a, 3554b are supported along a vertical support frame 3556. In the upright position, vertical support frame 3556 can extend between a first, top end 3556a and a second, bottom end 3556b. The second bottom end 3556b is coupled (i.e. , mounted) to an end 3518a of the support beam 3518. In the illustrated example, two rails 3554a, 3554b are provided - however, in other examples, one or more rails are provided.

[00390] A sliding member 3558 is slidably coupled to the rails 3554a, 3554b and is used to support the cutting blade 3538 and drive assembly 3540. Accordingly, as the sliding member 3558 translates over rails 3554a, 3554b - it translates the cutting blade 3538 and motor assembly 3540 between the first and second positions (FIGS. 34D and 34E).

[00391] The translation mechanism 3552 also includes a ball screw 3560, which is used for providing vertical motion of the sliding member 3558. Ball screw 3560 is rotated via a motor 3564 and gearbox 3562. The translation mechanism 3552 may be replaced by another means to provide linear motion (e.g. an Acme shaft, rack and pinion, or linear electric actuator).

[00392] While only a single cutting system 3304 has been exemplified herein, in other examples the tool 3150 can include more than one cutting system 3304. For example, a cutting system 3304 can be positioned at both the front and rear ends 3504a, 3504b of the tool 3150 to cut-out a fuel channel segment 3350. Each cutting system can have the same or a different design.

[00393] Referring back to FIGS. 34A and 34B, tool 150 can also include an engagement plate 3580. Engagement plate 3580 facilitates removable coupling between the tool 3150, and the gantry and mast system 3110 (FIG. 30). The engagement plate 3580 can be disposed on the upper side 3512a of the tool 3150. This position allows tool 3150 to engage to the gantry and mast system 3110 from above.

[00394] As exemplified in FIG. 34A, the engagement plate 3580 can include one or more cavity holes 3584, which mechanically couple a distal end of the gantry and mast system 3110 to the tool 3150 (e.g., via fasteners). In some examples, some of the cavity holes 3584 can also receive electrical or fluid power connections. The electrical or fluid power connections can enable remote control of various feature of the tool 3150. For instance, this includes remote control of the gripper drive mechanisms 3530a, 3530b, the translation mechanism 3552 for the cutting blade and/or the motor assembly 3540. For instance, the electrical or fluid power connections may pass from the gantry and mast system 3110 into the tool 3150.

[00395] Reference is now made to FIG. 35, which shows a simplified control block diagram for an example tool 3150.

[00396] As shown, the tool 3150 can include one or more processors 3602 coupled to one or more of a memory 3604, the gripping drive mechanisms 3530, the cutter motor assembly 3540, the cutter translation mechanism 3552 and an I/O interface 3606.

[00397] Processor 3602 is a computer processor, such as a general purpose microprocessor. In some other cases, processor 3502a may be a field programmable gate array, application specific integrated circuit, microcontroller, or other suitable computer processor. While only a single processor 3602 is exemplified, it will be understood that processor 3602 may comprise any number of processors (e.g., parallel processors, etc.). Accordingly, reference to processor 3602 performing a function or operation may be understood to refer to any number or subset of processors 3602 performing that function or operation, concurrently, partially concurrently and/or non- concurrently. [00398] Processor 3602 is also coupled, via a computer data bus, to memory 3604. Memory 3602 may include both volatile and non-volatile memory. Non-volatile memory stores computer programs consisting of computer-executable instructions, which may be loaded into volatile memory for execution by processor 3602 as needed. It will be understood by those of skill in the art that references herein to tool 3150 as carrying out a function or acting in a particular way imply that processor 3602 is executing instructions (e.g., a software program) stored in memory 3604 and possibly transmitting or receiving inputs and outputs via one or more interface. Memory 3604 may also store data input to, or output from, processor 3604 in the course of executing the computer-executable instructions.

[00399] I/O interface 3606 can be any interface for interfacing the processor 3602 with external systems (e.g., external electrical connections via the gantry and mast system 3110).

[00400] In some examples, tool 3150 may have functionality for independent control of the gripping drive mechanisms 3530 for each gripper 3302. In this manner, each gripper 3306a, 3306b is individually controllable. In other examples, each drive mechanism 3530 - for each individual clamping member 3522 - may be individually controllable.

[00401] Reference is now made to FIG. 36, which shows a method 3700 for operating the fuel channel grip and cut tool 3150. Method 3700 can be performed by the processor 3602 of the tool 3150.

[00402] At 3702, the tool’s gripping assembly 3302 is operated to grip around a segment of a fuel channel assembly 3122.

[00403] At 3704, the cutter’s motor assembly 3540 is activated to rotate the cutting blade 3538.

[00404] At 3706, the translation mechanism 3532 is controlled to lower the cutting blade 3538 from the first, raised position (FIG. 34D) to the second, lowered position (FIG. 34E). This enables the tool 3150 to cut through the fuel channel assembly 3122.

[00405] At 3708, the translation mechanism 3532 is controlled again to translate the cutting blade 3538 back up to the first, raised position. [00406] At 3710, in some examples, the cutter’s motor assembly 3540 is deactivated. At this point, the gantry and mast system 3110 can be controlled to lift away the cut fuel channel segment 3350 (FIG. 32D).

[00407] While not shown in method 3700, once the fuel channel segment 3350 is lifted away from the calandria 3104, the gripping assembly 3302 can be controlled to release the segment into a specialized waste deposit area.

[00408] Reference is now made to FIG. 37, which shows a system 3800 for operating a fuel channel grip and cut tool 3150.

[00409] As shown the system includes a remote, operator control terminal 3802. The control terminal 3802 is connected, via network 3804, to the gantry and mast system 3110. Gantry and mast system 3110 is in turn coupled to the tool 3150.

[00410] In operation, a user operator may operate the control terminal 3802. Control signals are transmitted via network 3804 to the gantry and mast system 3110. The control signals are then transmitted to the processor 3602 of the tool 3150, e.g., via the I/O interface 3606. These control instructions can enable the method 3700. For example, the control signals can be used to control the gripping assembly 3302, activate/de-activate the motor assembly 3540 and/or control the translation mechanism 3532.

[00411] Network 3804 may be connected to the internet. Typically, the connection between network 3804 and the Internet may be made via a firewall server (not shown). In some cases, there may be multiple links or firewalls, or both, between network 3804 and the Internet. Some organizations may operate multiple networks 3804 or virtual networks 3804, which can be internetworked or isolated. These have been omitted for ease of illustration, however it will be understood that the teachings herein can be applied to such systems. Network 3804 may be constructed from one or more computer network technologies, such as IEEE 802.3 (Ethernet), IEEE 802.11 and similar technologies.

[00412] Referring first to FIG. 38, shown therein is a perspective view of a nuclear reactor core 4100. In the example illustrated, the nuclear reactor core 4100 is a CANDU ^TM -type reactor. As illustrated, the nuclear reactor core 4100 may include a calandria 4102 which is a generally cylindrical vessel that, when in use, contains a heavy- water moderator. The calandria 4102 may include a shell 4104 which extends longitudinally between a first Calandria tube sheet 4106 and a second tube sheet (not shown). In the example illustrated, the nuclear reactor core 4100 also includes a first Fueling Machine Tubesheet 4108 and a second Fueling Machine Tubesheet (not shown). As shown, the first Fueling Machine Tubesheet 4108 may be spaced longitudinally outward of the first tube sheet 4106 at a first end 4110a of the nuclear reactor core 4100. The second Fueling Machine Tubesheet may be spaced longitudinally outward of the second tube sheet at a second end 4110b of the nuclear reactor core 4100.

[00413] Each of the first tube sheet 4106 and the first Fueling Machine Tubesheet 4108, may include a plurality of lattice sites 4112. Each lattice site of the plurality of lattice sites 4112 may be used to support a fuel channel assembly or lattice tube 4124.

[00414] In the example illustrated, the nuclear reactor core 4100 also includes plurality of lattice tubes 4124. As shown in FIG. 38, the plurality of lattice tubes 4124 may extend between the first tube sheet 4106 and the first Fueling Machine Tubesheet 4108. In the example illustrated, each lattice tube of the plurality of lattice tubes 4124 is welded to one of the first tube sheet 4106 and is welded to one of the first Fueling Machine Tubesheet 4108.

[00415] Referring now to FIG. 39, shown therein is another perspective view of the nuclear reactor core 4100. In the example illustrated, a mast and gantry system 4116 is positioned on a reactivity deck 4118 of the nuclear reactor core 4100. Herein, the term reactivity deck 4118 is used to refer to an upper portion, or deck, of a concrete casing surrounding calandria 4102. In some examples, the reactivity deck 4118 supports upper ends of reactivity control units, their mechanisms, shielding, and connecting tubes and cables.

[00416] In the illustrated example, a remote demolition robot 4114 is positioned adjacent to calandria 4102. The remote demolition robot 4114 may be configured to receive, support or use an attachment in the segmentation of calandria 4102.

[00417] The mast and gantry system 4116 of the nuclear reactor core 4100 is used to connect to the tooling used to remove sections of the tube sheet 4106 of the calandria 4102. Mast head 4126 of the mast and gantry system 4116 may be the connection point between the mast and gantry system 4116 and the tooling used for tube sheet 4106 removal.

[00418] The following description outlines the tool and methods for removal of sections of the tube sheet 4106 and lattice sites 4112 within a nuclear reactor core 4100. Although the discussion that follows is in respect of a CANDll™ type nuclear reactor, it is to be understood that the systems and methods described below may be implemented on other types of nuclear reactors.

[00419] In accordance with one aspect of this disclosure, which may be used by itself or in combination with any other aspect of this disclosure, a tube sheet grip and cut tool 4150 may be operable to remove a tube sheet 4106, lattice sites 4112, and/or lattice tubes 4124 in a calandria 4102 of a nuclear reactor core 4100.

[00420] Referring to FIGs. 40 and 41 , the tube sheet grip and cut tool 4150 includes a body 4151 , a gripping portion 4154, a cutting head 4156, a rotary tube 4164 and an extension arm 4158.

[00421] The body 4151 of the tube sheet grip and cut tool 4150 may be cylindrical in shape. This may facilitate the rotation of the rotary tube 4164 around the body 4151 .

[00422] The rotary tube 4164 of the tube sheet grip and cut tool 4150 is used to rotate the extension arm 4158 and attached cutting head 4156 around the body 4151 of the tube sheet grip and cut tool 4150.

[00423] The gripping portion 4154 of the tube sheet grip and cut tool 4150 is used to facilitate connection between the tube sheet grip and cut tool 4150 and the lattice sites 4112 of the tube sheet 4106.

[00424] The gripping portion 4154, when in use, may be placed within a lattice site 4112 of the tube sheet 4106, where the gripping portion 4154 has an initial outside diameter smaller than the inside diameter of the lattice site 4112. As such, the gripping portion 4154 may be insertable into the lattice site 4112 of the tube sheet 4106 without contacting the sides of the lattice site 4112. In some embodiments, the lattice site 4112 of the tube sheet 4106 may include a lattice tube 4124. In such embodiments, the gripping portion 4154 may be insertable into the lattice tube 4124 in connection with the lattice site 4112 of the tube sheet 4106.

[00425] Once within the lattice site 4112 or the lattice tube 4124, the gripping portion 4154 may extend radially from the initial diameter to an increased diameter to contact the sides of the lattice site 4112 and/or lattice tube 4124. The radial extension of the gripping portion 4154 may grip the interior surface of the lattice site 4112 and/or lattice tube 4124, applying pressure to the interior wall of the lattice site 4112 and/or lattice tube 4124. This may provide the gripping portion 4154 with a grip able to hold the tube sheet 4106 in place.

[00426] In some embodiments, the gripping portion 4154 may use any other type of gripping mechanism, such as hooks, adhesive, magnets, or any other type of mechanism for attachment and movement of a segment of tube sheet 4106.

[00427] The cutting head 4156 of the tube sheet grip and cut tool 4150 is used to cut and release the tube sheet 4106 and the corresponding lattice site 4112 and/or lattice tube 4124.

[00428] The cutting head 4156 may be attached to the tube sheet grip and cut tool 4150 by an extension arm 4158. The extension arm 4158 may extend from the body 4151 of the tube sheet grip and cut tool 4150.

[00429] The extension arm 4158 may be coupled to the body 4151 by a rotary tube 4164. The rotary tube 4164 may be coupled to the body 4151 to facilitate rotation around the body 4151. The rotation of the rotary tube 4164 around the body in turn rotates the extension arm 4158.

[00430] The extension arm 4158 may include a ball screw shaft 4160. The ball screw shaft 4160 may be attached to the cutting head 4156 and configured to allow the cutting head 4156 to move from a first position near the gripping portion 4154 to an extended position away from the gripping portion 4154. This ball screw shaft 4160 may allow the cutting head 4156 to have an increased reach on the tube sheet 4106 to cut and retrieve a larger size segment of the tube sheet 4106. [00431] The cutting head 4156 further includes a cutting blade 4162 on the distal end of the cutting head 4156. The cutting blade 4162 may be designed to cut any type of material, such as metal, plastic, etc., or any other type of material. The cutting blade 4162 may be used to pierce through the tube sheet 4106 and cut a segment of the tube sheet 4106.

[00432] In some embodiments, the cutting head 4156 may include a plasma torch attached thereto. The plasma torch may be used to cut the tube sheet 4106.

[00433] The tube sheet grip and cut tool 4150 may further include a coupling portion 4152. The coupling portion 4152 of the tube sheet grip and cut tool 4150 is used to connect the tube sheet grip and cut tool 4150 to the mast and gantry system 4116. The mast head 4126 of the mast and gantry system 4116 may connect with coupling portion 4152 of the tube sheet grip and cut tool 4150. When connected, the mast and gantry system 4116 may be operable to move the tube sheet grip and cut tool 4150.

[00434] In some embodiments, the coupling portion 4152 may be a pin, a bolt, a radially expandable portion, a snap, or any other coupling tool that may attach the tube sheet grip and cut tool 4150 to the mast and gantry system 4116. In another embodiment, the tube sheet grip and cut tool 4150 may be coupled to the mast and gantry system 4116 by another method or at another location on the body 4151 .

[00435] In some embodiments, the tube sheet grip and cut tool 4150 may be coupled to any other mechanism for movement. In some embodiments, the tube sheet grip and cut tool 4150 may be coupled to the remote demolition robot 4114 for segmentation of the Fueling Machine Tubesheet 4108. In some embodiments, the tube sheet grip and cut tool 4150 may be moveable by, for example, a robot deployed from the reactivity deck.

[00436] A processor may be used to control each of the mast and gantry system 4116 and the tube sheet grip and cut tool 4150. Accordingly, the processor may be operable to facilitate tube sheet 4106 and lattice tube 4124 removal with no human interaction with tools within the nuclear reactor core 4100. [00437] The processor may be operable to control the tube sheet grip and cut tool 4150, which may include aligning the tube sheet grip and cut tool 4150 with the lattice site 4112 and/or the lattice tube 4124 therein; advancing the tube sheet grip and cut tool 4150 into the lattice site 4112 and/or lattice tube 4124; expanding the gripping portion 4154 within the lattice site 4112 and/or lattice tube 4124; operating the cutting head 4156 of the tube sheet grip and cut tool 4150 to make the desired cuts; and retracting the tube sheet grip and cut tool 4150 and the cut segment of the tube sheet 4106.

[00438] In some examples, the processor may include at least one of a SCADA panel, a server, a vault network panels a control equipment area panel, and a RCC network panel. In some examples, the processor may include at least one of Siemens Software, SCADA Application program, SCADA PLC Program, and Illuminate program.

[00439] Referring to FIG. 42, an example of a tube sheet grip and cut tool 4150 operating on the tube sheet 4106 of a nuclear reactor core 4100 is illustrated. As shown, the tube sheet grip and cut tool 4150 may be positioned outward of the tube sheet 4106 of the nuclear reactor core 4100. In the example illustrated, the tube sheet grip and cut tool 4150 is mounted to mast head 4126 of the mast and gantry system 4116.

[00440] In the example illustrated, the gripping portion 4154 has been inserted into the lattice site 4112 of the tube sheet 4106.

[00441] Reference is now made to FIG. 43, which shows a block diagram of a method 200 of segmenting a tube sheet 4106 from a calandria 4102 of a nuclear reactor core 4100 using the tube sheet grip and cut tool 4150.

[00442] The steps of the method as described herein may be conducted remotely, by a human operator controlling the operations of the above-described system elements, or autonomously, by a processor configured to automatically control the operations thereof.

[00443] At a first step 202 of method 200, tube sheet grip and cut tool 4150 is positioned at or adjacent to the tube sheet 4106 of calandria 4102.

[00444] Optionally, prior to first step 202, the tube sheet grip and cut tool 4150 may be attached to the mast and gantry system 4116 by the coupling portion 4152. The mast and gantry system 4116 is configured to receive, support and use the tube sheet grip and cut tool 4150 in the segmentation of tube sheet 4106.

[00445] At first step 202, the mast and gantry system 4116 holding the tube sheet grip and cut tool 4150 may be positioned at the tube sheet 4106 of the calandria 4102.

[00446] Continuing with the method 200, at second step 204, the tube sheet grip and cut tool 4150 is attached to the tube sheet 4106 by the gripping portion 4154. Gripping portion 4154 may be inserted into a lattice site 4112 of the tube sheet 4106. In some embodiments, the gripping portion may be inserted into a lattice tube 4124 located at a lattice site 4112 of the tube sheet 4106.

[00447] In at least one embodiment, at step 204, the gripping portion 4154 is radially expanded once within the lattice site 4112 and/or the lattice tube 4124 of the tube sheet 4106 to facilitate pressure between the gripping portion 4154 and the tube sheet 4106 and grip the tube sheet 4106.

[00448] Continuing with method 4200, at third step 4206 and fourth step 4208, the extension arm 4158 and the cutting head 4156 are moved around body 4151 of the tube sheet grip and cut tool 4150 to cut the tube sheet 4106. The movement may be articulated to outline the segmentation of the tube sheet 4106.

[00449] The movement of the extension arm 4158 and cutting head 4156 may include rotation around the body 4151 of the tube sheet grip and cut tool 4150 by the rotary tube 4164. The circular motion may cut the tube sheet 4106 in circular or semicircular shaped pieces, for example. In addition to the rotary motion, the cutting head 4156 may be moved along the extension arm 4158. The cutting head 4156 may be moved to a position close to the body 4151 and the gripping portion 4154 to cut the tube sheet 4106 in smaller pieces, for example. In other embodiments, the cutting head may be moved to a position away from the body 4151 and the gripping portion 4154 along the extension arm 4158 to cut the tube sheet 4106 in larger pieces, for example. Further motion of the extension arm 4158 and the cutting head 4156 may be any combination of the movement described above. [00450] The movement of the extension arm 4158 and the cutting head 4156 in step 4206 may be simultaneous to the cutting of the tube sheet 4106 by the cutting head 4156.

[00451] Continuing with method 4200, at fifth step 4240, the tube sheet 4106 portion cut by the cutting head in step 4208 is removed from the tube sheet 4106. The tube sheet 4106 segment remains attached to the tube sheet grip and cut tool 4150 by the gripping portion 4154.

[00452] In some embodiments, the tube sheet grip and cut tool 4150 may transport the tube sheet 4106 segment to the reactivity deck 4118. The tube sheet 4106 segment may then be deposited in any location, such as within a waste container.

[00453] The method 4200 may be repeated as many times as desired to remove the required portion of the tube sheet 4106.

[00454] Reference is now made to FIG. 43, which shows a perspective view of a disassembly and segmentation system interacting with a nuclear reactor core.

[00455] In an illustrated example, the nuclear reactor core 5010 is a CANDU-type reactor. The nuclear reactor core 5010 includes a calandria 5020 that is a generally cylindrical vessel that, when in use, contains a heavy-water moderator. Calandria 5020 includes a shell 5022 that extends longitudinally between a first reactor face 5024 and a second reactor face (not shown).

[00456] As shown, the disassembly and segmentation system includes a gantry and mast system 5030. Gantry and mast system 5030 is positioned on a reactivity deck 5032 of the nuclear reactor core. The gantry and mast system 5030 is positioned to disassemble the nuclear reactor from the top, in order to reach the calandria 5020. To this end, the gantry and mast system 30 can retain various disassembly and segmentation tools. In other examples, rather than a gantry and mast system - an existing crane can also be used to remove reactivity deck components from reactivity deck 5032.

[00457] As used herein, the term “reactivity deck” refers to an upper portion, or deck, of a concrete casing surrounding calandria 5020. In some examples, reactivity deck 5020 supports upper ends of reactivity control units, their mechanisms, shielding, and connecting tubes and cables. [00458] The disassembly and segmentation system can also include a remote demolition robot 5040, such as but not limited to a Brokk 900 Rotoboom™ demolition robot. The remote demolition robot 5040 can receive, support and use one or more attachments in the disassembly and segmentation of the calandria 5020. The demolition robot 5040 is typically positioned at, or adjacent, first reactor face 5024 or the second reactor face, or both. The term “reactor face” herein refers to a face of the calandria 5020 where fuel channels, or more specifically end fittings, protrude outwardly from a body, or shell of the calandria 5020.

[00459] The final phase of disassembly is to remove the embedment rings 5050, end shields and the concrete calandria vault. Calandria 5020 is supported within a concrete calandria vault by end shield supports. Each end shield support is provided with an integral embedment ring 5050 for direct concreting into the calandria vault end walls. The calandria vault is typically a reinforced concrete structure supported on reinforced concrete bearing foundation walls. The inner surface of the vault may be lined with carbon steel to provide a leak-tight seal for containment of a shield cooling system having demineralized light water. The end shield support includes a stainless steel support shell and an annular support plate combination that is welded to a carbon steel embedment ring. Each embedment ring consists of a cylindrical shell and annular ring elements that may be stiffened by radial gussets at regular intervals around the circumference.

[00460] Recently, there has been growing interest in developing new tools appropriate for cutting the carbon steel, reinforcing concrete and other reinforcing materials that comprise the embedment ring supporting a calandria 5020 of a CANDU- type reactor.

[00461] Reference is now made to FIG. 44, which shows a perspective view of a cutting tool 5100 for segmenting an embedment ring 5050 of a calandria 5020 of a CANDU-type nuclear reactor. The cutting tool 5100 includes a main body 5102. Main body 5102 has a first end 5104 and a second end 5106 spaced from the first end 5104 along a longitudinal axis 5108 of the main body 5102.

[00462] Main tool 5102 includes a coupling mechanism 5112. In the embodiment shown in the drawings, coupling mechanism 5112 is positioned at the first end 5104 of the main body 5102. The coupling mechanism 5112 provides for the cutting tool 5100 to be attached to and controlled by a remote demolition robot 40. It should be understood that coupling mechanism 5112 may be any coupling mechanism appropriate for communicatively connecting a remote demolition robot 5040 to cutting tool 5100.

[00463] In the embodiment shown in the drawings, coupling 5112 includes an engagement plate 5114. Engagement plate 5114 facilitates removable coupling between the tool 5100 and remote demolition robot 5040. Coupling mechanism 5112 is positioned on an end of tool 5100 opposed to opening 5110 (described further below) to provide for the remote demolition robot positioned at first reactor face 5024 to maneuver the cutting 5100 in a direction towards the engagement ring 5050 to cut portions of the engagement ring 50.

[00464] Engagement plate 5114 may include one or more cavity holes 5116, which mechanically couple a distal end of the remote demolition robot 5040 to the tool 5100 (e.g., via fasteners). In some examples, some of the cavity holes 5116 can also receive electrical connections. The electrical connections can enable remote control of various features of the tool 5100. For instance, this includes remote control movement of the cutting assembly 5124, cutting element 5128 and/or the gripping mechanism 5118. For instance, the electrical connections may pass from the remote demolition robot 5040 into the tool 5100.

[00465] Main body 5112 includes a first main body arm 5121 and a second main body arm 5123 each positioned towards the second end 5106 of main body 5102. First main body arm 5121 and second main body arm 5123 are spaced apart from each other in a direction transverse to the longitudinal axis 5108 of the main body 5102 by a distance 5125. Together with a central member 5127 of the main body 5102, first main body arm 5121 and second main body arm 5123 define a main body opening 5110. Opening 5110 provides for the portion of the main body 5102 defined by first main body arm 5121 and second main body arm 5123 to partially surround a portion of the embedment ring 5050, for example to support the portion of the embedment ring 5050 as it is being cut.

[00466] Referring now to FIG. 45, in the embodiment shown in the drawings, main body 5102 includes a gripping mechanism 5118 including a pair of clamps 5120 mounted towards the second end 5106 of the main body 5102. For example, each of the clamps 5120 may be mounted to one of the first main body arm 5121 and second main body arm 5123. Clamps 5120 are movable relative to the main body 5102 between a gripping position and a release position. In the gripping position, claims 5120 extend inwardly into opening 5110 to grip the portion of the embedment ring 5050 adjacent to a cut line. In the release position, clamps 5120 are retracted out of, or away from a center of, opening 5110. While in the gripping position, the pair of clamps 5120 may provide for the cutting tool 5100 to grip and/or support the portion of the embedment ring 5050 being cut to, for example, continue gripping a segment of the embedment ring after it has been cut away from a portion of the embedment ring 5050 remaining attached to the calandria 5020, so as to inhibit the portion of the embedment ring 5050 from falling downwardly after it has been cut. Alternatively, the pair of clamps 5120 may provide for the cutting tool 5100 to grip a portion of the embedment ring adjacent to a cut line, for example, to encourage the portion of the embedment ring 5050 being cut to fall downwards. Gripping the embedment ring 5050 during cutting may also reduce any impact of vibrations of the embedment ring 5050 on cutting tool 5100 during cutting.

[00467] Turning to FIG. 46, gripping mechanism 5118 may include a pair of hydraulic cylinders 5122 mounted to the main body 5102 (e.g., one each to first main body arm 5121 and second main body arm 5123) towards the second end 5106. Each of the hydraulic cylinders 5122 is configured to move one of the pair of clamps 5120 between the gripping position and the release position. Hydraulic cylinders 5122 may be each mounted to a side of the main body 5102 opposed to the cutting assembly 5124, such as to underside 5129, to not inhibit movement of the cutting assembly 5124 relative to the main body 5102. This may also protect the hydraulic cylinders 5122 from being damaged during cutting. In at least one embodiment, hydraulic cylinders 5122 move the clamps 5120 laterally (i.e. , in a direction transverse and/or orthogonal) relative to the longitudinal axis 5108 of the main body 5102. In at least one embodiment, each of the hydraulic cylinders 5122 moves a respective one of the clamps 5120 laterally in a direction directly towards the other one of the clamps 5120.

[00468] Returning to FIGs. 44 and 45, cutting tool 5100 also includes a cutting assembly 5124 slidingly coupled to the main body 5102. [00469] Cutting assembly 5124 includes a frame 5126 slidingly mounted to an upper side 5131 of main body 5102. Frame 5126 is generally U-shaped and includes a first cutting frame arm 5135 and a second frame arm 5137, each of the first cutting frame arm 5135 and second frame arm 5137 being positioned towards the second end 5106 of main body 5102. First cutting frame arm 5135 and second cutting frame arm 5137 are spaced apart from each other in a direction transverse to the longitudinal axis 5108 of the main body 5102 by a distance 5139. Together with a central member 5141 of the frame 5126, first cutting frame arm 5135 and second cutting frame arm 5137 define a cutting frame opening 5143. Cutting frame opening 5143 provides for the portion of the frame 5126 defined by first cutting frame arm 5135 and second cutting frame arm 5137 to partially surround a portion of the embedment ring 5050 during cutting. For example, typically, frame 5126 is positioned, prior to cutting the embedment ring 5050, such that first cutting frame arm 5135 and second cutting frame arm 5137 are positioned on either side of the embedment ring 5050. After activation of the cutting element 5128 (described in greater detail below), frame 5126 can be controlled to move from its retracted position to its extended position. In the extended position, first cutting frame arm 5135 and second cutting frame arm 5137 will have travelled in a direction along the longitudinal axis 5108 of main body 5102 to cut the embedment ring and the portion of the embedment ring that has been cut will be at least partially positioned between the first cutting frame arm 5135 and second cutting frame arm 5137 within cutting frame cavity 5143.

[00470] In the example shown in the drawings, main body opening 5125 and cutting frame opening 5143 have a same size and a same shape, however, it should be understood that main body opening 5125 and cutting frame opening 5143 are not limited to having a same size and a same shape.

[00471] The cutting assembly 5124 also includes a cutting element 5128 and a plurality of spindles 5130 mounted to the frame 5126. In the embodiment shown in the drawings, the cutting element 5128 is a diamond wire 5128. Cutting element 5128 extends across opening 5110 of the main body and opening 5143 of the cutting frame where it engages with the portion of the embedment ring 50 being cut. [00472] The plurality of spindles 5130 are configured to rotate and guide the diamond wire 5128 as the diamond wire 5128 cuts the embedment ring. In at least one embodiment, at least one of the plurality of spindles 5130 is configured to rotate the diamond wire 5128. When the diamond wire 5128 rotates at a high speed, it is able to cut through the embedment ring 5050. For example, the linear speed of the diamond wire 5128 may be in a range of about 1 m/s to about 100 m/s, or in a range of about 20 m/s to about 50 m/s, or be greater than about 20 m/s, or be less than about 50 m/s.

[00473] In at least one embodiment, at least one of the plurality of spindles 5130 may have a position that is adjustable relative to the frame 5126, thereby allowing a tension in the diamond wire 5128 to be controlled.

[00474] The cutting assembly 5124 is configured to slide relative to the main body 5102 in a direction along the longitudinal axis 5108. It should be understood that any means known in the art for moving the cutting assembly 5124 relative to the main body 5102 may be used. In the example shown in the drawings, a motor 5132 is mounted to the main body 5102 towards the first end 5104 and a ball screw shaft 5134 extends between the motor 5132 and the frame 5126 of the cutting assembly 5124. The motor 5132 rotates the ball screw shaft 5134 to move the cutting assembly 5124 along the longitudinal axis 5108.

[00475] The sliding of the cutting assembly 5124 relative to main body 5102 is assisted by a pair of rails 5136 on an upper surface 5138 of the main body 5102. The rails 5136 extend in the direction of the longitudinal axis 5108. Referring to FIG. 47, the frame 5126 of the cutting assembly 5124 has a pair of guides 5140 mounted to an underside 5142 of the frame 5126. Referring to FIG. 48, the guides 5140 interlock with the rails 5136, allowing for the movement of the cutting assembly 5124 along the rails 5136.

Description of a Nuclear Reactor Core

[00476] Referring first to FIG. 49, shown therein is a perspective view of a nuclear reactor core 6100. In the example illustrated, the nuclear reactor core 6100 is a CANDU- type reactor. As illustrated, the nuclear reactor core 6100 may include a calandria 6102 which is a generally cylindrical vessel that, when in use, contains a heavy-water moderator. The calandria 6102 may include a shell 6104 which extends longitudinally between a first tube sheet 6106 and a second tube sheet (not shown). In the example illustrated, the nuclear reactor core 6100 also includes a first end shield 6108 and a second end shield (not shown). As shown, the first end shield 6108 may be spaced longitudinally outward of the first tube sheet 6106 at a first end 6110a of the nuclear reactor core 6100. Likewise, the second end shield may be spaced longitudinally outward of the second tube sheet at a second end 6110b of the nuclear reactor core 6100.

[00477] Still referring to FIG. 49, each of the first tube sheet 6106, the second tube sheet, the first end shield 6108, and the second end shield may include a plurality of lattice sites 6112. Each lattice site of the plurality of lattice sites 6112 is for supporting a fuel channel assembly 6114 (see FIG. 50). For example, a fuel channel assembly 6114 may extend from a lattice site in the first end shield 6108, through an aligned lattice site in the first tube sheet 6106, through an aligned lattice site in the second tube sheet, and to an aligned lattice site in the second end shield.

[00478] As shown in FIG. 49, each fuel channel assembly 6114 installed within the calandria 6102 may have an end fitting 6116 at distal ends thereof. Referring now to FIG. 50, shown therein is an enlarged portion of a fuel channel assembly 6114, and specifically the end fitting 6116 thereof. While FIG. 50 only shows the end fitting 6116 of a first end 6118 of the fuel channel assembly 6114, it will be appreciated that the second end of the fuel channel assembly 6114 may also include a similar, if not identical, end fitting. The end fitting 6116 is for routing the primary heat transport fluid through the fuel channel as well as serving as a insertion and removal location for fuel. As shown in FIG. 50, each end fitting 6116 may extend a length 6120 longitudinally outward from a respective end shield 6108 of the nuclear reactor core 6100.

[00479] As shown in the example illustrated in FIG. 50, the end fitting 6116 may be secured to the first end shield 6108 by (a) a positioning assembly 6122; and (b) bellows 6124. The bellows 6124 may be welded at a first end 6126 to the end fitting 6116 and may be welded at a second end 6128 to the end shield 6108.

[00480] Due to the extreme conditions within the calandria 6102 during operation of the nuclear reactor core 6100, the fuel channel assemblies 6114 may degrade over time. Accordingly, to avoid failure of a fuel channel assembly 6114 within the calandria 6102, the fuel channel assemblies may be replaced after a predetermined time. For example, the fuel channel assemblies may be replaced during a complete refurbishment of the nuclear reactor core 6100. Alternatively, a fuel channel assembly 6114 may be replaced following the detection of a fault within that fuel channel assembly 6114.

[00481] A step in a process of replacing a fuel channel assembly 6114 includes separating the end fitting 6116 from the remaining components of that fuel channel assembly 6114. Using systems and methods not described herein, the positioning assembly 6122 may first be removed. After the positioning assembly 6122 has been removed, the bellows 6124 may then be severed. It may be desirable to sever the bellows 6124 because the bellows 6124 may be welded at first and second ends 6126, 6128 thereof to the end fitting 6116 and the end shield 6108, respectively,

[00482] The following description outlines apparatuses and methods for severing the bellows 6124 that extends between the end fitting 6116 of a fuel channel assembly 6114 and the respective end shield 6108.

[00483] Although the discussion that follows is in respect of a CANDU-type nuclear reactor, it is to be understood that various apparatuses and methods described below may be implemented on other types of nuclear reactors.

Description of an End Effector for Severing the Bellows of a Fuel Channel Assembly

[00484] Referring now to FIG. 51 , shown therein is an example of an end effector 6140 for severing the bellows 6124 of a fuel channel assembly 6114. As shown, the end effector 6140 may include a main body 6142 that extends along a longitudinal axis 6144 between a main body first end 6146 and a main body second end 6148.

[00485] The main body 6142 may be of any size and shape known in the art. For example, as shown, the main body 6142 may be elongated in shape. It may be desirable for the main body 6142 to be elongated in shape as the main body 6142 may need to extend between adjacent fuel channel assemblies 6114 at least a distance approximately equal to the length 6120 of the end fitting 6116 to reach the bellows 6124 positioned proximate the respective end shield 6108 (see FIG. 57). [00486] Referring now to FIGS. 55 and 56, the end effector 6140 may include a cutter 6150 coupled to the main body 6142. The cutter 6150 is for severing the bellows 6124. Any cutter 6150 known in the art capable of severing bellows 6124 may be used. As shown, the cutter 6150 may include a cutting blade 6152 which may cut (i.e., sever) the bellows 6124 when engaged with the bellows 6124 under an applied force.

[00487] Still referring to FIGS. 55 and 56, the cutter 6150 may be moveable between a retracted position (FIG. 55) and a cutting position (FIG. 56). In the retracted position, the cutter 6150 may be moved (e.g., via translation of the main body 6142) to a position proximate the bellows 6124 to be severed and the cutter 6150 being in the retracted position may not interfere with (i.e., contact) any components of the end fitting 6116 when doing so.

[00488] In the cutting position, the cutter 6150 may engage the bellows 6124. As shown in FIGS. 55 and 56, when moving from the retracted position to the cutting position, the cutter 6150 may move toward the longitudinal axis 6144 of the main body 6142. Any actuator known in the art capable of moving the cutter 6150 radially between the retracted position and the cutting position may be used.

[00489] When in the cutting position, the cutter 6150 may be rotatable about the longitudinal axis 6144 of the main body 6142. With reference to FIG. 56, it will be appreciated that when the cutter 6150 is rotated about the longitudinal axis 6144 of the main body 6142, and a force is being applied to urge the cutter 6150 radially toward the longitudinal axis 6144, the bellows 6124 positioned proximate the longitudinal axis 6144 of the main body 6142 may be cut (i.e., be severed) by the cutter 6150. Any rotation member known in the art capable of rotating the cutter 6150 about the longitudinal axis 6144 of the main body 6142 may be used.

[00490] While the example shown in FIGS. 54-56 show the cutter 6150 to include three cutting blades 6152 each supported by a respective cutting blade mount 6154 coupled to the main body 6142, it is to be understood that the cutter 6150 may include more or less than three cutting blades 6152. Further, it is to be understood that the cutter 6150 may not include any cutting blades 6152. In other exemplary embodiments, the cutter 6150 may include, for example, a hot-wire cutter, a laser, etc. [00491] Still referring to FIGS. 55 and 56, as shown, the cutting blade mount 6154 may be operable to move the cutting blade 6152 from the retracted position (FIG. 55) to the cutting position (FIG. 56). The cutting blade mount 6154 may include any actuator known in the art capable of moving the cutting blade 6152 between the retracted position and the cutting position. In the example illustrated, the cutting blade mount 6154 includes a mechanical linkage 6156 operable to move the cutting blade 6152 between the retracted position and the cutting position. In other examples, the cutting blade mount 6154 may include a hydraulic actuator, a pneumatic actuator, an electric actuator, etc.

[00492] The cutting blade mount 6154 may also be operable to urge (i.e. , force) the cutting blade 6152 against an outer surface 6130 of the bellows 6124 to be severed.

[00493] As described above, in the example illustrated in FIGS. 55 and 56, the cutting blade mount 6154 includes a mechanical linkage 6156. As shown, the mechanical linkage 6156 may have a first arm 6158 extending from a pivot joint 6160 to a first arm distal end 6162, and a second arm 6164 extending from the pivot joint 6160 to a second arm distal end 6166. With reference to FIGS. 55 and 56, it will be appreciated that in the example illustrated, rotation of the second arm distal end 6166 about the longitudinal axis 6144 of the main body 6142 may cause the cutting blade 6152 to translate radially toward and away from the longitudinal axis 6144 of the main body 6142 (depending on the direction of rotation).

[00494] In the example shown, the cutting blade mount 6154 includes a third arm 6170 pivotally connected between the second arm distal end 6166 and the main body 6142. In other examples, the cutting blade mount 6154 may include more than three arms or less than three arms.

[00495] When the cutting blade mount 6154 includes a mechanical linkage 6156 having at least one arm, any means known in the art for pivoting the arm(s) about the pivot joint 6160 may be used. For example, a hydraulic actuator may be used.

[00496] In the example shown in FIGS. 55 and 56, the third arm 6170 is connected to an outer body 6172 of the main body 6142 which is rotatable about an inner body 6174 of the main body 6142. The pivot joint 6160 in the example illustrated is pivotally connected to the inner body 6174. Accordingly, rotation of the outer body 6172 relative to the inner body 6174 may cause the cutting blade 6152 to move from the retracted position to the cutting position.

[00497] More specifically, in the example illustrated in FIGS. 55 and 56, the main body 6142 comprises a longitudinally extending inner cylindrical body 6180 and a longitudinally extending outer cylindrical body 6182. As shown in FIGS. 55 and 56, the outer cylindrical body 6182 may be rotatable about the inner cylindrical body 6180 and rotation of the outer cylindrical body 6182 relative to the inner cylindrical body 6180 may move the cutting blade 6152 from the retracted position to the cutting position via the mechanical linkage 6156.

[00498] Any means known in the art for rotating the inner body 6174 (e.g., the inner cylindrical body 6180) relative to the outer body 6172 (e.g., the outer cylindrical body 6182) may be used. Referring now to FIGS. 52 and 53, in the example illustrated, the inner cylindrical body 6180 includes a rack gear 6186 that extends about an outer surface of the inner cylindrical body 6180. As shown, a pinion gear 6188 may be mounted to the outer cylindrical body 6182 and rotation of the pinion gear 6188 may cause the outer cylindrical body 6182 to rotate about the inner cylindrical body 6180. As shown, an electric motor 6190 may be used to drive rotation of the pinion gear 6188, but any drive member known in the art may be used.

[00499] Therefore, in the example illustrated, when the pinion gear 6188 is rotated in a counter-clockwise direction, the pinion gear 6188 travels along the rack gear 6186 and the outer cylindrical body 6182 is rotated about the inner cylindrical body 6180. With reference to FIGS. 55 and 56, rotation of the outer cylindrical body 6182 in the counterclockwise direction rotates the third arm 6170 and the distal end 6166 of the second arm 6164 in the counter-clockwise direction about the longitudinal axis 6144 of the main body 6142. As shown in FIGS. 55 and 56, rotation of the distal end 6166 of the second arm 6164 may cause the distal end 6162 of the first arm 6158 and the cutting blade 6152 mounted thereto to translate toward the longitudinal axis 6144 of the main body 6142 (i.e. , may cause the cutting blade 6152 to move from the retracted position to the cutting position). [00500] The rack gear 6186 may be located at any position along the length of the inner cylindrical body 6180. In the example illustrated, the rack gear 6186 is positioned at the second end 6148 of the main body 6142. It may be desirable to position the rack gear 6186 at the second end 6148 of the main body 6142 to limit an outer circumference of a portion of the end effector 6140 that may be positioned between adjacent end fittings 6116 of adjacent fuel channel assemblies 6114 during a bellows 6124 severing operation. That is, in some examples, the main body 6142 of the end effector 6140 may be longer than the longitudinal length 6120 of the end fitting 6116 so that components such as the rack gear 6186 and the pinion gear 6188 may be positioned longitudinally outward of a distal end 6132 of the end fitting 6116 when the cutter 6150 of the end effector 6140 is positioned proximate to the bellows 6124.

[00501] When the cutter 6150 is configured to include a cutting blade 6152, it is rotated about the longitudinal axis 6144 of the main body 6142, and a force is being applied to urge the cutter 6150 radially toward the longitudinal axis 6144 of the main body 6142, the bellows 6124 positioned proximate the longitudinal axis 6144 of the main body 6142 may be cut (i.e., severed) by the cutter 6150. As described above, any rotation member known in the art capable of rotating the cutter 6150 about the longitudinal axis 6144 of the main body 6142 may be used.

[00502] Referring now to FIGS. 52 and 53, in the example illustrated, the inner cylindrical body 6180 and the outer cylindrical body 6182 are together rotatable about the longitudinal axis 6144 of the main body 6142. As shown, a second pinion gear 6192 may be drivingly coupled to the rack gear 6186 to drive rotation of the inner cylindrical body 6180. It will be appreciated that in the example illustrated, when inner cylindrical body 6180 is rotated about the longitudinal axis 6144 of the main body 6142 and the first pinion gear 6188 is locked in placed (i.e., does not rotate with respect to the rack gear 6186), each of the inner cylindrical body 6180 and the outer cylindrical body 6182 may rotate together about the longitudinal axis 6144 of the main body 6142.

[00503] Referring now to FIG. 51 , the main body second end 6148 may include a mount 6194 for attaching the end effector 6140 to a drive system. Any drive system known in the art may be used to operate the end effector 6140. In some examples, the drive system may be remotely operated.

[00504] In the example illustrated, each of the inner cylindrical body 6180 and the outer cylindrical body 6182 are rotatably coupled to the mount 6194.

[00505] As shown in FIG. 51 , in the example illustrated, the second pinion gear 6192 is coupled to the mount 6194. It will be appreciated that when the second pinion gear 6192 is coupled to the mount 6194, as shown, rotation of the inner cylindrical body 6180 and the outer cylindrical body 6182 relative to the mount 6194 may be controlled by the second pinion gear 6192. As shown, an electric motor 6196 may be used to drive rotation of the second pinion gear 6192, but any drive member known in the art may be used.

[00506] Optionally, as shown in FIGS. 55 and 56, the first end 6146 of the main body 6142 may include a plurality of wheels 6198. As shown in FIGS. 52 and 53, each wheel 6198 may have a rolling surface 200 that defines a distal end 202 of the end effector 6140. With reference to FIG. 53, the longitudinal distance 204 between the rolling surface 200 of the wheels 6198 and the cutter 6150 may be equal to the distance between the end shield 6108 and a desired location on the bellows 6124 to cut.

[00507] Referring to FIG. 50, in some examples, the bellows 6124 may include a ferrule 6136 which may be relatively easy to cut with respect to the remaining portions of the bellows 6124. Accordingly, it may be desirable to sever the bellows 6124 at the ferrule 6136. As shown in FIG. 50, the ferrule 6136 may be separated from the end shield 6108 by a longitudinal distance 206. Accordingly, referring back to FIG. 53, in some examples, the cutter 6150 may be spaced a longitudinal distance 204 equal to longitudinal distance 206 away from the rolling surface 200 of the wheels 6198.

Method of Severing Bellows of a Fuel Channel Assembly

[00508] With reference to FIG. 58, a method 6210 of severing the bellows 6124 of a fuel channel assembly 6114 may include the following steps: (a) positioning a cutter 6150 radially outward of the bellows 6124 (step 6212); (b) advancing the cutter 6150 radially inwardly toward the longitudinal axis 6138 of the fuel channel assembly 6114 (step 6214); and (c) cutting the bellows 6124 by rotating the cutter 6150 about the longitudinal axis 6138 of the fuel channel assembly 6114 and moving the cutter 6150 radially inwardly toward the longitudinal axis 6138 of the fuel channel assembly 6114 (step 6216).

[00509] Optionally, the cutter 6150 may be mounted to an end effector 6140 as described above. For example, the cutter 6150 may be mounted to an end effector 6140 having a main body 6142 having a longitudinally extending inner cylindrical body 6180 and a longitudinally extending outer cylindrical body 6182. In this example, advancing the cutter 6150 radially inwardly at step 6214 may include the step of rotating the outer cylindrical body 6182 relative to the inner cylindrical body 6180. Further, in this example, the step 6216 of cutting the bellows 6124 by rotating the cutter 6150 about the longitudinal axis 6138 of the fuel channel assembly 6114 may include the step of rotating each of the outer cylindrical body 6182 and the inner cylindrical body 6180 about the longitudinal axis 6138 of the fuel channel assembly 6114.

[00510] In some exemplary methods, step 6212 of positioning the cutter 6150 radially outward of the bellows 6124 may include the step of inserting the end fitting 6116 of the fuel channel assembly 6114 into the inner cylindrical body 6180. That is, when the main body 6142 includes an inner and/or an outer cylindrical body 6180, 6182 as shown in FIG. 54, the end fitting 6116 may be positioned within a cavity 6168 of the main body 6142 while the cutter 6150 severs the bellows 6124.

[00511] As described above, some examples of the end effector 6140 may include wheels 6198 at a distal end 6202 of the main body 6142. In this example, the step 6212 of positioning the cutter 6150 radially outward of the bellows 6124 may include the step of abutting the rolling surface 6200 of the wheels 6198 with the respective end shield 6108. In some examples, the end effector 6140 may not include wheels 6198 at the distal end 6202 of the main body 6142, and may, for example, include a low friction coating at the distal end 6202. In this example, the step 6212 of positioning the cutter 6150 radially outward of the bellows 6124 may include the step of abutting the distal end 6202 of the main body 6142 with the respective end shield 6108.

[00512] Reference is now made to FIG. 59, which shows a perspective view of a disassembly and segmentation system interacting with a nuclear reactor core 7010. [00513] In the illustrated example, the nuclear reactor core 7010 is a CANDU-type reactor. The nuclear reactor core 7010 includes a calandria 7020 that is a generally cylindrical vessel that, when in use, contains a heavy-water moderator. Calandria 7020 includes a shell 7022 that extends longitudinally between a first reactor face 7024 and a second reactor face (not shown).

[00514] The disassembly and segmentation system includes a gantry and mast system (not shown). The gantry and mast system is positioned on a reactivity deck of the nuclear reactor core. The gantry and mast system is positioned to disassemble the nuclear reactor from the top, in order to reach the calandria. To this end, the gantry and mast system can retain various disassembly and segmentation tools. In other examples, rather than a gantry and mast system - an existing crane can also be used to remove reactivity deck components from reactivity deck.

[00515] As used herein, the term “reactivity deck” refers to an upper portion, or deck, of a concrete casing surrounding calandria 7020. In some examples, the reactivity deck supports upper ends of reactivity control units, their mechanisms, shielding, and connecting tubes and cables.

[00516] The disassembly and segmentation system can also include a remote demolition robot 7040, such as but not limited to a Brokk 900 Rotoboom™ demolition robot. The remote demolition robot 7040 can receive, support and use one or more attachments in the disassembly and segmentation of the calandria 7020. The demolition robot 7040 is typically positioned at, or adjacent, first reactor face 7024 or the second reactor face, or both. The term “reactor face” herein refers to a face of the calandria 7020 where fuel channels, or more specifically end fittings, protrude outwardly from a body, or shell of the calandria 7020.

[00517] The final phase of disassembly is to remove the embedment rings, end shields and the concrete calandria vault. Calandria 7020 has an end shield 7026 at the first reactor face 7024 and at the second reactor face (not shown). At some CANDll nuclear power plants, the end shield 7026 includes four shielding slabs 7028 that are connected with dowels and tie-rods. The shielding slabs 7028 are typically carbon steel slabs. A lattice of tubes 7030 spans horizontally across the slabs 7028. [00518] Recently, there has been growing interest in developing new tools appropriate for cutting the carbon steel or other reinforcing materials that comprise the shielding slabs 7028 that support a calandria 7020 of a CANDU-type reactor. For example, there has been growing interest in developing new cutting tools that are appropriate for cutting through portions of a shielding slab, end shield, or embedment ring of a CANDU-type reactor.

[00519] Reference is now made to FIG. 60, which shows a perspective view of a cutting tool 7100 for cutting an object, such as but not limited to a pipe, wall or structure, for example, from an inner cavity of the pipe. FIG. 60 shows the cutting tool 7100 in a retracted (prior to cut) position whereas FIG. 61 shows the cutting tool 7100 in an extended (after cut is completed) position.

[00520] In the example illustrated, the cutting tool 7100 includes a housing 7102. The housing 7102 includes first motor 7104 that is configured to drive rotation of a cutting element 7106. In at least one example, first motor 7104 is configured to rotate a first pulley 7108 that engages cutting element and drives cutting element 7106 to rotate together with pulley 7108.

[00521] Housing 7102 further comprises a second motor 7107. Second motor 7107 is configured to rotate a ball screw shaft 7140 engaging a second pulley 7111. Second pulley 7111 is shown extending outwardly from housing 7102 in FIG. 62 when the cutting tool 7100 is in its cutting position. The inner workings of housing 7102 are described in greater detail below with reference to FIG. 65. Second pulley 7111 also engages the cutting element 7106. As the second motor 7107 is configured to move the second pulley 7111 between a first position where the second pulley 7111 is positioned within the housing 7102 and a second position where the second pulley 7111 is extending outwardly from the housing 7102, the cutting tool 7100 moves between its extended and cutting positions.

[00522] In the example illustrated, the cutting element 7106 is driven by the first motor 7104 to rotate relative to an arm 7110. The arm 7110 is coupled to and extends longitudinally from the housing 7102. The arm 7110 has a first end 7112 coupled to the housing 7102. The arm 7110 also has a second end 7114 spaced apart from the housing 7102. The arm 7110 is coupled to an arm extension member 7116 at the second end 7114 thereof. The arm extension member 7116 is configured to pivot about an axis 7118. The axis 7118 is perpendicular to a longitudinal axis 7120 of the arm 7110. More specifically, the arm extension member 7116 is configured to pivot about axis 7118 as the second pulley 7111 moves between the first position within housing 7102 and the second position extending outwardly from housing 7102. Arm extension member 7116 pivots in a same direction, at and a same time, as the second pulley 7111 moves outwardly from housing 7102 to provide for the cutting element 7106 to extend outwardly from the arm 7110, in the same direction, and maintain a selected tension on the cutting element 7110 for the cutting element 7106 to cut the object.

[00523] In the embodiment shown in the drawings, and specifically with reference to FIGs. 59-61 , arm extension member 7116 is movable between a retracted position (see FIG. 59) and an extended position (see FIGs. 61 -62). The arm extension member 7116 is in its extended position when the arm extension member 7116 is aligned with longitudinal axis 7120. In one embodiment, the arm 7116 can be placed inside and through a pipe when the arm extension member 7116 is in the retracted position. FIG. 60 shows a view of the arm extension member 7116 in the retracted position. The arm extension member 7116 is in the extended position when the arm extension member 7116 is positioned generally perpendicular to the longitudinal axis 7120. FIG. 61 is a perspective view of the cutting tool 7100 with the arm extension member 7116 in the extended position.

[00524] In the example illustrated in FIG. 61 , the cutting tool 7100 comprises a hydraulic cylinder 7124. The hydraulic cylinder 7124 is mounted to the arm 7110 towards the second end 7114. The hydraulic cylinder 7124 is also coupled to the arm extension member 7116. The hydraulic cylinder 7124 is biased outwardly so that the arm extension member 7116 is biased to its extended position. When the second motor 7107 initiates movement of the second pulley 7111 outwardly from housing 7102, hydraulic cylinder 7124 is configured to retract. As hydraulic cylinder 7124 retracts, arm extension member 7116 pivots about axis 7118 towards its retracted position. Hydraulic cylinder 7124 also pivots about an axis 7119 that is parallel with axis 7118 to provide for the cutting element 7124 to move outwardly relative to arm 7110 in the same directions as movement of second pulley 7111 outwardly from housing 7102.

[00525] Reference is now made to FIGs. 62 and 63, which show detailed views of the second end 7114 of the arm 7110. The arm 7110 may include a clamp 7126 mounted thereto. In one embodiment, the clamp 7126 may be recessed into a cavity 7125 of the arm 7110 towards the second end 7114. The clamp 7126 is configured to, for example when the cutting tool 7100 is inserted into a pipe, grip the pipe being cut by the cutting tool 7100. The clamp 7126 is movable between a gripping position where it extends away from arm 7110 to engage (e.g., exert a force against) the pipe being cut and a release position. FIG. 62 shows the clamp 7126 recessed into cavity 7125 in a release position. FIG. 63 shows the clamp 7126 extending outwardly from cavity 7125 in a gripping position.

[00526] As shown in both FIGs. 62 and 63, the arm 7110 may also include a cylinder 7128. Cylinder 7128 is configured to move clamp 7126 between the gripping position and the release position. Cylinder 7128 may be a pneumatic cylinder, a hydraulic cylinder, or any other type of actuator capable of moving the clamp 7126 between the gripping position and the release position. Cylinder 7128 may be mounted to the arm 7110, such as but not limited to being on an outer surface thereof or within cavity 7125, towards the second end 7114. For example, as cylinder 7128 extends, upper and lower members of clamp 7126 extend outwardly relative to arm 7110 to engage the object being cut to stabilize the cutting tool 7100 during cutting.

[00527] FIG. 62 also shows a third pulley 7128 is positioned at second end 7114 of the arm 7110, specifically at a position where arm 7110 is pivotally coupled to arm extension member 7116. Third pulley 7128 guides the cutting element 7106 towards a distal end of the arm extension member 7116, where a fourth pulley 7131 is positioned to guide the cutting element 7106 towards the housing 7102 and, more specifically, to second pulley 7111.

[00528] Reference is now made to FIG. 64, which shows a detailed side view of the housing 7102. The housing 7102 comprises a plate 7130. In some cases, such as when the cutting tool 7100 is inserted into a pipe, the plate 7130 may abut an end of the pipe to support the cutting tool 7100 during cutting. To abut the pipe, plate 7130 is configured to move between a gripping position and the release position shown in FIG. 64. In some embodiments, housing 7102 also comprises a pair of cylinders 7132. The pair of cylinders 7132 are configured to move the plate 7130 between the gripping position and the release position. FIG. 64 shows the plate 7130 in the release position. In at least one embodiment, the cylinders 7132 may be hydraulic cylinders. In at least one embodiment, the cylinders 7132 may be pneumatic cylinders. In some embodiments, the cylinders 7132 may be a same type of cylinder. In some embodiments, the cylinders 7132 may be a different type of cylinder.

[00529] Reference is now made to FIGs. 65 and 66, which show detailed views of the housing 7102. In this embodiment, a ball screw shaft 7140 is positioned within housing 7102. The ball screw shaft 7140 is attached to the second motor 7107. The second motor 7107 is configured to rotate the ball screw shaft 7140. The rotation of the ball screw shaft 7140 moves a coupling member 7141 threadingly engaging the ball screw shaft 7140 such that the coupling member 7141 moves along a longitudinal axis 7142 of the ball screw shaft 7140 upon rotation of the ball screw shaft 7140. Pulley 7111 is coupled to the coupling member 7141 , which directs movement of the pulley 7111 outwardly from the housing 7102 when the cutting tool 7100 is moving towards its cutting position and inwardly into housing 7102 when the cutting tool 7100 is moving towards its retracted position. Second pulley 7111 moves in a direction parallel with a longitudinal axis 7142 of the ball screw shaft 7140. FIG. 65 shows the second pulley 7111 in the first position within the housing 7102. FIG. 66 shows the second pulley 7111 in the second position extending outward from the housing 7102.

[00530] Reference is now made to FIGs. 67A and 67B, which show the cutting tool 7100 interacting with the shielding slabs 28. FIG. 67A shows the cutting tool 7100 in a “pre-cut” position. In the pre-cut position, the arm 7110 is placed generally inside a tube 7031 of the lattice of tubes 7030. The arm extension member 7116 is in the retracted position. Generally, the arm 7110 has a length that is greater than the length of the tube 7031. The clamp 7126 and the plate 7130 are both in their respective release positions. The second pulley 7111 is in the first position within the housing 7102. [00531] FIG. 67B shows the cutting tool 7100 in a “post-cut” position. In the post-cut position, the arm 7110 is placed generally inside the tube 7031. The arm extension member 7116 is in the extended position. The clamp 7126 is in the gripping position, with the clamp gripping a distal end of the tube 7031 . The plate 7130 is in the gripping position, with the plate gripping a proximal end of the tube 7031 . The pulley 7111 is in the second position extending outward from the housing 7102.

[00532] Reference is now made to FIG. 68, which shows a top view of the cutting tool 7100. In the embodiment shown, cutting tool 7100 comprises five pulleys referred to herein as first pulley 7108, second pulley 7111 , third pulley 7128, fourth pulley 7131 and fifth pulley 7133. The pulleys 7108, 7111 , 7128, 7131 , 7133 each include a respective wheel configured to support the cutting element 7106 and guide the rotation of the cutting element 7106. In example embodiment shown in the drawings, such as at FIG. 68, wheel 7108a of first pulley 7108 is a powered wheel and coupled to first motor 7104. The first motor 7104 is configured to rotate the wheel 7108a of first pulley 7108. In one embodiment, the remaining pulleys 7111 , 7128, 7131 , 7133 may be passive in that their respect wheels are not powered. However, it should be understood that any one or more of the wheels of the pulleys 7108, 7111 , 7128, 7131 , 7133 may be powered and may direct rotation of the cutting element 7106.

[00533] FIG. 68 shows the path of the cutting element 7106 as it rotates. The cutting element 7106 is supported by the wheels 7108a, 7111 a, 7128a, 7131 a and 7133a of the first pulley 7108, second pulley 7111 , third pulley 7128, fourth pulley 7131 and fifth pulley 7133, respectively. Cutting element 7106 moves through the housing 7102, out of the housing 7102, along the arm 7110, along the arm extension member 7116, and back towards the housing 7102. Since the cutting element 7106 is supported by the wheels 7108a, 7111 a, 7128a, 7131 a and 7133a, the cutting element 7106 pulls the arm extension member 7116 to rotate and extend the cutting element laterally with respect to arm 7110 as second pulley 7111 moves from its first position within the housing 7102 to its second position extending outwardly from the housing 7102. As the second pulley 7111 moves from its second position towards its first position, the cutting element 7106 experiences reduced tension and the cylinder 7124, being biased outwardly, returns the arm extension member 7116 to be aligned with the arm 7110, thereby returning the cutting tool 7100 to its retracted position. In at least one embodiment, the cutting element 7106 may be any abrasive media, such as but not limited to a diamond wire.

[00534] Reference is now made to FIG. 69, which shows a method 7200 of cutting a pipe (e.g. tube 7031 ) from an inner cavity of the pipe, in accordance with an embodiment. At step 202, the movement of the cutting tool is controlled to position the arm of the cutting tool inside the inner cavity of the pipe. At step 204, a cutting element (e.g. cutting element 7106) of a cutting tool (e.g. cutting tool 7100) is activated optionally by starting a motor configured to drive the cutting element. The cutting element is supported by a housing (e.g. housing 7102) and an arm (e.g. arm 7110) of the cutting tool. The cutting element is configured to rotate relative to the arm of the cutting tool. At step 7206, as the cutting element is activated, the movement of the cutting element is controlled away from the housing and the arm in order to engage the pipe with the element to cut the pipe. The pipe may be contained in a shielding slab of a calandria nuclear reactor.

[00535] Optionally, between steps 7202 and 7204, axial clamps extending outwardly from the arm of the cutting tool may be activated to rigidly clamp the cutting tool to an inner surface of the object being cut, such as but not limited to a pipe.

[00536] In at least one embodiment, step 7206 of movement of cutting element away from the housing and the arm includes simultaneously actuating a first actuator (e.g., a ball screw) within the housing and a second actuator (e.g., a hydraulic cylinder) at an end of the tool opposed to the housing to index each at the same lateral speed to provide for the cutting element to move in a direction outwardly relative to the housing and the arm as it is driven to rotate about the tool to perform the cut.

[00537] While the applicant's teachings described herein are in conjunction with various embodiments for illustrative purposes, it is not intended that the applicant's teachings be limited to such embodiments as the embodiments described herein are intended to be examples. On the contrary, the applicant's teachings described and illustrated herein encompass various alternatives, modifications, and equivalents, without departing from the embodiments described herein, the general scope of which is defined in the appended claims.