Remote through-wall sampling of the Trawsfynydd reactor pressure vessel : an overview

摘要

This paper summarizes the application of robotic equipment for gaining access to, and removing through-wall samples from, welds of the reactor pressure vessel at Trawsfynydd power station. The environment, which presents hazards due to ionising radiation, radioactive contamination and asbestos-bearing materials is described. The means of access, by use of remote vehicles complete with robotic manipulators supported by additional vehicles, is reviewed. The use of abrasive water jet cutting for sample removal is introduced. The relative advantages and disadvantages of this technique are discussed.