CA3066049A1

CA3066049A1 - Communications systems and methods for nuclear reactor tooling

Info

Publication number: CA3066049A1
Application number: CA3066049A
Authority: CA
Inventors: Andrzej Piotr SZCZEPAN; Robert William JAMIESON; John DROSSIS; Cesar Antonio BRAVO
Original assignee: Candu Service Inc
Current assignee: Candu Service Inc
Priority date: 2017-06-23
Filing date: 2018-06-22
Publication date: 2018-12-27
Also published as: CN117198575A; RO134594B1; KR20200019894A; RO134594A2; KR102650516B1; WO2018232525A1; CA3213882A1; CN111133530A; KR20240039235A; CN111133530B; RO135345A2

Abstract

Systems and methods for transmitting communications to and from tooling for a nuclear reactor are provided. Some systems include first and second tools including first and second tool controllers positioned on a platform located adjacent a face of the nuclear reactor, and a tooling controller communicatively coupled to the first and second tool controllers, wherein the tooling controller is configured to receive a communication from the second tool controller, wherein the communication includes an identifier of an operating state of the second tool, generate a control signal for controlling the first tool based at least in part on the identifier of the operating state of the second tool, and transmit the control signal to the first tool controller. Some systems include a display, memory and a processor configured to render a reactor equipment representation comprising status indicators, receive status messages, and update status indicators based upon the status messages.

Description

COMMUNICATIONS SYSTEMS AND METHODS FOR
NUCLEAR REACTOR TOOLING
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims all benefit including priority to United States Provisional Patent Application 62/524,411, filed June 23, 2017, and entitled:
"COMMUNICATIONS
SYSTEMS AND METHODS FOR NUCLEAR REACTOR TOOLING", and to United States Provisional Patent Application 62/646,449, filed March 22, 2018, and entitled:

"COMMUNICATIONS SYSTEMS AND METHODS FOR NUCLEAR REACTOR
TOOLING", each of which is hereby incorporated by reference in its entirety.
FIELD

[0002] Embodiments described herein relate generally to communications systems and methods for nuclear reactors, and in particular to communications systems and methods for nuclear reactor tooling.
INTRODUCTION

[0003] Operations performed on nuclear reactors typically involve a wide array of complex tooling needed to perform a number of tasks. Whether constructing, retubing, or decommissioning a nuclear reactor, many of these tasks are time consuming, which directly impacts the cost of the operation being performed.

[0004] With respect to nuclear reactor retubing operations by way of example, second generation CANDUlm-type reactors ("CANada Deuterium Uranium") are designed to operate for approximately 25 to 30 years. After this time, the existing fuel channels can be removed and new fuel channels can be installed. Performing this "retubing" process can extend the life of a reactor, as an alternative to decommissioning the reactor. Nuclear reactor retubing processes include removal of a large number of reactor components and include various other activities, such as shutting down the reactor, preparing the vault, and installing material handling equipment and various platforms and equipment supports.
SUMMARY

[0005] During nuclear reactor construction, retubing, and decommissioning processes, the nuclear reactor is offline. Thus, the retubing process needs to be performed efficiently to minimize costs and delays. However, coordinating the movement and operation of such tooling is difficult to manage, especially manually. Furthermore, the movement and use of particular tooling may be limited by the movement and use of other tooling.
For example, even if two different tools can be operated simultaneously, vibration generated during operation of one tool may impact the operation of another tool.

[0006] Accordingly, embodiments described herein improve the efficiency of nuclear reactor construction, retubing, and decommissioning processes by transmitting communications from tooling used in such processes, wherein the communications can be used to control and coordinate movement and operation of the tooling. For example, some embodiments provide systems for transmitting a communication from tooling for a nuclear .. reactor. One system includes a first tool, a second tool, and a tooling controller. The first tool includes a first tool controller, and is positioned on a platform located adjacent a face of the nuclear reactor. The second tool includes a second tool controller. The tooling controller is communicatively coupled to the first tool controller and the second tool controller. The tooling controller is configured to receive a communication from the second tool controller included in the second tool, wherein the communication includes an identifier of an operating state of the second tool, generate a control signal for controlling the first tool based at least in part on the identifier of the operating state of the second tool, and transmit the control signal to the first tool controller included in the first tool.

[0007] Some systems include a first tool, a second tool, and a tooling controller. The first tool includes a first tool controller and is positioned on a platform located adjacent a face of the nuclear reactor. The second tool includes a second tool controller. The tooling controller is communicatively coupled to the first tool controller and the second tool controller. The tooling controller is configured to receive a communication from the second tool controller included in the second tool, wherein the communication includes a location of the second tool, generate a .. control signal for controlling the first tool based at least in part on the location of the second tool, and transmit the control signal to the first tool controller included in the first tool.

[0008] Also, some systems includes a first tool, a second tool, and a tooling controller. The first tool includes a first tool controller, and is positioned on a platform located adjacent a face of the nuclear reactor. The second tool includes a second tool controller. The tooling controller is communicatively coupled to the first tool controller and the second tool controller.
The tooling controller is configured to receive a communication from the second tool controller included in the second tool and control operation of the first tool based at least in part on the communication.

[0009] Embodiments described herein also provide methods for transmitting communications from tooling for a nuclear reactor. Some methods includes receiving, with a tooling controller, a communication from a first tool controller included in a first tool, the communication including an identifier of an operating state of a first tool;
generating, with the tooling controller, a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the identifier of the operating state of the first tool; and transmitting, with the tooling controller, the control signal to a second tool controller included in the second tool.

[0010] Some methods include receiving, with a tooling controller, a communication from a first tool controller included in a first tool, the communication including a location of a first tool, generating, with the tooling controller a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the location of the first tool, and transmitting, with the tooling controller, the control signal to a second tool controller included in the second tool.

[0011] Some methods include receiving, with a first tool controller included in a first tool positioned on a platform located adjacent a face of the nuclear reactor, a communication from a second tool controller included in a second tool, and controlling the first tool based at least in part on the communication.

[0012] Embodiments described herein also provide non-transitory computer-readable medium including instructions that, when executed by an electronic processor, cause the electronic processor to perform one or more sets of functions. One set of functions includes receiving a communication from a first tool controller included in a first tool, the communication including an identifier of an operating state of a first tool, generating a control .. signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the identifier of the operating state of the first tool, and transmitting the control signal to a second tool controller included in the second tool.

[0013] Another set of functions includes receiving a communication from a first tool controller included in a first tool, the communication including a location of a first tool, .. generating a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the location of the first tool, and transmitting the control signal to a second tool controller included in the second tool.

[0014] Another set of functions includes receiving a communication from a second tool controller included in a second tool, and controlling a first tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the communication.

[0015] Embodiments described herein also provide apparatuses for transmitting communications from tooling for a nuclear reactor. In some embodiments, an electronic processor is configured to receive a communication from a first tool controller included in a first tool, wherein the communication includes an identifier of an operating state of a first tool, generate a control signal for controlling a second tool positioned on a platform adjacent a face of the nuclear reactor based at least in part on the identifier of the operating state of the first tool, and transmit the control signal to a second tool controller included in the second tool.

[0016] In some embodiments, an apparatus includes an electronic processor configured to receive a communication from a first tool controller included in a first tool, wherein the communication includes a location of a first tool, generate a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the location of the first tool, and transmit the control signal to a second tool controller included in the second tool.

[0017] Also, in some embodiments an apparatus includes an apparatus includes an electronic processor configured to receive a communication from a second tool controller included in a second tool, and control a first tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the communication.

[0018] In accordance with embodiments, there is provided a nuclear reactor service operation central computing system comprising a display, a memory and a processor. The processor is configured to send instructions to the display to render a user interface, receive at least one completion status message from a local operation controller, and update said one of the lattice site status indicators based upon the receiving of the at least one completion status message. The user interface comprises a representation of a reactor equipment.
The representation comprises a plurality of lattice site status indicators. Each of said at least one completion status message associated with a completion of an operation instruction of a current operation message.

[0019] In accordance with embodiments, there is also provided a method of controlling a nuclear reactor service operation. The method may be performed by a central computing device. The method comprises displaying a user interface, receiving at least one completion status message from a local operation controller, and updating said one of the lattice site status indicators based upon the receiving of the at least one completion status message. The user interface comprises a representation of a reactor equipment. The representation comprises a plurality of lattice site status indicators. Each of said at least one completion status message associated with a completion of an operation instruction of a current operation message.

[0020] In various further aspects, the disclosure provides corresponding systems and devices, and logic structures such as machine-executable coded instruction sets for implementing such systems, devices, and methods.

[0021] In this respect, before explaining at least one embodiment in detail, it is to be understood that the embodiments are not limited in application to the details of construction and to the arrangements of the components set forth in the following description or illustrated in the drawings. Also, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting.

[0022] Many further features and combinations thereof concerning embodiments described herein will appear to those skilled in the art following a reading of the instant disclosure.
BRIEF DESCRIPTION OF THE FIGURES

[0023] Embodiments will be described, by way of example only, with reference to the attached figures, wherein in the figures:

[0024] FIG. 1 is a perspective view of a reactor core of a CANDU-type reactor, in .. accordance with some embodiments.

[0025] FIG. 2 is a cutaway view of one fuel channel assembly of the reactor core shown in FIG.!.

[0026] FIG. 3 is a perspective view of two reactor faces of the reactor core of FIG. 1.

[0027] FIG. 4 is a perspective view of a tool platform, in accordance with some embodiments.

[0028] FIG. 5 is a perspective view of the tool platform of FIG. 4, including a plurality of worktables.

[0029] FIG. 6 is a perspective view of tooling positioned on a worktable, in accordance with some embodiments.

[0030] FIG. 7 schematically illustrates a system of tooling used with the nuclear reactor of FIG. 1, in accordance with some embodiments.

[0031] FIG. 8 is a flow chart illustrating a method of transmitting communications between tooling performed by the system of FIG. 7, in accordance with some embodiments.

[0032] FIG. 9 illustrates, in a block diagram, an example of a nuclear reactor service .. operation environment, in accordance with some embodiments.

[0033] FIG. 10 illustrates, in a flowchart, an example of a nuclear reactor service operation monitoring method, in accordance with some embodiments.

[0034] FIG. 11A illustrates, in a component diagram, an example of a user interface, in accordance with some embodiments.

[0035] FIG. 11B illustrates, in a screenshot, an example of a user interface, in accordance with some embodiments.

[0036] FIG. 11C illustrates, in a screenshot, an example of a supervision user interface, in accordance with some embodiments.

[0037] FIG. 11D illustrates, in a screenshot, another example of a supervision user interface, in accordance with some embodiments.

[0038] FIG. 12A illustrates, in a component diagram, an example of a sequence controller interface, in accordance with some embodiments.

[0039] FIG. 12B illustrates, in a screenshot, an example of an operation sequence controller interface that corresponds with the operation selection example of FIG. 11B.

[0040] FIG. 12C illustrates, in a screenshot, another example of a supervision user interface, in accordance with some embodiments.

[0041] FIG. 13A illustrates, in a screenshot, another example of a supervision user interface, in accordance with some embodiments.

[0042] FIG. 13B illustrates, in a screenshot, an example of a details view of the operation instruction window shown in FIG. 12B, in accordance with some embodiments.

[0043] FIG. 14A illustrates, in a screenshot, another view of the supervision user interface shown in FIG. 13A, in accordance with some embodiments.

[0044] FIG. 14B illustrates, in a screenshot, an example of an operation progress view of operation instruction window shown in FIG. 12A, in accordance with some embodiments.

[0045] FIG. 15 illustrates, in a screenshot, an example of a comments box, in accordance with some embodiments.

[0046] FIG. 16A illustrates, in a screenshot, an example of an operation step context view, in accordance with some embodiments.

[0047] FIG. 16B illustrates, in a screenshot, another view of the supervision user interface shown in FIG. 13A, in accordance with some embodiments.

[0048] FIG. 17 illustrates, in a flowchart, an example of an operation sequence method, in accordance with some embodiments.

[0049] FIG. 18 illustrates, in a flowchart, another example of an operation sequence method, in accordance with some embodiments.

[0050] FIG. 19 illustrates, in a flowchart, an example of a Pressure Tube (PT) Cut Sequence in more detail, in accordance with some embodiments.

[0051] FIG. 20 illustrates, in a screenshot, an example of a design user interface, in accordance with some embodiments.

[0052] FIGs. 21A and 21B illustrate, in screenshots, examples of a task design user interface, in accordance with some embodiments.

[0053] FIG. 22 illustrates, in a screenshot, an example of a sequence design user interface, in accordance with some embodiments.

[0054] FIG. 23 illustrates, in a screenshot, an example of operation data, in accordance with some embodiments.

[0055] FIG. 24 illustrates an example of operation sequence instructions, in accordance with some embodiments.

[0056] FIG. 25 illustrates, in a block schematic diagram, an example of a computing device, in accordance with some embodiments.
DETAILED DESCRIPTION

[0057] Embodiments described herein relate to systems and methods for nuclear reactor tooling, such as communications to and from tooling used during a nuclear reactor construction, retubing, or decommissioning process, and, in particular, use of such communications to control and coordinate operation of the tooling. Although it is desirable to incorporate and simultaneously use multiple tools and systems to speed such operations, this practice presents its own challenges, such as ensuring that the functions of one tool do not interfere with those of another, coordinating movement and operation of multiple tools before the same face of the reactor, ensuring operators perform the correct task on the correct channel/component, and recording durations and other time information for production metrics to minimize the time required for the performance of the work.

[0058] Nuclear reactor retubing processes may include removal of a large number of reactor components and include various other activities, such as shutting down the reactor, preparing the vault, and installing material handling equipment and various platforms and equipment supports. The removal process may also include removing closure plugs and positioning hardware assemblies, disconnecting feeder assemblies, severing bellows, removing end fittings, releasing and removing calandria tube inserts, and severing and removing pressure tubes and calandria tubes.

[0059] After the removal process is complete, an inspection and installation process may be performed. For example, tube sheets positioned at each end of the reactor may include a plurality of bores. Each of the plurality of bores may support a fuel channel assembly that spans between the tube sheets. When a fuel channel assembly is removed, each tube sheet bore may be inspected to ensure that the removal of the fuel channel assembly has not damaged the tube sheet bore and that the tube sheet bore is ready for insertion of a new fuel channel assembly.

[0060] After the tube sheets are confirmed to be in suitable condition, the calandria tubes, pressure tubes, end fittings, and other components may be re-installed into the bores. For each fuel channel assembly, part of this process may involve rolling the end of the calandria tube to the tube sheet of the calandria (e.g., using a deformable calandria insert), inserting an end fitting body into the bore, rolling the end of the pressure tube into the end fitting body, and inserting an end fitting liner into the end fitting.

[0061] These and other processes typically require multiple tools, several stages of tool placement and operation, and constant planning and coordination from those involved in the retubing operation. Similar challenges exist in reactor construction and decommissioning.

[0062] Embodiments of methods, systems, and apparatus are described through reference to the drawings. The following discussion provides many example embodiments of the inventive subject matter. Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the accompanying drawings. Although each embodiment represents a single combination of inventive elements, the inventive subject matter is considered to include all possible combinations of the disclosed elements. Thus, if one embodiment comprises elements A, B, and C, and a second embodiment comprises elements B and D, then the inventive subject matter is also considered to include other remaining combinations of A, B, C, or D, even if not explicitly disclosed. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways.

[0063] FIG. 1 is a perspective of a reactor core of a CANDUTm-type reactor 6. The reactor core is typically contained within a vault that is sealed with an air lock for radiation control and shielding. Although aspects of the invention are described with particular reference to the CANDUlm-type reactor 6 for convenience, the invention is not limited to CANDUTm-type reactors, and may be useful outside this particular field as well. Returning to FIG. 1, a generally cylindrical vessel, known as the calandria 10 of the CANDUlm-type reactor 6, contains a heavy- water moderator. The calandria 10 has an annular shell 14 and a tube sheet 18 at a first face or end 22 and a second face or end 24. The tube sheets 18 include a plurality of apertures (referred to herein as "bores") that each accept a fuel channel assembly 28. As shown in FIG. 1, a number of fuel channel assemblies 28 pass through the tube sheets .. 18 of calandria 10 from the first end 22 to the second end 24 (see FIG. 3).

[0064] As in the illustrated embodiment, in some embodiments the reactor core is provided with two walls at each end 22, 24 of the reactor core: an inner wall defined by the tube sheet 18 at each end 22, 24 of the reactor core, and an outer wall 64 (often referred to as an "end shield") located a distance outboard from the tube sheet 18 at each end 22, 24 of the reactor core. A lattice tube 65 spans the distance between the tube sheet 18 and the end shield 64 at each pair of bores (i.e., in the tube sheet 18 and the end shield 64, respectively).

[0065] FIG. 2 is a cutaway view of one fuel channel assembly 28 of the reactor core illustrated in FIG. 1. As illustrated in FIG. 2, each fuel channel assembly 28 includes a calandria tube (CT) 32 surrounding other components of the fuel channel assembly 28. The .. CTs 32 each span the distance between the tube sheets 18. Also, the opposite ends of each CT
32 are received within and sealed to respective bores in the tube sheets 18.
In some embodiments, a CT rolled joint insert (CTI) 34 is used to secure the CT 32 to the tube sheet 18 within the bores. A pressure tube (PT) 36 forms an inner wall of the fuel channel assembly 28.
The PT 36 provides a conduit for reactor coolant and fuel bundles or assemblies 40. The PT
36, for example, generally holds two or more fuel assemblies 40, and acts as a conduit for reactor coolant that passes through each fuel assembly 40. An annulus space 44 is defined by a gap between each PT 36 and its corresponding CT 32. The annulus space 44 is normally filled with a circulating gas, such as dry carbon dioxide, helium, nitrogen, air, or mixtures thereof One or more annulus spacers or garter springs 48 are disposed between the CT
32 and PT 36.
The annulus spacers 48 maintain the gap between the PT 36 and the corresponding CT 32, while allowing passage of annulus gas through and around the annulus spacers 48.

[0066] As also shown in FIG. 2, each end of each fuel channel assembly 28 is provided with an end fitting assembly 50 located outside of the corresponding tube sheet 18. Each end fitting assembly 50 includes an end fitting body and an end fitting liner. At the terminal end of each end fitting assembly 50 is a closure plug 52. Each end fitting assembly 50 also includes a feeder assembly 54. The feeder assemblies 54 feed reactor coolant into or remove reactor coolant from the PTs 36 via feeder tubes 59 (FIG. 1). In particular, for a single fuel channel assembly 28, the feeder assembly 54 on one end of the fuel channel assembly 28 acts as an inlet feeder, and the feeder assembly 54 on the opposite end of the fuel channel assembly 28 acts as an outlet feeder. As shown in FIG. 2, the feeder assemblies 54 can be attached to the end fitting assemblies 50 using a coupling assembly 56 including a number of screws, washers, seals, and/or other types of connectors. The lattice tube 65 (described above) encases the connection between the end fitting assembly 50 and the PT 36 containing the fuel assemblies 40. Shielding ball bearings 66 and cooling water surround the exterior of the lattice tubes 65, which provides additional radiation shielding. Returning to FIG. 2, a positioning hardware assembly 60 and bellows 62 are also coupled to each end fitting assembly 50.
The bellows 62 allows the fuel channel assemblies 28 to move axially ¨ a capability that can be important where fuel channel assemblies 28 experience changes in length over time, which is common in many reactors. The positioning hardware assemblies 60 can be used to set an end of a fuel channel assembly 28 in either a locked configuration that fixes the axial position, or an unlocked configuration. The positioning hardware assemblies 60 are also coupled to the end shield 64. The illustrated positioning hardware assemblies 60 each include a rod having an end that is received in a bore of the respective end shield 64. In some embodiments, the rod end and the bore in the end shield 64 are threaded. Again, it should be understood that although a CANDUTm-type reactor is illustrated in FIGs. 1-2, the invention may also apply to other types of reactors, including reactors having components that are similar to those illustrated in FIGs.
1-2.

[0067] During the retubing process, a platform may be installed in front of a face of the reactor 6. For example, FIG. 4 illustrates a retube tool platform (RTP) 98.
The RTP 98 is an adjustable platform that supports tooling for retubing the nuclear reactor 6.
In some embodiments, the RTP 98 is also used to perform other processes with the nuclear reactor 6, including, for example, maintenance processes, inspection processes, and installation processes. The RTP 98 is installed adjacent an end 22, 24 of the reactor 6, and moves vertically (up and down) in a y direction to different elevations for working on various portions of the reactor 6 during the retubing process. In some constructions, the RTP
98 is a stand-alone machine that does not rely on existing plant structures for positioning or movement. In some constructions, one or more RTPs 98 may be provided at each end 22, 24 of the reactor core.

[0068] Although the disclosure is described herein in connection with the process of retubing a nuclear reactor, it should be noted that the disclosure is equally applicable to the process of constructing or decommissioning a nuclear reactor. Accordingly, the terms such as "retube" and "RTP" are presented herein only for ease of description, and are not intended to limit the scope of the disclosure to only particular types of operations performed on a nuclear reactor.

[0069] As illustrated in FIG. 4, the RTP 98 includes a plurality of columns 104 (e.g., four vertical columns), a platform 106 movably supported by the columns 104, and an elevator system 108 for moving the platform 106 relative to the columns 104. The platform 106 includes a structural (e.g., steel) frame 110 and a decking surface 112 coupled to the frame 110.
The platform 106 is sized (spatially and structurally) to accommodate all of the required tooling for removal and installation processes, including heavy shielded flasks in some embodiments. The platform 106 can provide a working surface of about 500 square feet or more (e.g., the width can be about 29-31 feet, and the length can be about 17-24 feet). In some embodiments, the platform 106 provides a working surface nearly filling the plan view area that the fueling machine and gantry normally occupies. To maximize working space, the platform 106 may provide small clearances with respect to surrounding structures, including the underside when at the lowest elevation. The platform 106 can be movable via the elevator system 108 to have a vertical stroke that is at least equal to the height of the calandria 10 (e.g., about 22 feet), so that all of the fuel channel assemblies 28 across the entire reactor end face are accessible from the platform 106. In the illustrated construction, the vertical stroke is about 27 feet, or about 5 feet more than the height of the calandria 10. The elevator system 108 can position the platform 106 at any desired height within the vertical stroke.
Although the RTP 98 may be configured to lower the platform 106 into a pit or recess in the vault floor as illustrated, this is dependent upon the vault design at a particular reactor site, and is not a necessary feature of the disclosure.

[0070] The platform 106 provides a precision tooling base, as well as a personnel work platform onto which most of the tooling required for reactor disassembly and reassembly may be mounted. The accuracy of positioning of the tooling with respect to reactor fuel channels is achieved by providing the platform 106 with high relative rigidity and stability. The RTP 98 can also serve as the primary elevating device for movement of the heavy shielded flasks from a lower elevation (e.g., vault floor) to the target lattice site. The use of the RTP 98 provides a more efficient method of vertical movement than individually craning each of the large flasks down to a lower elevation.

[0071] During retubing of the reactor 6, tooling is positioned on the RTP
98 and, in particular, the platform 106. In some embodiments, tooling is positioned on a heavy worktable, which is positioned on the platform 106. The heavy worktable provides one or more surfaces for supporting tooling, and may be configured to support loads over 40,000 lbs.
For example, as illustrated in FIG. 5, a heavy worktable 200 includes a top plate 202 having a surface 204 for supporting tooling during the retubing process. As illustrated in FIG. 5, one or more worktables 200 may be provided on the RTP 98 on one end 22, 24, of the reactor core.
However, it should be understood that, in some embodiments, worktables 200 may be positioned on separate RTPs 98 positioned on the same or opposite ends 22, 24 of the reactor core (see FIG. 3).

[0072] Each worktable 200 carries and supports tooling from lattice site to lattice site across an end 22, 24 of the calandria 10. In some constructions, a worktable 200 is laterally movable in an x direction by an x-drive unit (e.g., upon rails, on a cart, and the like) at a common elevation across an end 22, 24 of the calandria 10. Alternatively or in addition, a worktable 200 may be vertically movable in a y direction by a y-drive unit, and/or movable toward and away from the end 22, 24 in a z direction, or in any combination thereof By way of example, in some constructions, a worktable 200 is movable in x and z directions, and is mounted upon the RTP 98 and vertically movable (in the y direction) to different lattice sites.

In these and other embodiments, the worktable 200 is movable in still other manners, such as to provide pitch and yaw movement capability to the worktable (with reference to a longitudinal axis running along any given fuel channel before which the worktable 200 is positioned). Such additional movement can be provided by appropriate motors, actuators, and other motion control devices of the worktable 200.

[0073] For example, as illustrated in FIG. 5, a worktable 200 may be movable along the x-axis along rails 206 using four x-drive units located at each corner of the worktable 200. Each x- drive unit includes a motor, such as a servo motor, and a rack and pinion arranged along the x- axis. In the illustrated embodiment, the motor drives the pinion to rotate, which drives the pinion along the rack to move the worktable 200 in the x direction. In other constructions, other types of x-drive units for moving the worktable 200 in the x direction may be employed.
One or more guides may be also coupled to the worktable 200 for guiding the worktable 200 along the rails 206. Similarly, in some embodiments, although the RTP 98 that supports a worktable 200 is movable to various elevations, the top plate 202 may be movable relative to a decking surface 112 of the RTP 98 along the y-axis for precision placement relative to the reactor core by a y- drive unit. The y-drive may be a screw and worm drive utilizing, for example, a screw and servo motors. Four substantially identical y-drive units may be coupled to a frame of the worktable 200 and located at each corner of the worktable 200. In other constructions, fewer or more y-drive units may be employed. Furthermore, other types of y drive units may be employed for vertical positioning of the worktable 200 in the y direction.

[0074] The top plate 202 of each worktable 200 may include couplings for a variety of tool arrangements. For example, the top plate 202 may include a universal bolt pattern (tabletop) or keyways machined into the top plate 202 to allow for precise and consistent alignment of the production tools mounted thereon. In some constructions, rails are mounted on the top plate 202 to provide z-axis (horizontal toward and away from the reactor core) movement capability for tools. In some embodiments, an extension 208 is mounted on a front of the heavy worktable 200 to increase the z-axis range to allow for longer tools.

[0075] As noted above, a worktable 200 may support a variety of tooling.
For example, FIG. 6 is a perspective view of a CTI removal system 270 according to one embodiment. The system 270 includes a CTI removal tool 272, a hardstop sleeve 274, a sleeve carriage 276, and a lattice sleeve/shield plug insertion and removal tool (LS-SPIRT) 278. As shown in FIG. 6, the CTI removal tool 272 is mounted on a pallet 280, which is supported by a worktable 200 including a front extension 208. The LS-SPIRT 278 is also supported by the worktable 200 in this embodiment, and a CTI flask 282 is mounted in front of the removal tool 272 on the pallet 280. At the front of the worktable 200, the CTI hardstop sleeve 274 is mounted on the sleeve carriage 276. If a vision tool 284 is used during the CTI removal process, the vision tool 284 .. may also be mounted toward the front of the worktable 200. It should be understood that in some embodiments, a CTI removal system 270 as illustrated in FIG. 6 is set up on each end of the reactor. Therefore, a CTI 34 may be removed from a lattice site on each end of the reactor.

[0076] It should also be understood that the CTI removal system 270 and, in particular, the CTI removal tool 272 is provide as one example of tooling that may be positioned on a .. worktable 200. Other types of tooling may be positioned on a worktable 200 or the RTP 98.

[0077] The tooling may be used during the retubing processing to remove components, inspect components, install components, and handle removed components. Also, as noted above, the tooling may be used for other processes, and may not be limited to retubing. For example, the tooling may be used during a maintenance process, an inspection process, or an installation process of a nuclear reactor.

[0078] As noted above, tooling efficiency is important to minimize reactor downtime, and to reduce the time spent performing operations on the reactor. However, the movement and operation of particular tooling may be limited by the movement and operation of other tooling.
For example, even when two different tools can be operated on the same RTP 98 positioned in front of the reactor 6, the vibration generated during operation of one tool may impact the operation of the other tool.

[0079] To address these and other issues, FIG. 7 schematically illustrates a nuclear reactor tooling communications system 700. As illustrated in FIG. 7, the system 700 includes a tooling controller 800, a first tool 803, and a second tool 805. The tooling controller 800, the first tool 803, and the second tool 805 are communicatively coupled via a network 885. The system 700 may include additional components in other configuration than as illustrated in FIG. 7. For example, in some embodiments, additional tools may be included in the system 700, such as a third tool. Also, in some embodiments, the network 885 may include multiple different networks (communication via the same or different communication protocols), and the network 885 may include wired or wireless communication channels. Also, in some embodiments, the network may be replaced wholly or partially by one or more dedicated wired connections. Furthermore, in some embodiments, the first tool 803, the second tool 805, or both may communicate with the tooling controller 800 or workstations 895 through one or more intermediary devices, such as routers, gateways, switches, and the like.
Also, in some embodiments, the system 700 includes multiple tooling controllers, and the functionality described below as being performed by the tooling controller can be distributed among the multiple tooling controllers.

[0080] The tooling controller 800 is a computing device configured to communicate with both the first tool 803 and the second tool 805. As illustrated in FIG. 7, the tooling controller 800 includes an electronic processor 810, a memory 820, and a communication interface 850.
The electronic processor 810 includes a programmable logic controller (PLC), a microprocessor, an application-specific integrated circuit (ASIC), a programmable logic device (for example, a field-programmable gate array), or other suitable electronic device configured to receive input, process data (including received input), and output data.
The memory 820 includes a non-transitory computer readable medium storing executable instructions 825 or other data. The electronic processor 810 executes the executable instructions 825 to perform the methods described herein.

[0081] The communication interface 850 enables the tooling controller 800 to communicate with external devices and systems. For example, in some embodiments, the communication interface 850 includes a network interface card (NIC) for communicating with the network 885, which may be a supervisory control and data acquisition (SCADA) or other type of industrial communication network. In some embodiments, a SCADA 890 comprises the network 885 and may optionally include one or more servers and workstations 895 configured to communicate with the tooling controller 800 and the one or more tool controllers 806, 808 via the network 885. In some embodiments, the tooling controller 800 also includes one or more input/output devices for receiving input from or providing output to a user, such as a keyboard, keypad, a button, lever, touchscreen, speaker, display, and the like.

[0082] As illustrated in FIG. 7, the first tool 803 and the second tool 805 include a first tool controller 806 and a second tool controller 808, respectively. Each tool controller 806, 808 may include similar components as the tooling controller 800. In some embodiments, the first tool 803 is tooling positioned on a RTP 98 positioned adjacent an end 22, 24 of the nuclear reactor 6, such as a worktable 200 or tooling positioned on a worktable (e.g., the CTI removal tool 272 or other tooling used during the retubing process). In other embodiments, the first tool 803 is material handling equipment positioned on a RTP 98, a worktable 200, or other locations within or outside of a vault containing the reactor 6. In still other embodiments, the first tool 803 is a gantry positioned overhead the RTP 98 or other equipment positioned around the reactor 6 and used during the retubing process, including, for example, a RTP
98. Further still, in some embodiments, the first tool 803 is a component included in a larger tool, such as a vision tool included in a removal tool. The second tool 805 may similarly include an RTP 98, a worktable 200, tooling positioned on the RTP 98 or separate from the RTP 98, and the like.
In some embodiments, both the first tool 803 and the second tool 805 are positioned on the same end of the reactor 6. However, in other embodiments, the first tool 803 and the second tool 805 are positioned on different ends (opposite ends) of the reactor 6.
Also, in some embodiments the first tool 803, the second tool 805, or both tools 803, 805 are tools used during different processes performed on the reactor, such as an inspection process, a maintenance process, or an installation process that may be performed as part of or separate from a retubing process.

[0083] FIG. 8 is a flow chart illustrating a method 900 performed by the system 700 to transmit communications from tooling. The method 900 is performed by the tooling controller 800 (by the electronic processor 810). The method 900 includes receiving, at the tooling controller 800, a communication from the second tool 805 (at block 910). In some embodiments, the second tool controller 808 included in the second tool 805 is configured to transmit the communication to the tooling controller 800 over the network 885.
The communication may include status information of the second tool 805. Status information may include, for example, an identifier of the operating state of the second tool 805, a location of the second tool 805 or a position of a component on the tool (e.g., position of a motion axis).
The identifier may represent a current operating state of the second tool 805, a previous operating state of the second tool 805, a future (subsequent) operating state of the second tool 805, or a combination thereof The operating state represents a mode of operation of the second tool 805 during operation (when the second tool 805 is activated and operating).

[0084] Also, in some embodiments, the communication may include other tool status information, such as a location of the second tool 805 or a position of a component on the tool (e.g., position of a motion axis). The location may specify a current location of the second tool 805, a previous location of the second tool 805, a future (subsequent) location of the second tool 805, or a combination thereof The location may specify the nuclear reactor where the tool is positioned, the end of the nuclear reactor where the tool is positioned, a particular lattice site or area of a reactor face where the tool is positioned, a location within the vault containing the nuclear reactor where the tool is positioned, or the like. Each location may be specified based on geographic coordinates (north, south, east, west), a coordinate system defined by the nuclear reactor, or other identifiers or markers.

[0085] Furthermore, in some embodiments, in place or in addition to the identifier of the operating state, the location, or both, the communication transmitted by the second tool controller 808 may also include other information, such as tool identifying information (e.g., tool type, unique tool identifier, and the like), a flag regarding whether the second tool 805 is currently operating or is not currently operating, operator information, sensor information, alert or fault information, and the like.

[0086] The tooling controller 800 generates a control signal for the first tool 803 based at least in part on communication received from the second tool 805 (block 915) (e.g., status information such as the operating state of the second tool 805) and transmits (via the network 885) the control signal to the first tool controller 806 included in the first tool 803 to control operation of the first tool 803 (at block 920). For example, when the identifier of the operating .. state of the second tool 805 indicates that the second tool 805 is currently cutting or performing another type of operation that could potentially disrupt operation of the first tool 803, the tooling controller 800 may transmit a control signal to the first tool 803 that instructs the first tool 803 to deactivate, to not activate or operate, to start operation or a designated operating state, to move to a designated location, to delay operation by a designated amount of time, to start operation at a designated time, or the like. Similarly, when the location information received from the second tool 805 indicates that the second tool 805 is currently operating at a particular lattice site, the tooling controller 800 may transmit a control signal to the first tool 803 that instructs the first tool 803 to deactivate, to not activate or operate, to start operation or a designated operating state, to move to a designated location, to delay operation by a designated amount of time, to start operation at a designated time, or the like.

[0087] The tooling controller 800 may be configured to base the control signal transmitted to the first tool 803 on other data, such as communications received from other tools (a RTP
98, a worktable 200, a third tool, material handling equipment, a gantry, and the like). Also, in some embodiments, the tooling controller 800 is configured to base the control signal to the first tool 803 on data received from the first tool 803. For example, the tooling controller 800 may be configured to receive an identifier of an operating state of the first tool 803 from the first tool controller 806 and base the control signal to the first tool 803 on the identifier received from both the first tool 803 and the second tool 805. Similarly, the tooling controller 800 may be configured to generate and transmit a control signal to the second tool 805 (the second tool controller 808) based on the identifier received from the second tool 805, the first tool 803, or both.

[0088] In some embodiments, the first tool 803 and the second tool 805 may communicate directly in addition to or in place of communicating through the tooling controller 800. For example, the second tool controller 808 may transmit a communication as described above to the first tool controller 806 via the network 885, and the first tool controller 806 may be configured to control the first tool 803 based on the received communication as performed by the tooling controller 800 as described above. The first tool 803 may also be configured to receive communications from other tools and use the collection of communications to control operation of the first tool 803 as described above. Also, in some embodiments, the first tool 803 may transmit control signals to other tools. For example, the first tool 803 may be configured to provide functionality as described above for the tooling controller 800 and transmit a control signal to the second tool 805, other tools, or a combination thereof Accordingly, in this configuration, a separate controller, such as the tooling controller 800, may not be needed to enable communication and coordination between tooling.

[0089] FIG. 9 illustrates, in a block diagram, an example of a nuclear reactor service operation environment 950, in accordance with some embodiments. The nuclear reactor service operation environment 950 includes a nuclear reactor service operation monitoring system 960, the tooling controller 800, and the network 885. The service operation monitoring system 960 comprises a display 962, a memory 964, a processor 966, and a communication interface 968. The memory 964 may include instructions or method steps to be performed by the processor 966. For example, the processor 966 may be configured to perform operation monitoring method steps. The communication interface 968 allows the operation monitoring system 960 to communicate with the tooling controller 800 via network 885. In some embodiments, a SCADA 890 comprises the network 885 and may optionally include one or more workstations 895 configured to communicate with the tooling controller 800 and the nuclear reactor service operation monitoring system 960.

[0090] FIG. 10 illustrates, in a flowchart, an example of a nuclear reactor service operation monitoring method 1000, in accordance with some embodiments. The method 1000 comprises sending 1002, by the processor 966, instructions to the display 962, to render a user interface comprising a representation of a reactor equipment, such as a reactor face, feeder pipe, or other reactor equipment. Next, the processor 966 may then receive 1006 at least one completion status message from the local operation controller. Each of said one completion status message may be associated with a completion of an operation instruction of the current operation message. In some embodiments, the completion status message may come from the SCADA
890. In other embodiments, the completion status message may come from an operator or supervisor input confirming that the current instruction has been completed.
Next, the processor 966 may update 1008 said one of the status indicators based upon the receiving of the at least one completion status message. Other steps may be added in the method 1000. For example, the processor 966 may send 1004 a current operation message to a local operation controller. In some embodiments, an example of a local reactor operation controller may be the tooling controller 800. Alternatively, the current operation message may be inputted into the SCADA 990 by an operator (e.g., move to channel X and perform operation Y). Once the status indicator has been updated 1008, the processor 996 may send 1010 a next operation message if there is one.

[0091] FIG. 11A illustrates, in a component diagram, an example of a user interface 1100, in accordance with some embodiments. The user interface 1100 comprises a face identifier field 1112, an operation field 1114, a legend field 1104 and a reactor equipment representation field 1116, each of which will be described in further detail below by way of examples. Other .. fields and functions may be added to the user interface 1100.

[0092] In the example shown in FIG. 11B, the reactor equipment is a reactor face. The representation 1116 comprises a plurality of lattice site status indicators 1102. FIG. 11B
illustrates, in a screenshot, an example of an operation user interface 1120, in accordance with some embodiments. The operation user interface 1120 includes a plurality of lattice site status indicators 1102. In this example, the lattice site status indicators 1102 may be displayed in different colors 1104 where each color represents a different status, such as, not started, in progress, complete, on delay, on hold, aborted, etc. The operation user interface 1120 may be used by an operator, supervisor or designer of detailed work instructions.

[0093] In some embodiments, the current operation message as referenced in FIG. 10 may be associated with a lattice site associated with one of the plurality of lattice site status indicators 1102. In the example shown in FIG. 11B, an operator user has selected the lattice site status indicator corresponding to grid location A13 1106 of the east face (shown in Face field 1112) of the nuclear reactor, and requested a series of operations (shown in Operation field 1114) to be performed on that lattice site by selecting operation "OPN410_A-Side install FC SA" 1108 and selecting a proceed button 1110. The example of FIG. 11B shows the lattice site status indicator A14 as "complete" by being displayed in an associated color. The lattice site status indicator A13 could be updated to "in progress" once a "proceed"
button 1110 input for an operation selection 1108 is received. After receiving a proceed button 1110 input, the processor 966 may then send 1010 a next operation message to the operation sequence controller, said sending occurring after receipt of completion status messages for all operation instructions of the current operation message.

[0094] FIG. 11C illustrates, in a screenshot, an example of a supervision user interface 1150, in accordance with some embodiments. The supervision user interface 1150 includes the plurality of lattice site status indicators 1102, the Face field 1112, the Operation field 1114 and the lattice site status color legend 1104.

[0095] FIG. 11D illustrates, in a screenshot, another example of an operation user interface 1170, in accordance with some embodiments. The interface 1170 comprises a feeder map (as the reactor equipment representation 1116) that may be used to the progress/status of feeder nozzle work in a refurbishment of a nuclear reactor. The operation user interface 1170 includes a plurality of feeder port status indicators 1172. In this example, the feeder port status indicators 1172 may be displayed in different colors 1174 where each color represents a different status, such as, not started, in progress, complete, on delay, on hold, aborted, etc. The feeder port color legend 1174 also shows different color marking schemes for the status of listed operations and current operations. In the example shown in FIG. 11D, an operator user has selected the feeder port status indicator corresponding to grid location C14 1176 of the east face (shown in Face field 1112) of the nuclear reactor, the northeast (NE) outlet 1182 (from a selection of NE, southeast (SE), northwest (NW) and southwest (SW) outlets and inlets), and requested a series of operations (shown in Operation field 1114) to be performed on that lattice site by selecting operation "OPN410 A-Side install FC SA" 1178 and selecting the proceed button 1110. A working progress display 1180 may also be present on the supervision user interface 1170. It is understood that such working progress displays 1180 may be included in any of the user interfaces described herein.

[0096] FIG. 12A illustrates, in a component diagram, an example of an sequence controller interface 1200, in accordance with some embodiments. The sequence controller interface 1200 comprises a user name field 1218, an operation name field 1206, an operation identifier field 1202, an operation instruction field 1212, an operation step context field 1600, an image support field 1208 and a comments field 1500, each of which will be described in further detail below by way of examples. Other fields and functions may be added to the sequence controller .. interface 1200.

[0097] FIG. 12B illustrates, in a screenshot, an example of an operation sequence controller interface 1220 that corresponds with the operation selection example of FIG. 11B, in accordance with some embodiments. The interface 1220 may be rendered on an operator device/system or a supervisor device/system. An operation may comprise multiple operation .. instructions (i.e., instructions or steps) associated in a sequential flow.
In some embodiments, instruction steps within the operation may be displayed one at a time. In some embodiments, the instruction step components comprise an operation identifier 1202 (e.g., an operation number (OPN)), and operation text instructions 1204 that are rendered at the display. In some embodiments, the operation text instructions 1204 are displayed in an instructions tab of an .. operation instruction window or field 1212. The operation instruction components further comprise a title or name of the operation 1206, a detailed instruction (i.e., instruction details or step details) that is rendered at the display in an instruction field 1212, an image aid 1208 (i.e., picture aid where steps may have a related image file/picture) that is rendered at the display, and one or more control points that cause the operation to pause until an input has been provided. A control point may be used to ensure quality control (QC), to provide a witness that an instruction has been performed, and/or to provide verification holds to allow the verification that an instruction has been performed, etc.

[0098] Referring back to FIG. 10, once an operation is completed, a user having sufficient credentials may confirm the completion by selecting the "confirm complete"
button 1210. In .. some embodiments, when the operation sequence controller interface 1200 receives the confirm completion input, the local operation controller may send 1006 the completion status message to the nuclear reactor service operation monitoring system 960. In other embodiments, some SCADA functions may automatically send the confirm completion message once an operation step is completed. In other embodiments, for added verification, the nuclear reactor service operation monitoring system 960 may be configured to wait for both the SCADA function completion message and the confirm completion input before proceeding to the next step.

[0099] FIG. 12C illustrates, in a screenshot, another example of a supervisory user interface 1250, in accordance with some embodiments. The supervision user interface 1250 includes an example of a control point 1252. It is understood that a similar control point may be displayed in a corresponding operation user interface.

[0100] FIG. 13A illustrates, in a screenshot, another example of a supervision user interface 1300, in accordance with some embodiments. The supervisory user interface 1300 includes a "Details" tab 1302 in the operation instruction window 1212. It is understood that a similar "Details" tab may be displayed in a corresponding operation user interface. FIG. 13B
illustrates, in a screenshot, another example of a details view 1350 of the operation instruction window 1212, in accordance with some embodiments. The details view 1350 may provide detailed instruction steps. In some embodiments, the detailed instruction may include comments that would appear in a detailed work instruction. For example, the comments may be rendered on a document that is displayed in the details view 1350 when a details tab 1302 is selected.

[0101] FIG. 14A illustrates, in a screenshot, another view of the supervision user interface 1300 shown in FIG. 13A, in accordance with some embodiments. The supervisory user interface 1300 includes an "Operation Progress" tab 1402 in the operation instruction window 1212. FIG. 14B illustrates, in a screenshot, another example of an operation progress view 1400 of operation instruction window 1212, in accordance with some embodiments. A
selection of the operation progress tab 1402 opens a window that shows which step has been reached in the operation. In some embodiments, the steps are color-coded (e.g., green ¨
complete; yellow ¨ current step; blue ¨ next step; red ¨ aborted). It is understood that other color combinations may be used to delineate the step status. In the example of FIG. 14A, step 500.018.02 has been completed, step 500.019 is the current step in progress, and steps 500.020 to 500.022 are next steps. In this example, the next steps alternate in color between blue and white for display purposes. In the example of FIG. 14B, steps 410.001 to 410.006 have been completed and step 410.007 is the current step in progress. In some embodiments, providing color or other shading to the steps allows the status of the steps to be viewed more easily and quickly by an operator of the user interface.

[0102] FIG. 15 illustrates, in a screenshot, an example of a comments box or field 1500, in accordance with some embodiments. In some embodiments, the comments box 1500 is located below a visual aid 1208 as show in FIG. 12B. The comments box 1500 may be used by the operator to provide feedback during the performance of the operation. The information received at the comments box 1500 may be automatically stored in a database (or other memory or data repository or storage) for a later evaluation or review.

[0103] FIG. 16A illustrates, in a screenshot, an example of an operation step context view 1600, in accordance with some embodiments. The operation step context view 1600 may display information on a previous step 1602 and an upcoming step 1604. In some embodiments, the operation steps may be colored or shaded differently for ease of display, as described above. In some embodiments, the operation step context view 1600 may be rendered on the operation sequence controller interface 1220 below the operation instruction window 1212. FIG. 16B illustrates, in a screenshot, another view of the supervision user interface 1300 shown in FIG. 13A, in accordance with some embodiments. In this example, the operation context view 1600 displays information pertaining to a previous step 1652, an upcoming or next step 1654 and an alternate upcoming or alternate next step 1656. In some embodiments, the alternate next step 1656 may be colored or shaded differently from the next step 1654. In this example, a user may select which next step 1654 or 1656 to perform once the current step in progress is complete. I.e., a next step 1654 or 1656 selection is received by the system.

[0104] FIG. 17 illustrates, in a flowchart, an example of an operation sequence method 1700, in accordance with some embodiments. The method 1700 may be performed the processor 966 of the nuclear reactor service operation monitoring system 960 and comprises optionally sending (e.g., transmitting) 1702, to the tooling controller 800 (or alternatively, to a tool controller 806, 808 directly), an instruction to initiate an operation sequence. Next, the processor 966 may send an instruction to display 1704 the instruction task that is to be performed. For example, the instruction task may be rendered on a screen showing an operation controller interface 1200 for the operation. It should be noted that in some embodiments, the tools are not set up to receive such instructions 1702 directly. In those embodiments, an operator would operate a user interface on the SCADA 890 to input the instructions following step 1704. Next, the processor 966 may receive 1706, from the tooling controller 800 (e.g., via the SCADA 890), a completion status for an instruction task in the sequence. In some embodiments, this will be a completion status for the first instruction task in the operation sequence. In some embodiments, the completion status message may come from an operator or supervisor input confirming that the current instruction has been completed. Next, the processor 966 may log 1708, the completion status for the instruction task. In some embodiments, such logging may include updating the operation progress view 1400 of the local operator interface. Events may be recorded in a memory or data storage repository, such as a relational database. Events may include receiving an operation selection of the "Confirm Complete" button 1210, "Abort" button, "Hold" button or "Go To" button, or if the system receives a signal from the tool controller. If there are more instruction tasks or steps in the operation sequence 1710, then steps 1704 to 1708 may repeat for each instruction task or step.

[0105] When there are no more instruction tasks to be completed 1710, then the processor 966 may verify 1712 that all instruction tasks have been completed successfully. In some embodiments, such verifying may include confirming that completion confirmations have been received for all instruction tasks in the operation sequence. Examples of completion confirmations include receiving a "Confirm Complete" selection or receiving successful completion signals from tool controllers (e.g., via the SCADA 890). In some embodiments, for added verification, the nuclear reactor service operation monitoring system 960 may be configured to wait for both the SCADA function completion message and the confirm completion input before proceeding to the next step.

[0106] In some embodiments, one message type (e.g., SCADA function message, or user input message) may be used for the individual completion status messages and the other message type may be used for the verification that all tasks have been completed successfully.
Sometimes, a step may be performed, but a false negative SCADA message may be received.
Alternatively, a completion message from the SCADA may include an error message where the error is minor in nature. An operator or supervisor may visually inspect and see that task or step is successfully or sufficiently completed, and manually input a confirm completion message. Such an event and its details may be logged in one of the interface fields for later quality control or other supervisory analysis. In some embodiments, the color for the status indicator may be modified to indicate that the status is considered to be complete, but a supervisor override was used. In some embodiments, reports may be automatically generated that set out the channel (e.g., lattice indicator) where an issue arose, the issue itself (e.g., a false positive, false negative), a description of what actions, if any, were taken by an operator, and a description of what decisions were made by a supervisor.

[0107] In some embodiment, the completion status messages may be received by the system 960 via a message or log sent by the SCADA 890, tooling controller 800 or tool controller 806, 808. In some embodiments, system 960, may be configured (e.g., via protocols) to have access to information in a memory or data storage of, or shared memory or data storage with, the SCADA 890, tooling controller 800 and/or tool controller 806, 808.
Thus, any step regarding receiving a completion status indication may alternatively comprise the SCADA 890, tooling controller 800 and/or tool controller 806, 808 recording the completion status indication in said memory or data storage, and the system 960 observing tags or fields in a look-up table or memory map of said memory or data storage and obtaining the completion status indication.

[0108] Once the all instructions tasks have been completed 1712, the operation sequence is complete 1714. Other steps may be added to the method 1700. Optionally, if there is a next operation sequence to be performed, the processor 966 may send an instruction to initiate the next operation sequence 1716.

[0109] FIG. 18 illustrates, in a flowchart, another example of an operation sequence method 1800, in accordance with some embodiments. The method 1800 is for a PT
Cut Sequence. The method 1800 may be performed by the processor 966 of the nuclear reactor service operation monitoring system 960 and comprises sending (e.g., transmitting) 1802, to the tooling controller 800, an instruction to initiate a PT Cut Sequence. In some embodiments, the transmitting 1802 step may be a direct message sent to the SCADA 890. In some embodiments, the transmitting 1802 step may be displaying the message and having an operator manually input instructions on a SCADA interface. Next, the processor 966 may receive from the tooling controller 800 and log 1804 a completion status for instruction task Heavy Work Table (HWT) Index to Channel X (i.e., indexing the worktable to a specific position to be aligned to lattice site/channel X). Next, the processor 966 may receive from the tooling controller 800 and log 1806, a completion status for instruction task Channel Alignment. Channel alignment is the process of measuring relative offset between the tool mounted on the HWT and the target channel or lattice site. The alignment tool may use the measurement to move the HWT in the appropriate direction and distance to properly align with the channel. Next, the processor 966 may receive from the tooling controller 800 and log 1808, a completion status for instruction task Shield Plug Removal. Next, the processor 966 may receive from the tooling controller 800 and log 1810, a completion status for instruction task HWT Index to PT Cut Tool. Next, the processor 966 may receive from the tooling controller 800 and log 1812, a completion status for instruction task PT Cut. Next, the processor 966 may receive from the tooling controller 800 and log 1814, a completion status for instruction task HWT Index indicating that the HWT Index was set to the shield plug tool.
Next, the processor 966 may receive from the tooling controller 800 and log 1816, a completion status for instruction task Shield Plug Install. In some embodiments, logging may include updating the operation progress view 1400. Next, the processor 966 may verify 1818 that all instruction tasks have been completed successfully. In some embodiments, such verifying may include confirming that completion confirmations have been received for all instruction tasks in the operation sequence. For example, completion confirmations may be received from the tool controller, or a "Confirm Complete" selection may be received from the interface 1200.
Additionally, the system may check that no errors or faults were received during the sequence.
Once the all instructions tasks have been completed 1818, the PT Cut Sequence is complete 1820. Other steps may be added to the method 1800. Optionally, if there is a next channel operation sequence to be performed, the processor 966 may send an instruction to initiate the next channel operation 1822.

[0110] It should be noted that FIGs. 17 and 18 may apply to a maintenance operation. In some embodiments, maintenance step instructions may be displayed (e.g., 1704, 1802) and an operator may perform the maintenance steps. Once the maintenance steps are completed, the operator or a supervisor may manually confirm completion, as described above.
Such manual confirm completion will result in the sending of a completion status message, as described above.

[0111] FIG. 19 illustrates, in a flowchart, an example of a PT Cut Sequence 1900 in more detail, in accordance with some embodiments. The method 1900 may be performed by the processor 966 of the nuclear reactor service operation monitoring system 960 and the tooling controller 800. The steps on the left column of FIG. 19 may be performed by the nuclear reactor service operation monitoring system 960, while the steps on the right column of FIG.
19 may be performed by the SCADA 890, the tooling controller 800 or the tool controllers 806, 808. The method 1900 begins with the processor 966 sending 1902 an instruction to initiate a PT Cut Sequence to the tooling controller 800. An operation user interface 1200 displays the first instruction task and the tooling controller 800 receives the PT Cut Sequence initialization instruction 1904. In some embodiments, the tooling controller 800 may receive the instruction directly from the system 960 via the SCADA 890. In some embodiments, the system 960 may display the instruction and an operator may manually input the instruction in an interface of the SCADA 890.

[0112] Once the PT Cut Sequence initialization instruction 1904 is received, the first instruction task, Set HWT Index to Target Channel, is performed 1906 by the tooling controller 800 and once complete, the tooling controller 800 sends a completion status 1908 to the processor 966. The processor 966 then logs the completion of the HWT Index to Channel X
1804. The processor 966 then sends an instruction to the operation sequence interface 1200 to display the next instruction task, HWT Align Shield Plug Tool to Target Channel 1910. Once this operation is performed, the tooling controller 800 sends a completion status 1912 to the processor 966. The processor 966 then logs the completion of the Channel Alignment 1806 and sends an instruction to the operator interface 1200 to display the next instruction task, Remove Shield Plug 1914. Once this operation is performed, the tooling controller 800 sends a completion status 1916 to the processor 966. The processor 966 then logs the completion of the Shield Plug Removal 1808 and sends an instruction to the operator interface 1200 to display the next instruction task, HWT Index to PT Cut Tool 1918. Once this operation is performed, the tooling controller 800 sends a completion status 1920 to the processor 966. The processor 966 then logs the completion of the HWT Index to PT Cut Tool 1810 and sends an instruction to the operator interface 1200 to display the next instruction task, Cut PT 1922.
Once this operation is performed, the tooling controller 800 sends a completion status 1924 to the processor 966. The processor 966 then logs the completion of the PT Cut 1812 and sends an instruction to the operator interface 1200 to display the next instruction task, Set HWT
Index to Shield Plug tool 1926. Once this operation is performed, the tooling controller 800 sends a completion status 1928 to the processor 966. The processor 966 then logs the completion of the HWT Index 1814 and sends an instruction to the operator interface 1200 to display the next instruction task, Install Shield Plug 1930. Once this operation is performed, the tooling controller 800 sends a completion status 1932 to the processor 966. The processor 966 then logs the completion of the Shield Plug Install 1816. Next, the processor 966 may verify 1818 that all instruction tasks have been completed successfully. Once the all instructions tasks have been completed 1818, the PT Cut Sequence is complete 1820.

[0113] Other steps may be added to the method 1900. Optionally, if there is a next channel operation sequence to be performed, the processor 966 may send an instruction to initiate the next channel operation 1822. In some embodiments, some of the next instruction task steps above may be omitted from the display. I.e., in some embodiments, some detailed steps may be abstracted from the user display in an automated sequence. However, the steps may be still be recorded by the system to track successful completion of steps.

[0114] The example provided in FIGs. 18 and 19 is intended to be illustrative of a specific operation sequence implementation of the method described in FIG. 17. Other operation sequences may be performed.

[0115] The nuclear reactor service operation monitoring system 960 may also track the time spent performing operations, sequences and tasks. For example, a time stamp may be provided for each instruction displayed, sent or completion status message or other event message received. Such a time stamp may be logged in a memory or data storage repository (e.g., database). In some scenarios, a delay may occur between or during operation steps. The time of such delays may also be tracked. Some operation steps involve human operators to be present near the reactors during the operation. It is desirable to track operation time and delays in order to track radiation exposure by personnel near the reactors, for example. Timers may be included in the operation sequence controller interface 1200 and the supervision user interface 1300 for operators and supervisors to track. Such timers may be incremented accordingly during operation time and delays. In some embodiments, an operator or supervisor may invoke a hold on an action, task or operation that involves the presence of personnel if an exposure time of personnel working near the reactor passes a predetermined value. The operation timers may also be used for audit purposes and for future planning of sequences and operations in order to increase efficiency and minimize personnel exposure to radiation.

[0116] In some embodiments, the Nuclear Reactor Service Operation Monitoring system 960 may exchange information with the SCADA system 890, as well as maintain a system 960 database with a SCADA 890 database so there is a single data storage repository for information. It should be understood that the term "memory" used herein may include a data storage repository such as a database. In some embodiments, the system 960 may employ the use of the same user credentials as the SCADA system 890, where, based on these credentials, the system 960 may generate popups at the required users workstation. In some embodiments, the graphical user interface may blend in with the SCADA displays. In some embodiments, a pause button and a visual depiction of the circle and slash method of place keeping may be added to the display. In some embodiments, the system 960 may work with templates for converting detailed work instructions (DWIs) into the visual work instructions (VWIs). In some embodiments, the system 960 may communicate with the SCADA system to ensure the correct VWI is displayed for the operator based on the series and tooling selected. In some embodiments, the system 960 reporting function may be tailored to include requirements for different power plant systems. In some embodiments, the system 960 may include the ability to generate application error codes and display them to the operators. In some embodiments, the system 960 may provide functionality for a user-definable map of multiple work sites (similar to a reactor facemap, but for other applications outside the reactor core). The user may specify quantity of work sites, grouping, names, and available statuses.

[0117] The nuclear reactor service operation monitoring system 960 may also be used to generate detailed work instructions. FIG. 20 illustrates, in a screenshot, an example of a design user interface 2000, in accordance with some embodiments. The design user interface 2000 is similar to the operation user interface 1100. In this example, the design user interface 2000 does not include the proceed button 1100 used by operators. However, the design user interface 2000 does include design functionality that is not present in the operation user interface 1100. The design user interface may be used by a technology advisor to generate operation sequences and tasks. The design functionality in a development environment may be initiated when face and operation options are received (at the Face field 1112 and Operation field 1114, respectively) and a "Design" button 2012 selection is received.

[0118] FIGs. 21A and 21B illustrate, in screenshots, examples of a task design user interface 2100, in accordance with some embodiments. Referring to FIG. 21B, the operations section 2102 allows a task design developer to create a new operation procedure, or select an existing operation procedure for editing. The section 2104 allows the task design developer to edit fields that identify which detailed work instruction (DWI) or which construct work package (CWP) is the origin for the operation procedure. A CWP is a compilation of various documents used to perform the work. The DWI may become part of the CWP. Work on the reactor may be identified an recorded by the CWP number. The section 2106 allows the task design developer to create a new revision for an existing operation procedure.
The section 2108 allows the task design developer to create a new task or to edit an existing one. The section 2110 allows the task design developer to create, add, edit or delete instructions for a task. The section 2112 allows the task design developer to review an existing task before it is deployed.

[0119] FIG. 22 illustrates, in a screenshot, an example of a sequence design user interface 2200, in accordance with some embodiments. The bottom portion of the sequence design user interface 2200 shows the operation data 2202. FIG. 23 illustrates, in a screenshot, an example of operation data 2202, in accordance with some embodiments. The operation data 2202 displays the Steps 2304, Tasks 2306 and indicates the sequence order 2308. The operation sequence instructions may be printed by selecting the "Print" button 2308.
FIG. 24 illustrates an example of the operation sequence instructions 2400, in accordance with some embodiments.

[0120] Each of the operation sequence controller interface, supervision user interface and sequence design user interface may have secure access for designated users. It is understood that passwords or other credentials may be implemented in the system and used to limit access to the interfaces to authorized personnel.

[0121] FIG. 25 illustrates, in a block diagram, an example of a computing device 2500, according to some embodiments. There is provided a schematic diagram of computing device 2500, exemplary of an embodiment. As depicted, computing device 2500 includes at least one processor 2502, memory 2504, at least one I/O interface 2506, and at least one network interface 2508. The computing device 2500 is configured as a tool for automatically generating and revising risk assessment queries, and for prompting, receiving, and processing responses to risk assessment queries in order to produce risk mitigation plan recommendations.

[0122] Each processor 2502 may be a microprocessor or microcontroller, a digital signal processing (DSP) processor, an integrated circuit, a field programmable gate array (FPGA), a reconfigurable processor, a programmable read-only memory (PROM), or any combination thereof The processor 2502 may be optimized for analyzing text or verbal responses to queries from clients, determining the optimal next query to transmit to users based on previous responses and the totality of information required, and transmitting the optimal next question to the user.

[0123] Memory 2504 may include a computer memory that is located either internally or externally such as, for example, random-access memory (RAM), read-only memory (ROM), compact disc read-only memory (CDROM), electro-optical memory, magneto-optical memory, erasable programmable read-only memory (EPROM), and electrically-erasable programmable read-only memory (EEPROM), Ferroelectric RAM (FRAM).

[0124] Each I/O interface 2506 enables computing device 2500 to interconnect with one or more input devices, such as a keyboard, mouse, camera, touch screen and a microphone, or with one or more output devices such as a display screen and a speaker. I/O
interface 2506 may also include application programming interfaces (APIs) which are configured to receive data sets in the form of information signals, including verbal communications recorded and .. digitized, and/or text input from users in response to queries posed to said users.

[0125] Each network interface 2508 enables computing device 2500 to communicate with other components, to exchange data with other components, to access and connect to network resources, to serve applications, and perform other computing applications by connecting to a network (or multiple networks) capable of carrying data including the Internet, Ethernet, plain old telephone service (POTS) line, public switch telephone network (PSTN), integrated services digital network (ISDN), digital subscriber line (DSL), coaxial cable, fiber optics, satellite, mobile, wireless (e.g., Wi-Fi, WiMAX), SS7 signaling network, fixed line, local area network, wide area network, and others. Network interface 2508, for example, may be used to communicate audio files (e.g., MP3, WAV, etc.) containing recorded verbal responses from a user device to the system for processing via a speech-to-text engine.

[0126] The embodiments of the devices, systems and methods described herein may be implemented in a combination of both hardware and software. These embodiments may be implemented on programmable computers, each computer including at least one processor, a data storage system (including volatile memory or non-volatile memory or other data storage elements or a combination thereof), and at least one communication interface.

[0127] Program code is applied to input data to perform the functions described herein and to generate output information. The output information is applied to one or more output devices. In some embodiments, the communication interface may be a network communication interface. In embodiments in which elements may be combined, the communication interface may be a software communication interface, such as those for inter-process communication. In still other embodiments, there may be a combination of communication interfaces implemented as hardware, software, and combination thereof

[0128] Throughout the foregoing discussion, numerous references will be made regarding servers, services, interfaces, portals, platforms, or other systems formed from computing devices. It should be appreciated that the use of such terms is deemed to represent one or more computing devices having at least one processor configured to execute software instructions stored on a computer readable tangible, non-transitory medium. For example, a server can include one or more computers operating as a web server, database server, or other type of computer server in a manner to fulfill described roles, responsibilities, or functions.

[0129] The technical solution of embodiments may be in the form of a software product.
The software product may be stored in a non-volatile or non-transitory storage medium, which can be a compact disk read-only memory (CD-ROM), a USB flash disk, or a removable hard disk. The software product includes a number of instructions that enable a computer device (personal computer, server, or network device) to execute the methods provided by the embodiments.

[0130] The embodiments described herein are implemented by physical computer hardware, including computing devices, servers, receivers, transmitters, processors, memory, displays, and networks. The embodiments described herein provide useful physical machines and particularly configured computer hardware arrangements.

[0131] Although the embodiments have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein.

[0132] Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the disclosure.

[0133] As can be understood, the examples described above and illustrated are intended to be exemplary only.

[0134] Embodiments described herein provide, among other things, a system for transmitting communications from tooling for a nuclear reactor and, optionally, coordinating operation of the tooling based on the communications. Various features and advantages of the invention are set forth in the claims.

[0135] During nuclear reactor construction, retubing, and decommissioning processes, the nuclear reactor is offline. Thus, the retubing process needs to be performed efficiently to minimize costs and delays. However, coordinating the movement and operation of such tooling is difficult to manage, especially manually. Furthermore, the movement and use of particular tooling may be limited by the movement and use of other tooling.
For example, even if two different tools can be operated simultaneously, vibration generated during operation of one tool may impact the operation of another tool.

[0136] Accordingly, embodiments described herein improve the efficiency of nuclear reactor construction, retubing, and decommissioning processes by transmitting communications from tooling used in such processes, wherein the communications can be used to control and coordinate movement and operation of the tooling. For example, some embodiments provide systems for transmitting a communication from tooling for a nuclear reactor. One system includes a first tool, a second tool, and a tooling controller. The first tool includes a first tool controller, and is positioned on a platform located adjacent a face of the nuclear reactor. The second tool includes a second tool controller. The tooling controller is communicatively coupled to the first tool controller and the second tool controller. The tooling controller is configured to receive a communication from the second tool controller included in the second tool, wherein the communication includes an identifier of an operating state of the second tool, generate a control signal for controlling the first tool based at least in part on the identifier of the operating state of the second tool, and transmit the control signal to the first tool controller included in the first tool.

[0137] Some systems include a first tool, a second tool, and a tooling controller. The first tool includes a first tool controller and is positioned on a platform located adjacent a face of the nuclear reactor. The second tool includes a second tool controller. The tooling controller is communicatively coupled to the first tool controller and the second tool controller. The tooling controller is configured to receive a communication from the second tool controller included in the second tool, wherein the communication includes a location of the second tool, generate a control signal for controlling the first tool based at least in part on the location of the second tool, and transmit the control signal to the first tool controller included in the first tool.

[0138] Also, some systems includes a first tool, a second tool, and a tooling controller.
The first tool includes a first tool controller, and is positioned on a platform located adjacent a face of the nuclear reactor. The second tool includes a second tool controller. The tooling controller is communicatively coupled to the first tool controller and the second tool controller.
The tooling controller is configured to receive a communication from the second tool controller .. included in the second tool and control operation of the first tool based at least in part on the communication.

[0139] Embodiments described herein also provide methods for transmitting communications from tooling for a nuclear reactor. Some methods includes receiving, with a tooling controller, a communication from a first tool controller included in a first tool, the communication including an identifier of an operating state of a first tool;
generating, with the tooling controller, a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the identifier of the operating state of the first tool; and transmitting, with the tooling controller, the control signal to a second tool controller included in the second tool.

[0140] Some methods include receiving, with a tooling controller, a communication from a first tool controller included in a first tool, the communication including a location of a first tool, generating, with the tooling controller a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the location of the first tool, and transmitting, with the tooling controller, the control signal to a second tool controller included in the second tool.

[0141] Some methods include receiving, with a first tool controller included in a first tool positioned on a platform located adjacent a face of the nuclear reactor, a communication from a second tool controller included in a second tool, and controlling the first tool based at least in part on the communication.

[0142] Embodiments described herein also provide non-transitory computer-readable medium including instructions that, when executed by an electronic processor, cause the electronic processor to perform one or more sets of functions. One set of functions includes receiving a communication from a first tool controller included in a first tool, the communication including an identifier of an operating state of a first tool, generating a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the identifier of the operating state of the first tool, and transmitting the control signal to a second tool controller included in the second tool.

[0143] Another set of functions includes receiving a communication from a first tool controller included in a first tool, the communication including a location of a first tool, generating a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the location of the first tool, and transmitting the control signal to a second tool controller included in the second tool.

[0144] Another set of functions includes receiving a communication from a second tool controller included in a second tool, and controlling a first tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the communication.

[0145] Embodiments described herein also provide apparatuses for transmitting communications from tooling for a nuclear reactor. In some embodiments, an electronic processor is configured to receive a communication from a first tool controller included in a first tool, wherein the communication includes an identifier of an operating state of a first tool, generate a control signal for controlling a second tool positioned on a platform adjacent a face of the nuclear reactor based at least in part on the identifier of the operating state of the first tool, and transmit the control signal to a second tool controller included in the second tool.

[0146] In some embodiments, an apparatus includes an electronic processor configured to receive a communication from a first tool controller included in a first tool, wherein the communication includes a location of a first tool, generate a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the location of the first tool, and transmit the control signal to a second tool controller included in the second tool.

[0147] Also, in some embodiments an apparatus includes an apparatus includes an electronic processor configured to receive a communication from a second tool controller included in a second tool, and control a first tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the communication.

[0148] In one embodiment, a system for transmitting a communication from tooling for a nuclear reactor is provided. The system comprises a first tool, including a first tool controller, positioned on a platform located adjacent a face of the nuclear reactor; a second tool, including a second tool controller; and a tooling controller communicatively coupled to the first tool controller and the second tool controller. The tooling controller is configured to receive a communication from the second tool controller included in the second tool (the communication including an identifier of an operating state of the second tool), generate a control signal for controlling the first tool based at least in part on the identifier of the operating state of the second tool, and transmit the control signal to the first tool controller included in the first tool.

[0149] In one aspect, the second tool is positioned on the platform.

[0150] In another aspect, the face of the nuclear reactor is a first face and wherein the second tool is positioned on a second platform located adjacent a second face of the nuclear reactor opposite the first face.

[0151] In another aspect, the tooling controller is further configured to receive a second communication from the first tool controller included in the first tool, the second communication including an identifier of an operating state of the first tool and wherein the tooling controller is configured to generate a second control signal for controlling the second tool based at least one in part on the operating state of the first tool.

[0152] In another aspect, the communication further includes a location of the second tool and wherein the tooling controller is configured to generate the control signal based at least in part on the identifier of the operating state of the second tool and the location of the second tool.

[0153] In another aspect, at least one of the first tool and the second tool includes a tool for removing a portion of the nuclear reactor.

[0154] In another aspect, at least one of the first tool and the second tool includes a tool for inspecting a portion of the nuclear reactor.

[0155] In another aspect, the at least one of the first tool and the second tool includes a tool for installing a portion of the nuclear reactor.

[0156] In another aspect, the first tool controller and the tooling controller are communicatively coupled over an industrial communication network.

[0157] In another aspect, the system further comprises a third tool, including a third tool controller communicatively coupled with the tooling controller.

[0158] In another aspect, the tooling controller is further configured to receive a second communication from the third tool controller included in the third tool, the second communication including an identifier of an operating state of the third tool, wherein the tooling controller is configured to generate the control signal based at least in part on the identifier of the operating state of the second tool and the identifier of the operating state of the third tool.

[0159] In another aspect, the third tool includes a worktable supporting at least one of the first tool and the second tool.

[0160] In another aspect, the third tool includes a gantry crane positioned overhead the platform.

[0161] In another aspect, the third tool includes material handling equipment for the nuclear reactor.

[0162] In another aspect, the third tool includes the platform.

[0163] In another aspect, the third tool is included in one of the first tool and the second tool.

[0164] In another aspect, the face of the nuclear reactor is a first end of the nuclear reactor and wherein the third tool is positioned on a second platform located adjacent a second end of the nuclear reactor opposite the first end of the nuclear reactor.

[0165] In another aspect, the control signal instructs the first tool controller to activate the first tool.

[0166] In another aspect, the control signal instructs the first tool controller to move the first tool.

[0167] In another aspect, the control signal instructs the first tool controller to deactivate the first tool.

[0168] In another aspect, the control signal instructs the first tool controller to operate the first tool at a designated location.

[0169] In another aspect, the control signal instructs the first tool controller to operate the first tool at a designated time.

[0170] In another aspect, the control signal instructs the first tool controller to operate the first tool in a designated operating state.

[0171] In another embodiment, a system for transmitting communications from tooling for a nuclear reactor is provided. The system comprises a first tool (including a first tool controller) positioned on a platform located adjacent a face of the nuclear reactor; a second tool (including a second tool controller); and a tooling controller communicatively coupled to the first tool controller and the second tool controller. The tooling controller is configured to receive a communication from the second tool controller included in the second tool (the communication including a location of the second tool), generate a control signal for controlling the first tool based at least in part on the location of the second tool, and transmit the control signal to the first tool controller included in the first tool.

[0172] In one aspect, the second tool is positioned on the platform.

[0173] In another aspect, the face of the nuclear reactor is a first end of the nuclear reactor and wherein second tool is positioned on a second platform located adjacent a second end of the nuclear reactor opposite the first end.

[0174] In another aspect, the tooling controller is further configured to receive a second communication from the first tool controller included in the first tool, the second communication including a location of the first tool and generate a second control signal for controlling the second tool based at least in part on the location of the first tool.

[0175] In another aspect, the communication further includes an identifier of an operating state of the second tool and wherein the tooling controller is configured to generate the control signal based at least in part on the location of the second tool and the identifier of the operating state of the second tool.

[0176] In other embodiments, there is provided a system for transmitting communications from tooling for a nuclear reactor. The system comprises a first tool, including a first tool controller positioned on a platform located adjacent a face of the nuclear reactor; and a second tool including a second tool controller communicatively coupled to the first tool controller.
.. The first tool controller is configured to receive a communication from the second tool controller included in the second tool and control operation of the first tool based at least in part on the communication.

[0177] In one aspect, the second tool is positioned on the platform.

[0178] In another aspect, the face of the nuclear reactor is a first end of the nuclear reactor .. and wherein second tool is positioned on a second platform located adjacent a second end of the nuclear reactor opposite the first end.

[0179] In another aspect, the communication includes at least one selected from a group consisting of an identifier of an operating state of the second tool and a location of the second tool.

[0180] In another aspect, the second tool controller is further configured to receive a second communication from the first tool controller included in the first tool and control operation of the second tool based at least in part on the second communication.

[0181] In another aspect, at least one of the first tool and the second tool includes a tool for removing a portion of the nuclear reactor.

[0182] In another aspect, at least one of the first tool and the second tool includes a tool for inspecting a portion of the nuclear reactor.

[0183] In another aspect, the at least one of the first tool and the second tool includes a tool for installing a portion of the nuclear reactor.

[0184] In another aspect, the first tool controller and the second tool controller are communicatively coupled over an industrial communication network.

[0185] In another aspect, the system further comprises a third tool (including a third tool controller communicatively coupled with the first tool controller), wherein the first tool controller is configured to receive a second communication from the third tool controller included in the third tool and is configured to control the first tool based at least in part on the first communication and the second communication.

[0186] In another aspect, the second tool includes a worktable supporting the first tool.

[0187] In another aspect, the second tool includes a gantry crane positioned overhead the platform.

[0188] In another aspect, the second tool includes material handling equipment for the nuclear reactor.

[0189] In another aspect, the second tool includes the platform.

[0190] In another aspect, the first tool controller controls operation of the first tool by activating the first tool.

[0191] In another aspect, the first tool controller controls operation of the first tool by moving the first tool.

[0192] In another aspect, the first tool controller controls operation of the first tool by deactivating the first tool.

[0193] In another aspect, the first tool controller controls operation of the first tool by operating the first tool at a designated location.

[0194] In another aspect, the first tool controller controls operation of the first tool by operating the first tool at a designated time.

[0195] In another aspect, the first tool controller controls operation of the first tool by operating the first tool in a designated operating state.

[0196] In other embodiments, there is provided a method for transmitting communications from tooling for a nuclear reactor. The method comprises receiving (with a tooling controller) a communication from a first tool controller included in a first tool (the communication including an identifier of an operating state of a first tool); generating (with the tooling controller) a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the identifier of the operating state of the first tool; and transmitting (with the tooling controller) the control signal to a second tool controller included in the second tool.

[0197] In other embodiments, there is provided a method for transmitting communications from tooling for a nuclear reactor. The method comprises receiving (with a tooling controller) a communication from a first tool controller included in a first tool (the communication including a location of a first tool); generating (with the tooling controller) a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the location of the first tool; and transmitting (with the tooling controller) the control signal to a second tool controller included in the second tool.

[0198] In other embodiments, there is provided a method for transmitting communications from tooling for a nuclear reactor. The method comprises receiving (with a first tool controller included in a first tool positioned on a platform located adjacent a face of the nuclear reactor) a communication from a second tool controller included in a second tool; and controlling the first tool (with the first tool controller) the first tool based at least in part on the communication.

[0199] In other embodiments, there is provided non-transitory computer-readable medium including instructions that, when executed by an electronic processor, cause the electronic processor to perform a set of functions. The set of functions comprises receiving a communication from a first tool controller included in a first tool (the communication including an identifier of an operating state of a first tool); generating a control signal for controlling a second tool positioned on a platform located adjacent a face of a nuclear reactor based at least in part on the identifier of the operating state of the first tool; and transmitting the control signal to a second tool controller included in the second tool.

[0200] In other embodiments, there is provided non-transitory computer-readable medium including instructions that, when executed by an electronic processor, cause the electronic processor to perform a set of functions. The set of functions comprises receiving a communication from a first tool controller included in a first tool (the communication including a location of a first tool); generating a control signal for controlling a second tool positioned on a platform located adjacent a face of a nuclear reactor based at least in part on the location of the first tool; and transmitting the control signal to a second tool controller included in the second tool.

[0201] In other embodiments, there is provided non-transitory computer-readable medium including instructions that, when executed by an electronic processor, cause the electronic processor to perform a set of functions. The set of functions comprises receiving a communication from a second tool controller included in a second tool; and controlling a first tool positioned on a platform located adjacent a face of a nuclear reactor based at least in part on the communication.

[0202] In other embodiments, there is provided an apparatus for transmitting communications from tooling for a nuclear reactor. The apparatus comprises an electronic processor configured to receive a communication from a first tool controller included in a first tool (the communication including an identifier of an operating state of a first tool), generate a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the identifier of the operating state of the first tool, and transmit the control signal to a second tool controller included in the second tool.

[0203] In other embodiments, there is provided an apparatus for transmitting communications from tooling for a nuclear reactor. The apparatus comprises an electronic processor configured to receive a communication from a first tool controller included in a first tool (the communication including a location of a first tool), generate a control signal for controlling a second tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the location of the first tool, and transmit the control signal to a second tool controller included in the second tool.

[0204] In other embodiments, there is provided an apparatus for transmitting communications from tooling for a nuclear reactor. The apparatus comprises an electronic processor configured to receive a communication from a second tool controller included in a second tool, and control a first tool positioned on a platform located adjacent a face of the nuclear reactor based at least in part on the communication.

Claims

CLAIMS:
What is claimed is:

1. A system for transmitting a communication from tooling for a nuclear reactor, the system comprising:
a first tool, including a first tool controller, positioned on a platform located adjacent a face of the nuclear reactor;
a second tool, including a second tool controller;
wherein the first tool controller is communicatively coupled to the second tool controller and is configured to control operation of the first tool based at least in part on status information of the second tool.

2. The system of claim 1, wherein the first tool and second tool are communicatively coupled by way of a tooling controller, wherein the tooling controller is configured to:
receive a communication from the second tool controller included in the second tool, the communication including status information of the second tool;
generate a control signal for controlling the first tool based at least in part on the identifier of the operating state of the second tool; and transmit the control signal to the first tool controller included in the first tool.

3. The system of claim 2, wherein the tooling controller is further configured to receive a second communication from the first tool controller included in the first tool, the second communication including an identifier of an operating state of the first tool and wherein the tooling controller is configured to generate a second control signal for controlling the second tool based at least one in part on the operating state of the first tool.

4. The system of claim 2 or claim 3, wherein the communication further includes a location of the second tool and wherein the tooling controller is configured to generate the control signal based at least in part on the identifier of the operating state of the second tool and the location of the second tool.

5. The system of claim 2 or claim 3, wherein the communication further includes a position of the second tool and wherein the tooling controller is configured to generate the control signal based at least in part on the identifier of the operating state of the second tool and the location of the second tool.

6. The system of any one of claims 2 to 5, further comprising:
a third tool, including a third tool controller communicatively coupled with the tooling controller.

7. The system of claim 6, wherein the tooling controller is further configured to receive a second communication from the third tool controller included in the third tool, the second communication including an identifier of an operating state of the third tool, wherein the tooling controller is configured to generate the control signal based at least in part on the identifier of the operating state of the second tool and the identifier of the operating state of the third tool.

8. The system of any one of claims 2 to 7, wherein the control signal instructs the first tool controller to activate the first tool.

9. The system of any one of claims 2 to 7, wherein the control signal instructs the first tool controller to move the first tool.

10. The system of any one of claims 2 to 7, wherein the control signal instructs the first tool controller to deactivate the first tool.

11. The system of any one of claims 2 to 7, wherein the control signal instructs the first tool controller to operate the first tool at a designated location.

12. The system of any one of claims 2 to 7, wherein the control signal instructs the first tool controller to operate the first tool at a designated position.

13. The system of any one of claims 2 to 7, wherein the control signal instructs the first tool controller to operate the first tool at a designated time.

14. The system of any one of claims 2 to 7, wherein the control signal instructs the first tool controller to operate the first tool in a designated operating state.

15. The system of any one of claims 2 to 14, wherein the status information comprises an identifier of an operating state.

16. The system of any one of claims 1 to 15, wherein the status information comprises a location of the second tool.

17. The system of any one of claims 1 to 16, wherein the face of the nuclear reactor is a first face and wherein the second tool is positioned on a second platform located adjacent a second face of the nuclear reactor opposite the first face.

18. The system of any one of claims 1 to 17, wherein at least one of the first tool and the second tool includes a tool for removing a portion of the nuclear reactor.

19. The system of any one of claims 1 to 18, wherein at least one of the first tool and the second tool includes a tool for inspecting a portion of the nuclear reactor.

20. The system of any one of claims 1 to 19, wherein the at least one of the first tool and the second tool includes a tool for installing a portion of the nuclear reactor.

21. The system of any one of claims 1 to 20, wherein the first tool controller and the tooling controller are communicatively coupled over an industrial communication network.

22. The system of claim 6 or claim 7, wherein the third tool includes a worktable supporting at least one of the first tool and the second tool.

23. The system of claim 6 or claim 7, wherein the third tool includes a gantry crane positioned overhead the platform.

24. The system of claim 6 or claim 7, wherein the third tool includes material handling equipment for the nuclear reactor.

25. The system of claim 6 or claim 7, wherein the third tool includes the platform.

26. The system of claim 6 or claim 7, wherein the third tool is included in one of the first tool and the second tool.

27. The system of any one of claims 2 to 17, wherein the tooling controller is further configured to receive a second communication from the first tool controller included in the first tool, the second communication including a location of the first tool and generate a second control signal for controlling the second tool based at least in part on the location of the first tool.

28. The system of any one of claims 2 to 17, wherein the tooling controller is further configured to receive a second communication from the first tool controller included in the first tool, the second communication including a position of the first tool and generate a second control signal for controlling the second tool based at least in part on the position of the first tool.

29. The system of any one of claims 2 to 17, wherein the communication further includes an identifier of an operating state of the second tool and wherein the tooling controller is configured to generate the control signal based at least in part on the location of the second tool and the identifier of the operating state of the second tool.

30. The system of claim 6 or claim 7, wherein the face of the nuclear reactor is a first end of the nuclear reactor and wherein the third tool is positioned on a second platform located adjacent a second end of the nuclear reactor opposite the first end of the nuclear reactor.

31. A method for transmitting communications from tooling for a nuclear reactor, the method comprising:
receiving, with a first tool controller included in a first tool positioned on a platform located adjacent a face of the nuclear reactor, a communication from a second tool controller included in a second tool; and controlling the first tool, with the first tool controller, the first tool based at least in part on the communication.

32. The method of claim 31, comprising:

generating, with a tooling controller, a first control signal for controlling the second tool based at least in part on status information of the first tool; and transmitting, with the tooling controller, the first control signal to a second tool controller included in the second tool.

33. The method of claim 31 or claim 32, further comprising sending, from the first tool to the tooling controller, a second communication including an identifier of an operating state of the first tool and wherein the tooling controller is configured to generate a second control signal for controlling the second tool based at least in part on the operating state of the first tool.

34. The method of claim 32 or claim 33, wherein the communication further includes a location of the second tool and wherein the tooling controller generates the first control signal based at least in part on the identifier of the operating state of the second tool and the location of the second tool.

35. The method of claim 34, comprising receiving a third communication from a third tool controller included in a third tool, the second communication including an identifier of an operating state of the third tool, wherein the tooling controller is configured to generate the control signal based at least in part on the identifier of the operating state of the second tool and the identifier of the operating state of the third tool.

36. The method of any one of claims 32 to 35, comprising activating the first tool in response to the first control signal.

37. The method of any one of claims 32 to 35, comprising moving the first tool in response to the first control signal.

38. The method of claim 37, comprising operating the first tool at a designated location in response to the first control signal.

39. The method of any one of claims 32 to 35, comprising deactivating the first tool in response to the first control signal.

40. The method of any one of claims 32 to 35, comprising operating the first tool at a designated time in response to the first control signal.

41. The method of any one of claims 32 to 35, comprising operating the first tool in a designated operating state in response to the first control signal.

42. The method of any one of claims 32 to 41, wherein the status information comprises an identifier of an operating state.

43. The method of any one of claims 32 to 41, wherein the status information comprises a location of the second tool.

44. The method of any one of claims 32 to 43, comprising inspecting a portion of the nuclear reactor.

45. The method of any one of claims 32 to 44, comprising installing a component of the nuclear reactor.

46. The method of any one of claims 32 to 46, comprising removing a component of the nuclear reactor.

47. A nuclear reactor service operation central computing system comprising:
a display;
a memory; and a processor configured to:
send instructions to the display to render a user interface, the user interface comprising a representation of a reactor equipment, the representation comprising a plurality of equipment status indicators;
receive at least one completion status message from a local operation controller, each of said at least one completion status message associated with a completion of an operation instruction of a current operation message; and update said one of the equipment status indicators based upon the receiving of the at least one completion status message.

48. The system as claimed in claim 47, wherein the processor is further configured to:
send a current operation message to a local reactor operation controller, the current operation message associated with an equipment associated with one of the plurality of equipment status indicators.

49. The system as claimed in any one of claims 47 to 48, wherein the processor is further configured to:
send a next operation message to the local operation controller, said sending occurring after receipt of completion status messages for all operation instructions of the current operation message.

50. The system as claimed in any one of claims 47 to 49, wherein:
the reactor equipment comprises a reactor face; and the plurality of equipment status indicators comprise a plurality of lattice site status indicators.

51. The system as claimed in any one of claims 47 to 49, wherein the reactor equipment comprises a feeder pipe.

52. The system as claimed in any one of claims 47 to 51, wherein each of the plurality of equipment status indicators represents a status selected from a set of status indicators comprising: not started, in progress, complete, on delay, on hold, and aborted.

53. The system as claimed in any one of claims 47 to 52, wherein the processor is further configured to store, at the central computing device memory, a current operation elapsed time between the sending of the current operation message and the receipt of completion status messages from all operation instruction of the current operation message.

54. The system as claimed in claim 53, wherein the processor is further configured to increment an exposure measurement based on the current operation elapsed time.

55. The system as claimed in any one of claims 47 to 54, wherein the processor is further configured to store, at the central computing device memory, a current production delay time between the sending of the current operation message and the start of the current operation.

56. The system as claimed in any one of claims 47 to 55, wherein the processor is further configured to store, at the central computing device memory, an instruction elapsed time between the receipt of a previous completion status message and the receipt of a current completion status message.

57. The system as claimed in claim 56, wherein the processor is further configured to increment an exposure measurement based on the instruction elapsed time.

58. The system as claimed in any one of claims 47 to 57, wherein the operation instruction comprises:
an operation identifier; and an operation text instruction that is rendered at the display.

59. The system as claimed in claim 58, wherein the operation instruction further comprises at least one of:
an image aid that is rendered at the display;
a detailed instruction that is rendered at the display; and at least one control point.

60. A method of controlling a nuclear reactor service operation, the method comprising:
displaying, at a central computing device, a user interface, the user interface comprising a representation of a reactor equipment, the representation comprising a plurality of equipment status indicators;
receiving, at the central computing device, at least one completion status message from a local operation controller, each of said at least one completion status message associated with a completion of an operation instruction of a current operation message; and updating, at the central computing device, said one of the equipment status indicators based upon the receiving of the at least one completion status message.

61. The method as claimed in claim 60, further comprising:
sending, by the central computing device, a current operation message to a local reactor operation controller, the current operation message associated with an equipment associated with one of the plurality of equipment status indicators.

62. The method as claimed in any one of claims 60 to 61, wherein:
sending, by the central computing device, a next operation message to the local operation controller, said sending occurring after receipt of completion status messages for all operation instructions of the current operation message.

63. The method as claimed in any one of claims 60 to 62, wherein:
the reactor equipment comprises a reactor face; and the plurality of equipment status indicators comprise a plurality of lattice site status indicators.

64. The system as claimed in any one of claims 60 to 63, wherein the reactor equipment comprises a feeder pipe.

65. The method as claimed in any one of claims 60 to 64, wherein each of the plurality of equipment status indicators represents a status selected from a set of status indicators comprising: not started, in progress, complete, on delay, on hold, and aborted.

66. The method as claimed in any one of claims 60 to 65, further comprising storing, at the central computing device, a current operation elapsed time between the sending of the current operation message and the receipt of completion status messages from all operation instruction of the current operation message.

67. The method as claimed in claim 66, further comprising incrementing an exposure measurement based on the current operation elapsed time.

68. The method as claimed in any one of claims 60 to 67, further comprising storing, at the central computing device memory, a current production delay time between the sending of the current operation message and the start of the current operation.

69. The method as claimed in any one of claims 60 to 68, further comprising storing, at the central computing device, an instruction elapsed time between the receipt of a previous completion status message and the receipt of a current completion status message.

70. The method as claimed in claim 69, further comprising incrementing an exposure measurement based on the instruction elapsed time.

71. The method as claimed in any one of claims 60 to 70, wherein the operation instruction comprises:
an operation identifier; and an operation text instruction that is visually displayed at the operator controller.

72. The method as claimed in claim 71, wherein the operation instruction further comprises at least one of:
an image aid that is visually displayed at the operator controller;
a detailed instruction that is visually displayed at the operator controller;
and at least one control point.