Development of an ISI Robot for the Fast Breeder Reactor MONJU Primary Heat Transfer System Piping

Abstract

This paper describes the development of a new inspection robot for the In-Service Inspection of the heat transfer system of the Fast Breeder Reactor MONJU. The inspection was carried out using a tire-type ultrasonic sensor for volumetric tests at high temperature (atmosphere, 55°C; piping surface, 80°C) and radiation exposure condition (dose rate, 10 mGy/h; piping surface dose rate, 15 mGy/h). An inspection robot using a new tire type for the ultrasonic testing sensor and a new control method was developed. A signal-to-noise ratio S/N over 2 was obtained during the functional test for a calibration defect with a depth of 50%t (from the tube wall thickness). In the automatic inspection test, an EDM slit with a depth of 9% from the pipe thickness was detectable and with an S/N ratio = 4.0 (12.0 dB).