抄録
This paper describes the development of a new inspection robot used for the in-service inspection (ISI) of the reactor vessel of the FBR MONJU. The inspection is carried out using a CCD camera for visual tests and an EMAT for volumetric tests at elevated temperature (200 deg.) and high irradiation dose condition (10 Sv/hr). The applicability of a commercial CCD camera and an EMAT have been confirmed by experiments under severe conditions. In addition, reduction of the robot weight from 47kg to 34kg is achieved by optimization of all parts in the robot, these results in a reduction of wear and replacement frequency of tires. A performance improvement with EMAT was attained by a new magnet arrangement and a signal treatment method.
