Remotely operated vehicles, systems, and methods for inspecting core shrouds

A system for inspecting a core shroud having an outer surface, the system comprising:

• a trolley;
• a first arm, the first arm being configured to at least partially vertically extend into an annulus between the core shroud and a reactor pressure vessel;
• a tether, the tether traveling through, and being at least partially suspended from, the first arm;
• a second arm with a first end and a second end, the first end being connected to a lower portion of the first arm, the second arm being an actuated arm that is configured to pivot between a vertical position and a horizontal position, the tether traveling through and being at least partially suspended from the second end of the second arm;
• and
• a remotely operated vehicle (ROV) for inspecting the core shroud;
• wherein the ROV comprises:
• a body configured to be operatively connected to the tether;
• and
• a sensor, configured to be operatively connected to the body, and configured to provide inspection information of the core shroud;
• wherein the first arm is configured to be operatively connected to the trolley,
• wherein the ROV is configured to be operatively connected to the first arm via the tether, and
• wherein the tether is configured to provide vertical position information for the ROV relative to the outer surface of the core shroud.