Systems and methods for canister inspection, preparation, and maintenance

1. A method of preparing, inspecting, and/or repairing a canister containing radioactive material in a canister storage system, the method comprising:

(a) mounting a travel system on a surface of a fixed canister storage module configured for storage of only a single closed canister containing radioactive material, wherein the canister storage module is an overpack designed for storage of the canister, wherein the travel system includes a support structure, at least one traveling device, and a base for supporting the traveling device and providing for rotational movement of the traveling device relative to the support structure, wherein the surface of the module includes an opening to a containment area of the module, and wherein the travel system is mounted on the surface of the module such that the base is aligned with the opening;

(b) rotating the base and the traveling device relative to the support structure and a fixed canister and moving the base to move the positioning of the traveling device relative to the support structure to travel along a circumferential path of the cylindrical body of the canister; and

(c) fixing the base and moving the canister relative to the fixed base and the traveling device.

2. The method of claim 1 , wherein the module is one of a horizontal canister storage module or a vertical canister storage silo.

3. The method of claim 1 , wherein the at least one traveling device is selected from the group consisting of a sensing device, a preparation device, and a repair device.

4. The method of claim 3 , wherein the sensing device is a non-destructive sensing device.

5. The method of claim 3 , wherein the sensing device is selected from the group consisting of dye penetrant sensors, ultrasonic examination sensors, eddy current examination sensors, laser ultrasonic examination sensors, and visual inspection sensors.

6. The method of claim 3 , wherein the repair device is selected from the group consisting of grinders, welding heads, abrasive nozzles, peening nozzles, surface coating spray nozzles, and surface cleaning spray nozzles.

7. The method of claim 1 , mounting the at least one traveling device on the base in one or more mounting positions.

8. The method of claim 1 , wherein the travel system includes a plurality of traveling devices.

9. The method of claim 8 , wherein traveling devices may be positioned about 180 degrees from each other on the base.

10. The method of claim 1 , moving the traveling device in multiple degrees of movement freedom relative to the support structure.

11. The method of claim 1 , moving the traveling device along a weld on the canister.

12. The method of claim 1 , further comprising actuating the travel system using an actuation system.

13. The method of claim 12 , wherein the actuation system includes a timing belt driven by a stepper motor.

14. The method of claim 1 , further comprising moving the base relative to the support structure using a bearing system.

15. The method of claim 14 , wherein the bearing system includes a guide ring, an external bearing ring assembly, and an internal bearing ring assembly.

16. The method of claim 1 , further comprising moving the traveling device in multiple degrees of freedom relative to the base, including forward and back movement relative to the base, radial rotation relative to the base, and pivotable movement relative to the base.

17. A method of preparing, inspecting, and/or repairing a canister containing radioactive material in a canister storage system, the method comprising:

(a) mounting a travel system on a surface of a fixed canister storage module configured for storage of only a single closed canister containing radioactive material, wherein the canister storage module is a horizontal canister storage module comprising an overpack designed for storage of the canister, wherein the travel system includes a support structure, at least one traveling device, and a base ring for supporting the traveling device and providing for rotational movement of the traveling device relative to the support structure, wherein the surface of the module includes an opening to a containment area of the module, and wherein the travel system is mounted on the surface of the module such that the base ring is aligned with the opening, and moving the traveling device in multiple degrees of freedom relative to the base ring, including forward and back movement relative to the base ring, radial rotation relative to the base ring, and pivotable movement relative to the base ring;

(b) rotating the base ring and the traveling device relative to the support structure and a fixed canister; and

(c) fixing the base ring and moving the canister relative to the fixed base ring and the traveling device.

18. A method of preparing, inspecting, and/or repairing a canister containing radioactive material in a canister storage system, the method comprising:

(a) mounting a travel system on a surface of a fixed canister storage module configured for storage of only a single closed canister containing radioactive material, wherein the fixed canister storage module is an overpack designed for storage of the canister, wherein the travel system includes a support structure, at least one traveling device, and a base ring for supporting the traveling device and providing for rotational movement of the traveling device relative to the support structure, wherein the surface of the module includes an opening to a containment area of the module, and wherein the travel system is mounted on the surface of the module such that the base ring is aligned with the opening;

(b) moving the canister from a stored position in the module to a protruding position, wherein at least a portion of the canister protrudes from the opening of the module;

(c) rotating the base ring and the traveling device relative to the support structure and a fixed canister and moving the positioning of the base ring and the traveling device relative to the support structure to travel along a circumferential path of the cylindrical body of the canister, wherein the traveling device is a preparation device;

(d) rotating the base ring and the traveling device relative to the support structure and a fixed canister and moving the positioning of the base ring and the traveling device relative to the support structure to travel along a circumferential path of the cylindrical body of the canister, wherein the traveling device is a sensing or repairing device;

(e) fixing the base ring and moving the canister relative to the fixed base ring and the traveling device, wherein the traveling device is a preparation device; and

(f) fixing the base ring and moving the canister relative to the fixed base ring and the traveling device, wherein the traveling device is a sensing or repairing device.