An autonomous mobile tracked vehicle for RFX first wall inspection

The design of an inspection system for the RFX first wall is reported. A crossed tracked vehicle is proposed to overcome the problem of possible overturning The vehicle is equipped with a frontal TV camera and communicates with its off-board control, placed outside the vessel, by means of an umbilical cord which includes signal and power cables and can be used to recover the vehicle in case of failure. Since the inspection will be performed without venting the vessel, all components must be compatible with UHV condition. An insertion system made up of two telescopic elements and a rotating chute was also designed to introduce the vehicle into the vessel in safe conditions