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10-Axis Automatic Grinding System installed at Fukushima Nuclear plant in support of reactor shroud replacement
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June 1997:  Engineering By Design, of San Jose CA, developed an automatic system to precisely finish fillet welds inside piping supports required to replace a damaged reactor shroud.  The high radiation environment made hand finishing impossible and the extreme environment conditions made the machinery design a challenge.  Special materials and custom miniaturize drive systems were used to position a carbide cutting burr across the weld area in a path that matched the wall radius and the flat support.  The curved intersection line of the joined surfaces was detected through electrical contact with 3 points on each part and then the cutter path was generated using advanced geometry calculations.  This is the same plant that was destroyed by the tsunami in 2012.