The Gemini system uses two independent articulating robotic arms to perform visual, ultrasonic, and eddy current inspection on two Reactor Vessel Closure Head (RVCH) penetrations in parallel. The Gemini system is also designed to be installed and removed through the personnel access opening in the head stand to alleviate the need to remove the RVCH for installation or demobilization of equipment. Previously, single end effector, stationary systems have been the standard equipment used for head inspections at Beaver Valley.