Abstract: Disclosed herein is a submersible having one or more sensors configured to collect a signal from an interior area of a liquid carrying channel, and a processor configured to obtain the signal from the one or more sensors, calculate a diameter and a circumference of the liquid carrying channel according to the signal. determine whether an irregularity is present on an inner surface of the liquid carrying channel according to the diameter and the circumference, and generate a notification to notify an irregularity has been detected on the inner surface.