Abstract: A method of nondestructively providing a volumetric examination of a bolt through a recess in the bolt head where the recess may have a varying or unknown surface geometry. The method first performs a phased array ultrasonic scan of the bolt's socket surface geometry. The results of the first scan are employed to set the focal laws of a second scan to perform the volumetric examination.

Abstract: An ultrasonic testing assembly structured to examine a test object, wherein the test object has a surface, and the examination examines the structure of the test object under the surface as well as the profile of the surface.

Abstract: An end effector for supporting an ultrasonic testing probe on a robot arm having a robot mounting bracket for use in a nuclear reactor pressure vessel. The end effector has a wrist assembly with a rotatable wrist axle. The wrist assembly is coupled to the robot mounting bracket and a probe assembly is coupled to the wrist shaft. The ultrasonic testing probe is floatably disposed within the probe assembly.

Abstract: The present invention is a transport system for an inspection system that includes a flexible controller end effector for carrying inspection and gripping devices. The transport system includes a hollow flexible conduit through which control cables for the effector can pass unobstructed. A rotatable deflector assembly helps guide the end effector as it enters the steam generator using a rotatable deflector channel and an extension. A drive assembly provides axial movement control for the end effector allowing easy insertion and retrieval. The axial movement is provided by friction rollers coupled to an axial drive mechanism and mounted in a drive box. The drive assembly also provides orientation control to allow the end effector to be rotated by rotating the drive box which rotates the conduit held in place by the direction rollers. The drive assembly further provides two spatially fixed locations from which the axial and rotational motions can be provided.