Abstract: The present invention relates to a semi-automatic scanner for ultrasonic inspection of a branch pipe weld that has a small size and is able to perform an inspection while moving in a state of being attached to a test object by a magnetic force, thereby being applied to fittings having various shapes, such as a branch pipe and an elbow.

Abstract: The invention relates to a device (1) for endoscopic optoacoustic imaging comprising an imaging unit (2) configured to be at least partially inserted into an object (5), said imaging unit (2) comprising an irradiation unit (6) configured to irradiate a region of interest (7) inside the object (5) with electromagnetic radiation and a detection unit (8) comprising at least one ultrasound transducer configured to detect ultrasound waves generated in the region of interest (7) in response to irradiating the region of interest (7) with the electromagnetic radiation and to generate according detection signals, wherein the at least one ultrasound transducer exhibits a field of view (8b) being at least partially located in the irradiated region of interest (7).

Abstract: Systems and methods are provided for non-destructive inspection of an interior of a vessel filled with a liquid.

Abstract: A method and apparatus for positioning a mobile robot inside a vertical cylindrical Aboveground Storage Tank filled with a liquid is described. No additional hardware is needed other than the robot itself. The only piece of information needed is the tank's diameter which is known by construction. The robot carries proprioceptive sensors needed to propagate its position estimate as well as exteroceptive sensors needed to control the dead reckoning positional drift. Proprioceptive and exteroceptive data are merged using data fusion algorithms adapted to the sensor suite integrated in the vehicle, which can take different forms.

Abstract: Clamp-on ultrasonic flow metering is provided by collectively exciting and receiving circumferential modes of the pipe. The pipe wall supports an infinite number of circumferential acoustic resonances. Each of these modes, in contact with a fluid, can mode-convert into the flow at a different rate. The mode-converted waves in the flow mode-convert back into the circumferential waves in the pipe once they travel across the flow. Furthermore, the moving fluid alters the rate of mode-conversion as a function of the flow velocity. At low frequencies, the wavelength is larger, thus the penetration depth in the flow is larger. As the frequency increases, the penetration depth becomes smaller. The variable penetration depth provides a methodology to sample the flow velocity profile.

Abstract: The invention provides a method and apparatus for assessing a condition of a fluid conduit from its interior. The method comprises providing a measurement apparatus comprising at least one wideband acoustic transducer within the fluid conduit and transmitting a wideband acoustic signal from the measurement apparatus to excite a broadside resonance in at least a portion of the fluid conduit. A wideband acoustic signal is received in the measurement apparatus due to a broadside resonant response of the fluid conduit to obtain a wideband acoustic data set; and the data set is analysed to assess the condition of the fluid conduit.

Abstract: Systems and methods for high-speed non-destructive inspection of a half- or full-barrel-shaped workpiece, such as a barrel-shaped section of an aircraft fuselage. Such workpieces can be scanned externally using a mobile (e.g., translating) arch gantry system comprising a translatable arch frame disposed outside the fuselage section, a carriage that can travel along a curved track carried by the arch frame, a radially inward-extending telescopic arm having a proximal end fixedly coupled to the carriage, and an NDI sensor unit coupled to a distal end of the telescoping arm. The stiffeners of the fuselage sections can be scanned using a mobile scanner platform disposed inside the fuselage section, which platform comprises a radially outward-extending telescopic arm rotatably coupled to a mobile (e.g., holonomic or linear motion) platform and an NDI sensor unit coupled to a distal end of the telescoping arm.

Abstract: Methods, systems, and computer program products for determining a property of construction material. According to one aspect, a material property gauge operable to determine a property of construction material is disclosed. The gauge may include an electromagnetic sensor operable to measure a response of construction material to an electromagnetic field. Further, the electromagnetic sensor may be operable to produce a signal representing the measured response by the construction material to the electromagnetic field. An acoustic detector may be operable to detect a response of the construction material to the acoustical energy. Further, the acoustic detector may be operable to produce a signal representing the detected response by the construction material to the acoustical energy. A material property calculation function may be configured to calculate a property value associated with the construction material based upon the signals produced by the electromagnetic sensor and the acoustic detector.

Abstract: A pipeline inspection system includes a pipeline pig having a controller and a plurality of ultrasonic transducer elements situated in an array. Each of the plurality of ultrasonic transducer elements emits an ultrasonic signal into a wall of a pipeline and receives echoes of the ultrasonic signal from the pipeline wall. The controller selects a first subset of the plurality of ultrasonic transducer elements from which to emit the ultrasonic signals into the wall of the pipeline as the pipeline pig passes through the pipeline, analyzes the echoes of the ultrasonic signals received by the plurality of ultrasonic transducer elements to detect a feature in the pipeline wall, and selects a second subset of the plurality of ultrasonic transducer elements to emit the ultrasonic signals into the wall of the pipeline as the pipeline pig passes through the pipeline when the feature is detected in the pipeline wall.

Abstract: Systems, methods and computer storage mediums accurately measure wall thickness in a region of interest included in complex curved structures. Embodiments of the present disclosure relate to generating a wall thickness loss distribution map of a region of interest that provides an accurate representation of wall thickness for the region of interest included in a complex curved structure. The wall thickness loss distribution map is generated from a two-dimensional model of the wall thickness loss distribution of the region of interest. The two-dimensional model is converted from a three-dimensional representation of the wall thickness loss distribution of the region of interest. The three-dimensional representation of the wall thickness is generated by ultrasonic waves generated by a transducer system that propagated through the region of interest.

Abstract: A module to help in calibration of a device for inspection of metallurgical products including a memory configured to store data in a form of value/angle pairs. Each pair corresponds to an amplitude of response to an ultrasound inspection in a direction of the metallurgical product corresponding to the angle. A calculator is configured to perform a processing function on the stored data. A first set of data involves a polydirectional reflector disposed in the metallurgical product. A second set of data involves a directional reflector disposed in the metallurgical product. The processing function establishes a third set of data by interpolation of pairs of the first set of data and the second set of data. The pairs of the third set correspond to standard amplitudes for ultrasound inspections along at least some of the working directions of the polydirectional reflector.

Abstract: An ultrasound probe for inspecting a bore opening onto a peripheral surface, includes a coupling support which has: a through-orifice to allow the ultrasound probe to pass through, a contact face, which has an external diameter greater than the diameter of the bore to be inspected and is configured to be pressed against the peripheral surface of the bore in order to close the bore.

Abstract: A probe assembly and an inspection system are provided for ultrasonic inspection. Designs for the probe assembly package components to fit into a bore of a hollow target. These designs may incorporate electronics to generate waves and to detect a wide selection of anomalies (e.g., transversal crack, longitudinal crack, and volumetric flaws) that can form in the hollow target. The probe assembly provides support structure to manipulate and operate these electronics in the bore. This support structure facilitates communication of signals, e.g., from transducer elements that operate as a phased array. The probe assembly also includes a fluid circulating system and coupling system that permits the probe device to detach and reattach to match the probe device (and other parts of the probe assembly) to the size of the bore. These systems allow for fluid and electrical signals to circulate through the probe assembly.

Abstract: Apparatus and methods for ultrasonic inspection of elongated composite members in a single scan pass using pulse echo phased arrays operating in a bubbler method. The system concept is fully automated by integrating an inspection probe assembly to a robot and using the robot to move the inspection probe assembly along the part (i.e., outside of an inspection tank); and by integrating tooling fixtures that move out of the way as the inspection probe assembly travels along the length of the part during the inspection. In addition, the system allows for generally elongated composite members having lengthwise variation in shape, curvature and dimensions.

Abstract: An objective of this invention is to provide apparatus and methods to test the integrity of empty and full tanks. Another object of this invention is to provide a granular inspection of the tank. Another object of this invention is to provide precision positioning information of sample points. Another object of this invention is to provide automated inspection pattern and correction. Another object of this invention is to minimize hazardous working conditions.

Abstract: A fluid flow meter can include a sensor capable of transmitting a transmit signal to propagate, at least partially, through a fluid in a pipe and receiving a respective receive signal. The fluid flow meter can include a memory storing computer code instructions and a plurality of pipe type signatures associated with a plurality of pipe types. Each pipe type signature of a respective pipe type of the plurality of pipe types can include one or more characteristics of receive signals associated with that pipe type. The fluid flow meter can also include a processor communicatively coupled to the sensor and to the memory. When executing the computer code instructions, the processor can determine one or more signal features of the receive signal, and identify a pipe type of the pipe based on the one or more signal features of the receive signal and the plurality of pipe type signatures.

Abstract: This disclosure provides systems and methods for non-invasive treatment to a region of interest with improved efficiency. The systems and methods can include a treatment device having an energy source and a rolling member. The rolling member can include a wall disposed between the energy source and the region of interest. Treatment can be provided at a first location, followed by moving the treatment device, then energy transmission can be terminated if coupling between the energy source and the region of interest is interrupted or treatment can be provided at a second location if the coupling between the energy source and the region of interest is uninterrupted.

Abstract: A method and system are described for the continuous remote monitoring of the position and advance speed of a pig device inside a pipeline suitable for transporting a pressurized fluid, wherein the pipeline consists of a plurality of pipe sections joined to each other by welding.

Abstract: Systems and methods for monitoring a condition of a tubular configured to convey a fluid such as for use in producing hydrocarbons in relationship with a hydrocarbon system related wellbore operation. The methods include transmitting a data signal along the tubular with the communication network. The methods may include initiating a tubular operation responsive to the data signal indicating that the condition of the tubular is outside a predetermined condition range. The methods may include transmitting the data signal by propagating the data signal along the tubular via a plurality of node-to-node communications between communication nodes of the communication network and monitoring a signal propagation property of the plurality of node-to-node communications that is indicative of the condition of the tubular. The methods may include detecting the condition of the tubular and generating a condition indication signal.

Abstract: An apparatus for inspecting a tubular workpiece may include a probe assembly and a rotation mechanism. The probe assembly may include a transducer array positionable adjacent to an inner surface of the tubular workpiece. The probe assembly may generate transmitted sound waves and may receive reflected sound waves. The rotation mechanism may rotate the probe assembly relative to the tubular workpiece in a manner such that the transducer array passes over the inner surface in a circumferential direction during transmission of the transmitted sound waves.

Abstract: Growth of single crystals of lead zirconate titanate (PZT) and other perovskites is accomplished by liquid phase epitaxy onto a substrate of suitable structural and lattice parameter match. A solvent and specific growth conditions for stable growth are required to achieve the desired proportions of Zr and Ti.

Abstract: Disclosed is an ultrasonic IRIS inspection system and a method of providing automatically compensated concentric B-scans by means of curve-fitting the unadjusted tube boundaries from inspection data, and from the curve fitted theoretical circle, using non-linear regression analysis to determine an adjusted center. The off-center distance between the adjust center and the misaligned center is then used to produce concentric inspection result by compensating the unadjusted inspection result with the off-center distance.

Abstract: A method of in-line inspection of integrity of a pipeline includes identifying a first prospective cluster related to at least a first feature of the pipeline and a second prospective cluster related to at least a second feature of the pipeline. The method includes calculating an effective area using Length Adaptive Pressure Assessment (LAPA) techniques. The effective area corresponds to a lower calculated burst pressure than surrounding areas of the pipeline. LAPA techniques are used to determine if the first prospective cluster interacts with the second prospective cluster. The method includes combining the first and the second prospective cluster when the effective area includes the first and the second prospective cluster to form a resultant cluster. The method further includes generating an indication of an attribute of the resultant cluster.

Abstract: A method may involve positioning a fixture over a portion of a tube portion of a gasket, where the gasket includes a first lip portion joined to a second lip portion by a weld of the gasket and the first lip portion joined to the second lip portion defines the tube portion, where the fixture comprises a housing and an injection port; positioning an ultrasonic probe in the housing; filling, by the injection port, coupling fluid between the ultrasonic probe and the tube portion of the gasket; and scanning at least a portion of the weld with the ultrasonic probe, where scanning the at least a portion of the weld may involve transmitting, by the ultrasonic probe, a plurality of ultrasonic waves through the coupling fluid into the tube portion, and translating the fixture in a longitudinal direction along the tube portion of the gasket.

Abstract: This disclosure describes embodiments of a probe assembly and an inspection system for ultrasonic inspection. Designs for the probe assembly package components to fit into a bore of a hollow target. These designs may incorporate electronics to generate waves and to detect a wide selection of anomalies (e.g., transversal crack, longitudinal crack, and volumetric flaws) that can form in the hollow target. The probe assembly provides support structure to manipulate and operate these electronics in the bore. This support structure facilitates communication of signals, e.g., from transducer elements that operate as a phased array. The probe assembly also includes a fluid circulating system and coupling system that permits the probe device to detach and reattach to match the probe device (and other parts of the probe assembly) to the size of the bore. These systems allow for fluid and electrical signals to circulate through the probe assembly.

Abstract: A non-destructive test system includes a plurality of impact devices including a knob configured to generate at least one flexural mode in a material when a surface of the material is impacted by the knob, a controller configured to independently control each of the plurality of impact devices, the controller having a communications channel for each of the plurality of impact devices, and a microphone configured to detect an acoustic response generated upon impact of the knob on the surface of the material, the acoustic response being based on the at least one flexural modes generated in the material.

Abstract: A probe for transporting a nondestructive inspection sensor through a tube, that employs wheels to reduce friction. The radial travel of the wheels are mechanically linked through a cam and axially reciprocal plunger arrangement that centers the probe at tube diameter transitions. Internal wire bending is minimized and a dynamic seal is provided to facilitate an insertion force at the probe and reduce or eliminate compressive load buckling of the flexible cable carried by the probe. Like the wheel arrangement, radial travel of the seal segments are mechanically linked to provide probe centering.

Abstract: There is provided a probe apparatus. The probe apparatus has a first end configured to connect to a rotating scanner device. The probe apparatus further has a second end with two or more eddy current elements. The second end further has a positioning mechanism configured to position the two or more eddy current elements against cavity walls of an annular cavity of a structure to be inspected with the probe apparatus, when the probe apparatus is positioned within the annular cavity. The second end further has an aligning mechanism coupled to the positioning mechanism. The aligning mechanism is configured to align the two or more eddy current elements in a perpendicular position with respect to the cavity walls of the annular cavity, when the probe apparatus is positioned within the annular cavity.

Abstract: Various approaches are described for visualizing one-dimensional A-scan data samples in a three-dimensional space. Each of the data samples represents ultrasonic signals received from a test material. The data samples are transformed into the three-dimensional space as a geometric shape corresponding to a relative amount of ultrasonic energy reflected back from the test material. The data samples as transformed into the three-dimensional space with the geometric shapes rendered therein can be displayed.

Abstract: There is set forth herein a method comprising applying a drive signal to a drive element in a sensor assembly having a drive element and one or more sensor element so that responsively to the drive signal the drive element generates a magnetic flux that travels through a target, determining a strain of the target using a picked up output signal picked up by the one or more sensor element. In one embodiment, a sensor assembly can be employed for detecting a proximity of the target using a picked up output signal picked up by e.g., the drive element. In one embodiment, a drive signal can have a plurality of frequency components.

Abstract: Tube inspections are performed by combining the use of APR technology with GW technology. The reflections measured by both technologies are compared to each other and used to more specifically identify the type and location of a flaw or anomaly that appears in the interior of the tube. Further, embodiments of novel probes to be used in GW technique for inspecting tubes with mechanical waves having bandwidth that is equal to 150 KHz or more are disclosed.

Abstract: An inspection apparatus and method for inspecting an interior surface of a hollow composite part. The inspection apparatus may have a first plug, a second plug, and a trolley positioned between the first and second plugs. The first and second plugs may form a leak-proof seal against the interior surface of the hollow composite part. The trolley may support at least one inspection probe for testing the interior surface of the composite part. A method of inspecting the composite part may include the steps of inserting the inspection apparatus into the hollow composite part, pushing or pulling the inspection apparatus with an elongated actuation element to a desired area to be inspected within the composite part, then filling a space between first and second plugs with a liquid. Finally, the method may include a step of inspecting the interior surface of the hollow composite part with the inspection probe.

Abstract: Methods, systems, and computer program products for determining a property of construction material. According to one aspect, a material property gauge operable to determine a property of construction material is disclosed. The gauge may include an electromagnetic sensor operable to measure a response of construction material to an electromagnetic field. Further, the electromagnetic sensor may be operable to produce a signal representing the measured response by the construction material to the electromagnetic field. An acoustic detector may be operable to detect a response of the construction material to the acoustical energy. Further, the acoustic detector may be operable to produce a signal representing the detected response by the construction material to the acoustical energy. A material property calculation function may be configured to calculate a property value associated with the construction material based upon the signals produced by the electromagnetic sensor and the acoustic detector.

Abstract: Methods and apparatus for tracking objects in conduits, especially for tracking the movement of a pig in a pipeline, are disclosed. Distributed acoustic sensing is used to obtain signal returns from a plurality of discrete longitudinal sensing portions of a fibre optic cable which is laid along the length of the conduit. The method involves detecting an acoustic signature corresponding to the object moving in the conduit. The acoustic signature may comprise a series of pressure pulses caused by the object traversing joints etc. in the conduit. Preferably the method involves detecting pressure waves caused by the object as it moves through the conduit. Detecting the characteristic pressure wave signal provides discrimination of the object from other acoustic disturbances. In pipeline applications a pig can be tracked in real time, if the pig stops moving an alert can be generated and the location of the pig will be known.

Abstract: An apparatus testing axle shafts including i) at least one ultrasonic probe to analyze, in a selected angular sector, selected portions of a wall exhibiting known variable internal and external radius profiles of a tubular axle shaft and thus acquire analysis data, ii) a controller to determine, as a function of the profiles and possible loading and environment of the shaft, at least one first and at least one second selected site on the external or internal surface of the wall where each probe is to be placed manually, to analyze at least one first and at least one second selected portion of the wall respectively in at least one first and at least one second selected angular sector oriented in first and second opposing longitudinal or transverse directions, and thus acquiring analysis data for various relative angular positions of the shaft in relation to the probe, and iii) a processor to create from these acquired analysis data maps representing the transverse or longitudinal orientations and the positions

Abstract: An apparatus for inspecting a tubular workpiece may include a probe assembly and a rotation mechanism. The probe assembly may include a transducer array positionable adjacent to an inner surface of the tubular workpiece. The probe assembly may generate transmitted sound waves and may receive reflected sound waves. The rotation mechanism may rotate the probe assembly relative to the tubular workpiece in a manner such that the transducer array passes over the inner surface in a circumferential direction during transmission of the transmitted sound waves.

Abstract: An intelligent pig for pipeline monitoring comprises a single body containing signal transmitters and receivers provided with replaceable rings for centering the body within the pipeline, the rings may be provided with brushes which help center the pig within the pipeline and also aid its passage through pipelines which may contain bends and/or be of variable diameter, the pig may be used in combination with a cleaning pig to provide combined activities using a common driving force.

Abstract: A system is provided for the detection of deposits in a fluid line that includes, but is not limited to a measuring body, and ultrasonic transducer and an ultrasonic receiver and at least one evaluation unit connected to the ultrasonic transducer and the ultrasonic receiver. The ultrasonic transducer transmits an ultrasonic signal and the ultrasonic receiver receives response signals generated by reflections in the fluid line. From known geometric changes in shape of the fluid line, resulting response signals are finally filtered out of the response signal sequence and from the remaining response signals relating to the deposits, the distances can be calculated between the ultrasonic transducer and the deposits.

Abstract: A probe is used to inspect the health of a corner radius within an elongate internal cavity of a structure. The probe is transported through the cavity on a carriage that maintains the probe a substantially constant distance from the corner radius as the carriage traverses changes in the cross sectional shape of the cavity.

Abstract: The invention locates impaired sections of a pipeline, such as sections where the wall of the pipeline has been weakened or thinned. It provides a moveable device which passes through the pipeline and which has a first station. The moveable device has means to locate its position accurately. There is a second station, which is mounted either on the moveable device or in association with a fixed location on the pipeline wall. Either the first station or the second station has an acoustic or seismic pulse generator, and the other has a pulse receiver. The time taken for a pulse to travel from the pulse generator to the receiver is found to vary with the condition of the pipeline wall at the location where the moveable device is located at the time it receives (or sends) the pulse. The rate of change of velocity of the pulse as the device passes different locations in the pipeline is also found to vary with the condition of the pipeline wall at such location.

Abstract: A method and apparatus for three-dimensional visualization and analysis for automatic non-destructive examination of a solid Rotor using ultrasonic phased array is disclosed. Data is acquired by scanning a solid rotor with a phased array ultrasound transducer producing a plurality of two dimensional ultrasound scans. Each of a plurality of sample points of a plurality of two dimensional ultrasound scans are associated with a corresponding 3D image point of a regular grid. A kernel function for each of the plurality of sample points defining a size and shape of a kernel located at the corresponding image point is determined. A weight is assigned to each kernel which, in one embodiment, is based on the sample point value. A value for each image point of the regular 3D grid is determined based on kernels overlapping each image point. A three-dimensional volume representing the solid rotor is then visualized.

Abstract: Apparatus and methods are provided for non-destructive in-line pipeline inspection utilizing electromagnetic acoustic transducer (EMAT) technology wherein the EMATs are arrayed circumferentially in a belt around the body of the tool and wherein the EMAT belt includes a plurality of EMAT clusters, each cluster including a transmitting EMAT essentially sandwiched between a pair of receiving EMATs. The EMAT arrangement enables a single receiving EMAT to monitor both the test signal and the returning reflection from the pipewall defect thus providing each signal with its own internal reference. The number of transducers and their positional relationship limits the generation of interference signals, is conservative in power consumption, and provides a tool having enhanced negotiability through the pipeline.

Abstract: An apparatus for pipeline inspection, the apparatus comprising a body comprising a longitudinal axis, an array of ultrasonic sensors configured to inspect a pipe wall, a skid comprising an outer surface configured to run adjacent to, or in contact with, the pipe wall, wherein the array of ultrasonic sensors are arranged at a stand off from the outer surface of the skid, and a chamber comprising an ultrasonic couplant, wherein the ultrasonic couplant permits ultrasound communication between the array of ultrasonic sensors and an inner surface of the pipe wall.

Abstract: The present invention provides a method which allows simply, easily and accurately evaluating the fastening state of shoulder parts of a threaded joint for use as a joint of pipes or tubes, such as OCTG, during fastening or after fastening. The fastening state evaluation method for a threaded joint 100 of pipes or tubes according to the present invention is characterized in that it transmits ultrasonic surface waves from the internal surface of either one of the pin 1 and the box 2 toward the internal surface of the other one of the pin 1 and the box 2 through the shoulder parts 13, 23 of the pin 1 and the box 2, and on the basis of the transmitted wave intensity or the reflected wave intensity thereof, determines whether or not the fastening state of the threaded joint 100 is satisfactory.

Abstract: An inspecting device including a detachable probe has a link structure, and thus a subject having various diameters is tested. In addition, since various probes are changeably used in a scanner housing, ultrasonic wave testing and eddy current testing are simultaneously performed.

Abstract: A scanning device (36) is useful for scanning a body, especially a stud (10), from a bore (13) which extends through the body or stud (10) and is accessible from the outside. The scanning device (36) includes a probe (15) which is fastened on a cylindrical rod (14) and can be inserted into the bore (13) for scanning the body or stud (10), which probe, by displacing the rod (14) in its longitudinal direction is longitudinally displaceable in the bore (13), and by rotating the rod (14) around its cylinder axis (34) is rotatable around the bore axis. A compact and light construction, and flexible applicability, are achieved by a compact, controllable drive unit (20), through which the rod (14) extends and which longitudinally displaces and/or rotates the rod (14) depending upon selection, for displacing and rotating the rod (14).

Abstract: Ultrasonic transducers and methods for detecting oblique flaws in cylindrically-shaped objects using pulse-echo testing are provided. By mounting one or more transducers on a rotary tester for testing manufactured objects such as tubes and bars, offsetting each transducer horizontally from its position if it were to emit a beam that is perpendicular to the object's outer surface, and actuating the transducer so as to emit an angled beam, oblique surface flaws and internal flaws may be reliably detected without reducing inspection speed, significantly adding to transducer cross-talk, or requiring significant additional hardware or processing.

Abstract: A method of monitoring the condition of a flexible pipeline comprising the step of scanning the pipeline with an ultrasonic scanner to produce and/or record a signal indicative or the level of flooding within the annulus of the pipeline and/or indicative of the integrity of the layers of the pipeline.

Abstract: In an in-line pipe inspection tool, sensors for inspecting the pipe are mounted on sensor blocks moveable relative to the body of the tool. However, when the sensor blocks move radially to conform to different pipe diameters, the circumferential distances between the sensors changes. To ameliorate the effect of this, the sensor blocks have a shape such that one axial edge of each sensor block circumferentially overlaps the opposite edge of an adjacent sensor block. With such an arrangement, when the sensor block are operating at minimum diameter, part of one sensor block will overlap an adjacent block, in the circumferential direction. As the diameter of the pipeline in which the pig is used increases, the degree of overlap will reduce, and may even reduce to zero, but there will still be no overall axial gaps between the sensor blocks. Thus, by suitable shaping of the sensor blocks the tool can be used with a wide range of pipe diameters.

Abstract: A robot platform is provided, which is intended in particular for remotely controlled and/or autonomous inspection of technical facilities, in particular in power stations, and comprises at least a drive mechanism configured to move the robot platform, an inspection device configured to inspect the technical facility and a communication device for exchanging measurement and/or control data. Particular flexibility in use and extended areas of use are achieved in that the robot platform is modular and the communication device operates in accordance with a uniform standard.