A system includes an inspection robot having an input sensor comprising a laser profiler and a plurality of wheels structured to engage a curved portion of an inspection surface, wherein the laser profiler is configured to provide laser profiler data of the inspection surface; a controller, comprising: a profiler data circuit structured to interpret the laser profiler data; determine a feature of interest is present at a location of the inspection surface in response to the laser profiler data; and wherein the feature of interest comprises a shape description of the inspection surface at the location of the feature of interest.

A system includes an inspection robot, comprising a plurality of wheels that engage an inspection surface; a plurality of sensors positioned to interrogate the inspection surface; and wherein the plurality of wheels each comprise a first magnetic hub coupled to a second magnetic hub, and wherein the plurality of wheels further define a channel between the magnetic hubs.

A system includes an inspection robot comprising a main body and at least one payload; a plurality of arms, where each of the plurality of arms is pivotally mounted to the at least one payload to rotate around respective ones of a plurality of axes while the inspection robot traverses an inspection surface in a direction of travel, and where at least one of the plurality of axes is in the direction of travel; a plurality of sleds mounted to the plurality of arms; a plurality of inspection sensors coupled to the plurality of sleds such that each sensor is operationally couplable to the inspection surface; and where the plurality of sleds are distributed horizontally at adjustable positions spaced apart from each other across the at least one payload to inspect the inspection surface at a selected horizontal resolution.

A system includes an inspection robot having a number of payloads, a number of arms mounted to the payloads, and a number of sleds mounted to the arms. The system includes a number of sensors, each mounted to a corresponding sled, such that the sensor is operationally coupleable to an inspection surface in contact with a bottom surface of the corresponding sled. A couplant chamber is provided within at least two of the sleds, the couplant chamber between a transducer of a sensor and the inspection surface. The system includes a biasing member for each of the arms, where the biasing member provides a down force on the corresponding sled.

A component, such as a cyclonic steam separator baseplate of a steam generator, includes a surface subject to degradation during operation of the system in which the component is disposed. A profile is acquired of the surface of the component using an optical surface profilometry system concurrent with an image of the surface. A condition, such as degradation of the component is classified based on the acquired profile and image of the surface of the component. Component conditions may be monitored over time, trended, and classified as requiring maintenance, repair, or replacement.

A method of direct on-line measurement of thickness of fouling deposits created on the tube walls in a pulverized-coal firing furnace is described, as well as an apparatus suitable for implementation of the method. The method is based on imaging of a light spot, generated on the deposit surface by the apparatus. A position-sensitive image detector is used to track the spot as deposits accumulate, and the image signal is processed in real time, which allows for monitoring the creation of fouling deposits during operation of the furnace. The system simultaneously determines the reflectivity of the deposit surface. The apparatus can be used as part of an automatic soot blowing system.

A boroscope sheath is disclosed for providing a boroscope with temperature protection during a boroscope inspection of a machine such as a gas turbine or a steam turbine. The boroscope sheath includes an elongate tube having a wall extending from a front end to a back end and around a central bore configured and arranged to allow removable insertion of a boroscope cooling channels extend in the wall. The boroscope sheath can be held in a first position relative to the machine when the machine is in use and moved to a second position relative to machine for inspection. Part of the boroscope sheath remain in the machine during use of the machine.

A steam generator tube probe includes a probe head comprising an electronic probe coupled between a proximal portion of the head that is configured for entry into a steam generator tube and a distal portion of the head; and a probe shaft coupled to the distal portion of the shaft and comprising a flexible metallic conduit that comprises a plurality of interlocking portions, each interlocking portion moveably affixed to at least one adjacent interlocking portion.