A measuring device includes a measuring stage on which a subject is placed, an X-ray irradiation unit, an X-ray detection unit that detects scattered X-rays generated from the subject and an analysis unit that analyzes the diffraction image obtained by photo-electrically converting scattered X-rays and presumes (estimates) the three-dimensional shape of the subject. In the subject, holes are formed in the ON stack film from the opening of the etching mask film formed on the ON stack film. The analysis unit presumes the three-dimensional shape of the subject based a plurality of the diffraction images acquired while changing a rotation angle of the measuring stage and the measurement data of the subject by at least one of measuring methods of a multi-wavelength light measurement and a laser ultrasonic wave measurement.

A measuring device includes a measuring stage on which a subject is placed, an X-ray irradiation unit, an X-ray detection unit that detects scattered X-rays generated from the subject and an analysis unit that analyzes the diffraction image obtained by photo-electrically converting scattered X-rays and presumes (estimates) the three-dimensional shape of the subject. In the subject, holes are formed in the ON stack film from the opening of the etching mask film formed on the ON stack film. The analysis unit presumes the three-dimensional shape of the subject based a plurality of the diffraction images acquired while changing a rotation angle of the measuring stage and the measurement data of the subject by at least one of measuring methods of a multi-wavelength light measurement and a laser ultrasonic wave measurement.

Simultaneous 2-D room shape reconstruction and self-localization is accomplished using no pre-established infrastructure. A mobile device with co-located microphone and loudspeaker is used to collect echoes reflected by the walls. The system uniquely recovers arbitrary 2-D convex room shape as well as the position of mobile device 10 by collecting and processing distances between three consecutive measurement points as well as acoustic echoes from the device. A practical algorithm for room shape reconstruction and self-localization in the presence of noise and higher order echoes is proposed. Experimental results are provided to demonstrate the effectiveness of the approach.

A compact inspection assembly comprising digital sensors and/or laser measurement systems to measure and validate attributes of pipe and associated threaded connections. A custom designed end-effector sensor assembly is selectively attached to a robotic arm having software and control systems. An automated sensor assembly, selectively positioned relative to a pipe section, measures data regarding the pipe and associated threaded connections. The measured and recorded data can be inspected for defects and/or compared to predetermined standards (such as, for example, original equipment manufacturer and/or end user specifications or requirements) to verify pipe/connection compliance with desired standards.

A compact inspection assembly comprising digital sensors and/or laser measurement systems to measure and validate attributes of pipe and associated threaded connections. A custom designed end-effector sensor assembly is selectively attached to a robotic arm having software and control systems. An automated sensor assembly, selectively positioned relative to a pipe section, measures data regarding the pipe and associated threaded connections. The measured and recorded data can be inspected for defects and/or compared to predetermined standards (such as, for example, original equipment manufacturer and/or end user specifications or requirements) to verify pipe/connection compliance with desired standards.

A method comprises conveying a downhole tool in a production tubing within a casing that is around a wall of a wellbore formed in a subsurface formation, wherein cement is placed in an annulus defined between the casing and the wall of the wellbore. The downhole tool includes at least one unipole receiver and a transmitter that comprises at least one of a unipole transmitter and a monopole transmitter. The transmitter and receiver are mounted on a rotatable portion of the downhole tool. The method includes performing the following operations at at least two azimuthal positions, emitting an acoustic transmission outward toward the cement and detecting an acoustic response that is in response to the acoustic transmission propagating through the production tubing and the casing and into the cement. The acoustic response includes casing extensional waves, casing non-extensional waves, and tubing waves. The method includes evaluating the cement based on the casing extensional waves.

A method comprises conveying a downhole tool in a production tubing within a casing that is around a wall of a wellbore formed in a subsurface formation, wherein cement is placed in an annulus defined between the casing and the wall of the wellbore. The downhole tool includes at least one unipole receiver and a transmitter that comprises at least one of a unipole transmitter and a monopole transmitter. The transmitter and receiver are mounted on a rotatable portion of the downhole tool. The method includes performing the following operations at at least two azimuthal positions, emitting an acoustic transmission outward toward the cement and detecting an acoustic response that is in response to the acoustic transmission propagating through the production tubing and the casing and into the cement. The acoustic response includes casing extensional waves, casing non-extensional waves, and tubing waves. The method includes evaluating the cement based on the casing extensional waves.

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

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.