The present disclosure relates to a device for emission and reception of ultrasonic signal to and from a surface under survey, the device includes a stationary shaft part; and two or more wheel assemblies attachable to a stationary shaft part. Each wheel assembly includes an orbital inner ring, an orbital outer ring, and one or more transducers mounted on the outward facing surface of the orbital inner ring protruding radially from the orbital inner ring. The orbital outer ring being arranged radially outside the transducer modules with the orbital inner ring and is rotating together when the wheel assembly is rolled along a surface to be surveyed.

A method of performing a selected task in a tank at least partially filled with an energetic substance includes, in part, configuring a mobile platform to be inherently safe by positioning spark-generating components in either or both of: (i) an inherently safe enclosure that prevents a spark occurring inside the inherently safe enclosure from passing to an exterior of the inherently safe enclosure, and (ii) a spark-neutralizing body formed of at least one non-flammable substance and positioned inside an enclosure, the spark-neutralizing body blocking direct contact between a spark from the enclosed spark-generating component and an energetic substance from occurring inside the at least one enclosure. The method also includes positioning at least one spark-generating component not inside any inherently safe enclosure that prevents a spark occurring inside the inherently safe enclosure from passing to an exterior of the inherently safe enclosure. The sparks are capable of igniting the energetic substances.

A backing includes a plurality of backing plates that are laminated. Each backing plate includes a lead row and a backing material. Each lead includes a lead wire and an insulating coating. The insulating coating is integrated with the backing material, and an adhesive layer between them does not exist. Short-circuit between the leads may be prevented or reduced by the insulating coating. The backing plate is manufactured by a screen printing method.

The present disclosure relates to a device for emission and reception of ultrasonic signal to and from a surface under survey, the device includes a stationary shaft part; and two or more wheel assemblies attachable to a stationary shaft part. Each wheel assembly includes an orbital inner ring, an orbital outer ring, and one or more transducers mounted on the outward facing surface of the orbital inner ring protruding radially from the orbital inner ring. The orbital outer ring being arranged radially outside the transducer modules with the orbital inner ring and is rotating together when the wheel assembly is rolled along a surface to be surveyed.

A method of ultrasonic inspection includes generating, by a phased array ultrasonic probe, a first ultrasonic beam propagating in a fluid and incident at a first angle to a target surface in response to receipt of first instructions. Ultrasonic echoes from first beam reflection by the target are measured and corresponding ultrasonic measurement signals are output. At least one environmental sensor measures at least one fluid property and outputs corresponding environmental signals. One or more processors determine a current speed of sound within the fluid from the ultrasonic measurement signals and environmental signals. Second instructions including a second angle are generated by the processors, based on the current speed of sound, when the current speed of sound differs from a predetermined speed of sound by more than a speed threshold. The ultrasonic probe generates a second ultrasonic beam at the second angle in response to receipt of the second instructions.

Inspection robots with flexible wheel/motor positioning are described. An example inspection robot may have a housing having a first connector positioned on a first side of the housing, and a second connector positioned on a second side of the housing. A first drive module may include a wheel and a motor and be operatively coupled to the first connector. A second drive module may include a wheel and a second motor and be operatively coupled to the second connector, where the wheel may be interposed between the second connector and the second motor.

Systems for reprogrammable inspection robots are described. An example system may include an inspection robot having a housing, a payload interface, a drive module interface, and a tether interface. The system may further include a first electronic board having a primary functionality circuit communicatively coupled to a base station and a second electronic board operationally coupled to the payload interface, the second electronic board having a payload functionality circuit coupled to a selected payload through the payload interface. The example system may further include a third electronic board operationally coupled to the drive module interface, the third electronic board having a drive module functionality circuit communicatively coupled to a selected drive module through the drive module interface.

Inspection robots with center encoders are described. An example inspection robot may have a housing, and a drive module, where the drive module has a wheel and a motor and is operatively coupled to the housing., The example inspection robot may also have an encoder to provide a movement value, where the encoder is positioned within a footprint of the housing. The example inspection robot may also have a controller with an encoder conversion circuit to calculate a distance value in response to the movement value, a location circuit to determine at least one of a robot location value or a robot speed value, and a position command circuit to provide a position action command in response to the robot location value or the robot speed value. The drive module may be responsive to the position action command to move the inspection robot.

Inspection robots with removeable interface plates and method for configuring payload interfaces are described. An example robot may include a payload, with at least one sensor, mounted to a housing of the inspection robot. The housing may include a removeable interface plate coupled to the at least one sensor and to an electronic board, the electronic board positioned within the housing. The removeable interface plate may define an electrical coupling interface compatible with the payload, and the electronic board may include an electrical processing configuration compatible with the payload.

Inspection robots with a payload engagement device are described. An example inspection robot may have a housing, a drive module, having at least one wheel and a motor, where the drive module is operatively coupled to the housing. The example inspection robot may also have a payload coupled to the drive module, where the payload includes a sensor mounted to the payload, and a payload engagement device operationally coupled to the drive module and the payload, where the payload engagement device applies a selected downward force on the payload.