A system includes an inspection robot having a plurality of acoustic sensors coupleable to an inspection surface through a couplant chamber defining a delay line therebetween; the plurality of acoustic sensors configured to provide raw acoustic data; a controller, comprising: an acoustic data circuit structured to interpret the raw acoustic data; a thickness processing circuit structured to determine a primary mode value and a primary mode score value in response to the raw acoustic data; and wherein the thickness processing circuit is further structured to determine a thickness value in response to the primary mode value and the primary mode score value.

A system includes an inspection robot comprising a lead inspection sensor providing lead inspection data, and a trailing inspection sensor; a controller, comprising: an inspection data circuit structured to interpret the lead inspection data; a sensor configuration circuit structured to determine a trailing sensor configuration change for the trailing inspection sensor in response to the lead inspection data; and a sensor operation circuit structured to adjust a trailing sensor configuration for the trailing inspection sensor in response to the trailing sensor configuration change.

Controllers for inspection robots traversing an obstacle are described. In an embodiment a controller may include an obstacle sensory data circuit to interpret obstacle sensory data provided by an obstacle sensor of an inspection robot, an obstacle processing circuit to determine refined obstacle data, and an obstacle notification circuit to generate and provide obstacle notification data to a user interface device. The controller may further include a user interface circuit to interpret a user request value from the user interface device, and to determine an obstacle response command value in response to the user request value; and an obstacle configuration circuit to provide the obstacle response command value to the inspection robot during the interrogating of the inspection surface.

A system includes an inspection robot having a plurality of input sensors, the plurality of input sensors distributed horizontally relative to an inspection surface and configured to provide inspection data of the inspection surface at selected horizontal positions; a controller, comprising: a position definition circuit structured to determine an inspection robot position of the inspection robot on the inspection surface; a data positioning circuit structured to interpret the inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position.

A delay line control circuit includes a pseudo-random number generator and a random phase generator circuit coupled to the pseudo-random number generator. The pseudo-random number generator is configured to produce a predetermined sequence of pseudo-random values. The random phase generator circuit is configured to randomize an access sequence for capacitors of a delay line. The random phase generator circuit includes a sequence register, an adder, and gating circuitry. The sequence register is configured to a store a value identifying one of the capacitors to be accessed. The adder is coupled to the sequence register, and is configured to increment the value stored in sequence register. The gating circuitry is coupled to the pseudo-random number generator and the adder. The gating circuitry is configured to pass one of the pseudo-random values to the adder for addition to the value stored in the sequence register.

Apparatus for providing an interactive inspection map are disclosed. An example apparatus for providing an interactive inspection map of an inspection surface may include an inspection visualization circuit to provide an inspection map to a user device in response to inspection data provided by a plurality of sensors operationally coupled to an inspection robot traversing the inspection surface, wherein the inspection map corresponds to at least a portion of the inspection surface. The apparatus may further include a user interaction circuit to interpret a user focus value from the user device, and an action request circuit to determine an action in response to the user focus value. The inspection visualization circuit may further update the inspection map in response to the determined action.

A delay line control circuit includes a pseudo-random number generator and a random phase generator circuit coupled to the pseudo-random number generator. The pseudo-random number generator is configured to produce a predetermined sequence of pseudo-random values. The random phase generator circuit is configured to randomize an access sequence for capacitors of a delay line. The random phase generator circuit includes a sequence register, an adder, and gating circuitry. The sequence register is configured to a store a value identifying one of the capacitors to be accessed. The adder is coupled to the sequence register, and is configured to increment the value stored in sequence register. The gating circuitry is coupled to the pseudo-random number generator and the adder. The gating circuitry is configured to pass one of the pseudo-random values to the adder for addition to the value stored in the sequence register.

A detection apparatus according to an embodiment includes a convergence member and a sensor. The convergence member comes into contact with a test object and has an elastic-modulus distribution in which an elastic modulus decreases as a distance from a center of the convergence member increases. The sensor is placed in an area including the center of the convergence member. The sensor detects, through the convergence member, an elastic wave generated from the test object.

A system includes an apparatus for performing an inspection on an inspection surface with an inspection robot, the apparatus comprising: a controller configured to: interpret inspection data comprising sensed information from a location on an inspection surface; determine a feature of interest is present at the location of the inspection surface in response to the inspection data, and in response to determining the feature of interest is present at the location of the inspection surface, capture image information from the location on the inspection surface, and correlate the captured image information with the inspection data corresponding to the location of the inspection surface.

Apparatus for providing an interactive inspection map are disclosed. An example apparatus for providing an interactive inspection map of an inspection surface may include an inspection visualization circuit to provide an inspection map to a user device in response to inspection data provided by a plurality of sensors operationally coupled to an inspection robot traversing the inspection surface, wherein the inspection map corresponds to at least a portion of the inspection surface. The apparatus may further include a user interaction circuit to interpret a user focus value from the user device, and an action request circuit to determine an action in response to the user focus value. The inspection visualization circuit may further update the inspection map in response to the determined action.