Method for the graphical representation and data presentation of weld inspection results

A system and method directed to displaying images and presenting the data from the phased array ultrasonic testing (PAUT) inspection of a plurality of welded joints within a welded object. The system includes an engine comprising memory, a graphical user interface (GUI), an export module, a transformation module, and a merger module each operably coupled to one another. The export module is used to extract images and data from the PAUT inspection of the welded joints. The exported information is used by the transformation module to create a multi-dimensional representation of the PAUT inspected welded joint for each joint. The merger module combines the information from the export module and the transformation module into an evaluation report for each PAUT inspected welded joint and assembles the evaluation report into a master report for analysis. The system may be communicatively coupled over a network using a network interface.

FIELD OF THE DISCLOSURE

The present disclosure relates generally to weld inspection, and more specifically, to inspection of welds associated with an object. More particularly still, the present disclosure relates to systems and methods for displaying images and presenting data obtained from the phased array ultrasonic testing inspection of a plurality of welds associated with a welded object.

BACKGROUND

Non-destructive testing (NDT) is a common method of testing the integrity of a welded joint within a welded object. In some forms of NDT, energy propagated into a welded object yields a signal that can be displayed as a waveform image. This waveform image can be instructive of the condition of the welded joint. Such propagated energy may be in the form of electromagnetic waves or acoustic waves. One common form of NDT using acoustic waves is phased array ultrasonic testing (PAUT). To inspect a welded joint by PAUT, a transducer and a wedge may be used to propagate acoustical signals towards a welded plane of a welded joint at various angles and patterns. Upon encountering the welded plane, if a discontinuity is present, the acoustical signals are reflected back towards the transducer where they are converted to electronic-amplitude signals and transmitted to a phased array testing instrument (PATI). The PATI generates a display of the reflected acoustical signals in various forms on ultrasound graphs. The displays and data represented thereby are not intuitive and comprehending the displays and data can be difficult for those not familiar with interpreting the results of ultrasonic testing.

In addition to the ultrasound graphs generated from the PAUT inspection, characteristics related to the welded object, the welded joint and the equipment used during the PAUT inspection are normally captured for evaluation. In the prior art, software programs are able to generate a report containing this information for only a single weld. However, many times, a welded object may have a plurality of welded joints which require integrity testing. Depending on the relative size of the welded object, there may be tens or even hundreds of welded joints that need to be inspected. Given the potential volume of welded joints within a welded object, inspecting such joints individually using conventional solutions may be a very tedious and time-consuming process.

DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

Embodiments of the present disclosure relate to the graphical representation and data presentation of weld inspection results. While the present disclosure is described herein with reference to illustrative embodiments for particular applications, it should be understood that embodiments are not limited thereto. Other embodiments are possible, and modifications can be made to the embodiments within the spirit and scope of the teachings herein and additional fields in which the embodiments would be of significant utility.

In the detailed description herein, references to “one embodiment,” “an embodiment,” “an example embodiment,” etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to implement such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described. It would also be apparent to one skilled in the relevant art that the embodiments, as described herein, can be implemented in many different embodiments of software, hardware, firmware, and/or the entities illustrated in the figures. Any actual software code with the specialized control of hardware to implement embodiments is not limiting of the detailed description. Thus, the operational behavior of embodiments will be described with the understanding that modifications and variations of the embodiments are possible, given the level of detail presented herein.

As noted above, embodiments of the present disclosure relate to the graphical representation and data presentation of weld inspection results. The term “weld” is used herein to describe the deposit of material on an object, or the merging of at least two discrete objects by, for example, fusion, brazing, soldering, or the like. Unless otherwise noted for a specific embodiment, the welded object may be of any weldable material, including but not limited to metal or thermoplastics. In one or more embodiments, a system comprising an engine and external memory is used to generate a graphical representation of each welded joint for a plurality of welded joints which have been inspected using propagated energy type NDT, such as phased array ultrasonic testing (PAUT). The system also functions to extract, compile and present data related to the NDT inspection of the welded joints and the welded object. The engine may comprise an export module for extracting and processing data from the external memory. Additionally, the engine may comprise a transformation module for generating graphical representations of each welded joints using data obtained during the NDT inspection. Further, the engine may contain a merger module, which may compile the extracted data from the export module and the graphical representations from the transformation module into a user defined evaluation report format for each welded joint. The merger module may also combine each evaluation report into a comprehensive master report for presentation. The system may also include a graphical user interface (GUI) operable to allow a user to interface with the components of the system. For the purposes of discussion, propagated energy type NDT will be discussed herein in terms of phased array ultrasonic testing and the propagation of acoustic signals, but it should be understood that the system and methods described herein shall include any propagated energy type NDT unless otherwise limited. For example, X-ray signals may be utilized.

Illustrative embodiments and related methodologies of the present disclosure are described below in reference toFIGS. 1-6as they might be employed, for example, in a computer system for the graphical representation and data presentation of weld inspection results. Other features and advantages of the disclosed embodiments will be or will become apparent to one of ordinary skill in the art upon examination of the following figures and detailed description. It is intended that all such additional features and advantages be included within the scope of the disclosed embodiments. Further, the illustrated figures are only exemplary and are not intended to assert or imply any limitation with regard to the environment, architecture, design, or process in which different embodiments may be implemented.

Referring toFIG. 1, an enlarged perspective view of a PAUT inspection tool102deployed on a welded object100having a plurality of welds10in the form of welded joints10a,10b,10cand10dis illustrated. Although the disclosure will present the method and system of the invention in terms of a welded joint, it will be appreciated that the method and system may be used for any weld. Likewise, although the welded object100is depicted as a pipe inFIG. 1, the welded object100may be any object, including, but not limited to, a rail, plate, vessel or tank. Further, the welded object100may be constructed of any material, including, but not limited to, high density polyethylene or any metal conducive to inspection by PAUT. The PAUT inspection of the welded joints10is performed using a PAUT inspection tool102, which may be positioned adjacent a welded joint10of interest during the inspection. Alternatively, multiple PAUT inspection tools102may be deployed to inspect multiple welded joints simultaneously. Although the disclosure is not limited to a particular type of PAUT inspection tool, in certain embodiments, the PAUT inspection tool102may be comprised of a first transducer104, a first wedge106, a second transducer108, a second wedge110, a carriage112, a pulser-receiver114and a phased array testing instrument (PATI)116, as illustrated inFIG. 1.

During PAUT inspection of a welded joint10a, for example, the PAUT inspection tool102may be moved along the periphery or scan length (“l”) of the welded joint10a, while the first and second transducers104,108propagate acoustical signals118at spaced about locations along the periphery towards the welded plane120of the welded joint10a. Typically, the PAUT inspection tool102will be positioned at an initial reference point l0and subsequently moved along scan length l for a desired distance. It will be appreciated that initial reference point l0is often top dead center of a pipe100under inspection. Upon encountering a discontinuity or flaw(s)122within the welded joint10a, the acoustical signals118are reflected back (as reflected signals124) towards the first and second transducers104,108. Reflected signals124may then be converted into electronic-amplitude signals by first and second transducers104,108and transmitted to the pulser-receiver114of PATI116. In one or more embodiments, this process may be performed multiple times. In some embodiments, the PAUT inspection tool102may be used to show a minimum of three reflected signals124for a welded joint10associated with the welded object100. The reflected signal(s) are displayed in the form of traditional signal images, such as the A-scan, B-scan, S-scan or tomographic images discussed below in more detail with respect toFIG. 2.

FIG. 2illustrates a plurality of ultrasound images200, displayed in various forms, generated by the PATI116during the PAUT inspection of the welded joint10aassociated with the welded object100ofFIG. 1, as described above. In some embodiments, the ultrasound images200generated by the PATI116may include one or more of a waveform image such as an A-scan image202; a S-scan image204; a tomographic image206; and a B-scan image208, where a reflected signal or reflection210is illustrated. In each image, the top surface “T1” and the bottom surface “B0” of the welded joint10aare denoted by either a horizontal or vertical line. The A-scan image202represents the waveform as the electronic-amplitude signal with respect to time. InFIG. 2, the A-scan image202illustrates the presence of a flaw122, which is denoted by the peak between the top surface T1and the bottom surface B0of the welded joint10a. The second peak does not indicate the presence of a flaw, but representation of extraneous sound from the inspection process. The S-scan image204represents a two dimensional cross-sectional view of the electronic-amplitude signals from transducers104,108after being corrected for delay and refracted angle. InFIG. 2, the S-scan image204depicts the waveform image results of propagating acoustic signals118from the top surface T1of the welded joint10aat a scan range between 45 and 70 degrees. The tomographic image206represents a two dimensional cross-sectional grid visualization of the welded joint10. InFIG. 2, the tomographic image206is a Ray-Tracing image which illustrates the acoustic signal118and the reflected signal124being propagated through the welded joint10aarea. The B-scan image208depicts a two dimensional representation of the electronic-amplitude signals as plotted relative to depth or distance over the scan length (“l”) or perimeter of the welded joint10a.

It will be appreciated that an aberration in the weld10of a welded joint10amay result in change in the waveform images and that if the aberration is significant enough, it may be deemed a flaw122or a flaw122indication. For example, as discussed above, in the waveform image illustrated by the A-scan image202, the first signal peak resulting from an aberration in the weld10is an indication of a flaw122as shown. Likewise, reflection flaw indications122are identified in B-scan image208and tomographic image206as shown.

As will be explained below, in one or more embodiments, a PAUT inspection tool102may make multiple passes along a welded joint10. For example, a PAUT inspection tool102may be passed around the circumference of a pipe along a welded joint10two or more times, wherein each pass results in a set of reflection data such that an overall reflection210for any given location along the welded joint10may be comprised of two or more reflections210a,210b,210c, etc. Thus, the PAUT inspection tool102may be used to scan a segment of a welded joint10amultiple times with each pass of the PAUT inspection tool102represented on the B-scan image208as a separate reflection210a,210b, and210c. The PAUT inspection tool102may be used to scan any desired segment of the weld10of a welded joint10aof a welded object100. In one or more embodiments, the welded object100is a pipe and the scan length l may correspond to an area or surface along the periphery of the welded object100. In such embodiments, as previously discussed, the movement of the PAUT inspection tool102about the circumference of a pipe along the welded joint10aresults in the creation of at least three reflected signals124. Accordingly, the PATI116produces a B-scan image208with at least three reflections210shown on the display: a first reflection210a, a second reflection210band a third reflection210cpresented in a vertical array orientation of the welded joint10a. The first reflection210arepresents the travel of the acoustic signal118from the top surface T1of the welded joint10ato the bottom surface B0of the welded joint. The second reflection210brepresents the travel of the reflected signal124from the bottom surface B0of the welded joint10ato the top surface T1of the welded joint10a. The third reflection210crepresents the travel of the reflected signal124from the top surface T1of the welded joint10ato the bottom surface B0of the welded joint10a. The left vertical axis211aof the reflection210represents the depth of the welded joint10relative to the surface (such as the surface of pipe ofFIG. 1) along which the PAUT inspection tool102is moved. The right vertical axis211bof the reflection210represents the strength of the electronic-amplitude signal converted by the transducers104,108and received by the PATI116. The horizontal axis211cof the reflection210represents the perimeter or scan length of welded joint10a. During the PAUT inspection, the reflections210may include areas representing flaws122within the welded joint under inspection. The presence of a flaw122in the reflection may be emphasized with a flaw indication line212. In some embodiments, PAUT inspection tool102may include predetermined flaw identification criteria that can be utilized by PAUT inspection tool102to identify aberrations in the waveform images that are significant enough to be deemed a flaw122. In other embodiments, a user may identify such flaws122for PAUT inspection tool102.

It will be appreciated with respect to the horizontal axis211c, “0” simply represents the point around the perimeter at which the scan begins and in this way, corresponds to reference point l0on the welded object100under inspection. In one or more embodiments, this reference point may be utilized as the beginning of each scan of the particular welded joint10aunder inspection, or any subsequent scans should be conducted in measured relation to this reference point.

In addition to the plurality of ultrasound images200generated and displayed by PATI116, PATI116may be configured to extract and/or compile PAUT data from the PAUT inspection. In certain embodiments, the PAUT data may comprise, but is not limited to, spatial and magnitude information related to an identified flaw122(flaw data), positional information related to the inspection, such as the reference point l0discussed above and incremental spacing relative to the reference point, information related to the equipment (e.g. transducers104,108or wedges106,110) used during the PAUT inspection (PAUT inspection equipment data), information related to the calibration of equipment used during the PAUT inspection (PAUT inspection calibration data) and information related to the welding design parameters of the plurality of welded joints10a,10b,10c,10d, etc. and the welded object100.

FIG. 3Ais a block diagram of an exemplary system300for the graphical representation and data presentation of weld inspection results. As shown inFIG. 3A, system300may include an external memory310and an engine320. In some embodiments, the engine320includes an export module322, a transformation module324, a merger module326, a memory328and a GUI330. Further, in certain embodiments the engine320, export module322, transformation module324, merger module326, memory328and GUI330may be communicatively coupled to one another via an internal bus (not shown) of system300. In some embodiments the engine320may be operably and communicatively coupled to a network interface340.

In an embodiment, system300can be implemented using any type of computing device having at least one processor and a processor-readable storage medium for storing data and instructions executable by the processor. Such a computing device may also include an input/output (I/O) device341for receiving input or commands or displaying information or graphics. The input/output device341may be, for example and without limitation, a mouse, a QWERTY or T9 keyboard, a touch-screen, a graphics tablet, or a microphone. The I/O device341also may be, for example, a display or printer coupled to or integrated with the computing device for displaying a graphical representation and presentation of inspection results in accordance with this disclosure. Examples of such a computing device include, but are not limited to, a mobile phone, a personal digital assistant (PDA), a tablet computer, a laptop computer, a desktop computer, a workstation, a cluster of computers, a set-top box, a PATI116, or similar type of computing device.

Although only an external memory310and an engine320including an export module322, a transformation module324, a merger module326, a memory328and a GUI330along with a network interface340are shown inFIG. 3A, it should be appreciated that system300may include additional components, modules, and/or sub-components as desired for a particular implementation. It should also be appreciated that each of the external memory310and an engine320including export module322, transformation module324, merger module326, memory328, and GUI330may be implemented in software, firmware, hardware, or any combination thereof. Furthermore, it should be appreciated that embodiments of the external memory310and an engine320including export module322, transformation module324, merger module326, memory328, and GUI330or portions thereof, can be implemented to run on any type of processing device including, but not limited to, a computer, workstation, embedded system, networked device, mobile device, or other type of processor or computer system capable of carrying out the functionality described herein.

As will be described in further detail below, external memory310may be used to store information accessible by the engine320and memory328may be used to store information accessible by each of the export module322, transformation module324, merger module326and GUI330for implementing the functionality of the present disclosure. External memory310and memory328may be any type of recording medium coupled to an integrated circuit that controls access to the recording medium. The recording medium can be, for example and without limitation, a semiconductor memory, a hard disk, or similar type of memory or storage device. In some implementations, external memory310and memory328may be a remote data store, e.g., a cloud-based storage location, communicatively coupled to system300over a network342via network interface340. Network342can be any type of network or combination of networks used to communicate information between different computing devices. Network342can include, but is not limited to, a wired (e.g., Ethernet) or a wireless (e.g., Wi-Fi or mobile telecommunications) network. In addition, network342can include, but is not limited to, a local area network, medium area network, and/or wide area network such as the Internet.

The plurality of ultrasound images200and PAUT data from the PAUT inspection may be transferred from the PATI116to the external memory310. This transferred information may be grouped within the external memory310by parameters associated with the welded joint10aincluding, but not limited to, weld length, weld position or weld type. Via the GUI330, the export module322of the engine320may be implemented to export the plurality of ultrasound images200and PAUT data from the PAUT inspection from the external memory310to the memory328of the engine320. In some embodiments, the export module322operates to determine whether the PAUT inspection data has been improperly grouped within the external memory310. For instance, if the PAUT data and plurality of ultrasound images200from the PAUT inspection is grouped by a specified scan length (“l”) of the plurality of welded joints10a,10b,10c,10d, etc., the export module322may be operable to determine if all of the information within the external memory310from the PAUT inspection meets the selected grouping criteria. If not, the export module322may trigger an alert through the GUI330when a potential inconsistency is identified. The export module322may also expand the reporting to combine the reporting of each grouping.

The export module322may also be configured to search the plurality of ultrasound images200within the memory328of the engine320to determine whether a flaw122indication was determined to be present in the data and scans associated with the plurality of welded joints10a,10b,10c,10d, etc., of the welded object100. The export module322may communicate the results of this search to the GUI330to display of the plurality of welded joints10a,10b,10c,10d, etc., in which at least one flaw indication122was identified. In some embodiments, the export module may identify acceptable welds (i.e. welds in which no flaw indications were deemed to be present) and communicate the results of this determination to the GUI330to display the plurality of welded joints10a,10b,10c,10d, etc., in which no flaw122was identified.

FIG. 3Billustrates an exemplary view of an interactive flaw indication screen343listing the plurality of welded joints10a,10b,10c,10d, etc., identified by the PAUT inspection as containing flaws122. In some embodiments, the interactive flaw indication screen343may contain an information field343awhich reflects whether the welded joint10passed or failed the PAUT inspection. In this regard, the system300may make a determination based on predetermined parameters. For example, in some embodiments, the presence of even a single flaw122may result in rejection of the weld, while in other embodiments, a multiple flaws122may be need to be present before a weld is rejected. Likewise, the characteristics of the flaw122may have a bearing on whether a weld is accepted or rejected, which characteristics may include physical size of the flaw122, flaw122depth or proximity to other flaws122, any or all of which may be pre-programed into system300or otherwise supplied to system300. Further, in some embodiments, the interactive flaw indication screen343may contain an information field343bwhich allows the presentation of a plurality of ultrasound images200related to the inspection of the selected welded joint10within the GUI330and a comment field343cinto which notes, comments or other information pertaining to the welded joint10may be added.

Additionally, the flaw indication screen343allows a user to select which reflections210from the B-scan image208best illustrate the flaw122identified during the PAUT inspection, and which reflections210will be used to generate a multi-dimensional image of the welded joint10a. In some embodiments, the multi-dimensional image is a three dimensional (“3-D”) image of the welded joint10a. The information fields which appear in the interactive flaw indication screen343may be selectable by a user. For instance, in some embodiments, users may add an information field343dindicating the type of scan used during the PAUT inspection and the skew of the flaw122. At the point when at least one reflection210is chosen for a welded joint10containing a flaw122or the export module322fails to find any flaws amongst the plurality of ultrasound images200, the transformation module324of the engine320may be implemented, either automatically in response to predetermined criteria or by a user via GUI330.

FIGS. 3C, 3D, 3E and 3Fillustrate the process used to by the transformation module324to create a multi-dimensional representation344of the PAUT inspected welded joint10. While a two-dimensional (“2-D”) representation is within the scope of this disclosure, in some embodiments, the representation is three-dimensional. In some embodiments, the transformation module324may comprise image manipulation libraries which contain 2-D and/or 3-D shapes and/or image data of the object100and the welded joint10under investigation. In one or more embodiments, a user may select a shape most closely resembling the shape of the object100, and then supply dimensional information relative to the shape to be included with the PAUT data. For example, a user may select a pipe shape from the library and then supply an outer diameter, and inner diameter, a pipe length and optionally, relative location of the welded joint10under investigation.FIG. 3Crepresents an enlarged view of the B-scan image208taken from a plurality of ultrasound images200of the welded joint10a. Once the reflections210to be used in creating the representation344of the welded joint10ahave been selected, the transformation module324may use the image manipulation library to extract the selected reflection210as shown inFIG. 3Dfrom the memory328. The transformation module324then manipulates the selected reflection210into the shape of a cross-sectional representative image of the welded joint10aas shown inFIG. 3E. It will be appreciated at this point, a 2-D cross-section of the object100overlaid with the manipulated reflections210may be presented and utilized to graphically visualize the weld data on the object100. A reference point l0on the object100is utilized to align the manipulated reflections210relative to the object100, while flaw indication line312identifies a detected flaw relative to reference point l0. For example, reference point l0may be the location on the surface of object100at which the first acoustical signal118is propagated into the weld10. The reference point l0may also be used as a basis for incrementally moving the PAUT and propagating a subsequent acoustical signal118. In other embodiments, an additional step may be taken to convert the 2-D representation to a 3-D representation. In this regard, the transformation module324obtains the 3-D image data of the object100and the welded joint10aunder investigation from the image manipulation libraries and superimposes and aligns the manipulated reflections210onto a 3-D image of the object100to create the 3-D representation344of the PAUT inspected welded joint10aas depicted inFIG. 3E. This process may be repeated for each flaw122or selected flaws122identified within each weld10.

This 2-D or 3-D representation process may be performed for one or more weld10within the welded object100, regardless of whether the PAUT inspection indicates a flaw122is present within the welded joint10a. For example, the transformation module324by default may select the first reflection210ato be used in creating the 3-D representation344of the welded joint10awhen no flaw122has been identified in the PAUT inspection.

In any event, once the transformation module324has completed this 2-D or 3-D representation process for one or more welded joints10in the plurality of welded joints10a,10b,10c,10d, etc. within the welded object100, the representations344of a PAUT inspected welded joint10aare stored in memory328for use by the merger module326.

After a representation344of a PAUT inspected weld10within the welded object100has been created, the merger module326may be used by the engine320to create an evaluation report345for a welded joint10, whether a flaw122has been detected or not, within the plurality of welded joints10a,10b,10c,10d, etc., of the welded object100as illustrated inFIG. 3G. The evaluation report345includes a first field345ato present the generated 2-D or 3-D representation344of the PAUT inspected welded joint10. The evaluation report345may include other fields to display information associated with the particular representation344shown in field345a. It will be appreciated that the report345is not limited to display of particular fields or data, but that the fields may be predetermined or selectable, as desired. For example, inFIG. 3G, in addition to field345ashowing a 3-D representation344associated with a particular weld10, a second field345bshows the A-scan image202, a third field345cshows an S-scan image204, a fourth field345dshows a B-scan image208, a fifth field345eshows a tomographic image206and a sixth field345fshows numeric data related to the weld10and the flaw122.

In one or more embodiments, the report345may be interactive. In this regard, a cursor350may be utilized to point to a particular location within a desired field. In response, a visual indicator352may be presented in one or more of the other fields to indicate a graphical relationship between where the cursor350is pointing and the information presented in the other fields. For example, inFIG. 3G, a cursor350may be utilized to point to a particular position on the S-scan image204in field345c. In response, a first visual indicator352amay point to the corresponding location on the 2-D or 3-D representation344in field345a. Likewise, in one or more embodiments, a second visual indicator352bmay point to the corresponding location on the B-scan image208in field345d. Similarly, moving the cursor350to point to a particular location on the 2-D or 3-D representation344in field345amay result in one or visual indicators352in fields345b-345f. As used herein, visual indicator is not limited to any particular visual device, and may include a graphical device (such as an arrow, cross-hairs, a circle or other graphical objects) highlights, color change or text, among others.

In any event, the merger module326may contain (i) a database template to designate the display locations of the information fields representing the 2-D or 3-D representation344the PAUT inspected welded joint10, (ii) selected inspection data from the PAUT inspection and (iii) the exported plurality of ultrasound images200to be presented within the evaluation report345. AlthoughFIG. 3Gillustrates information fields representing a weld identification number, the number of flaws122identified in the welded joint10, and spatial and magnitude information related to the identified flaws122, these information fields may be modified and may be predetermined or otherwise selectable by the (I/O) device341from the range of PAUT inspection data stored within the memory328. In this regard, the merger module326may be configured to store templates comprising preselected information fields to be presented in the evaluation report345.

Once implemented, the merger module326functions to extract selected PAUT inspection data and ultrasound images200stored in memory328from the export module322and the 2-D or 3-D representation344of the PAUT inspected welded joint10from the transformation module324for the welded joint10. The merger module326then presents this data in the designated display locations of the fields within the database template and displays this on an output device, which may be saved as an electronic file. A portable document format (PDF) file for the evaluation report345representing the welded joint10may also be generated. In some embodiments, an editable word processing document for the evaluation report345representing the welded joint10amay also be generated. In the event the PAUT inspection indicates the welded joint10contains more than one flaw, the merger module326may create an evaluation report345file for each flaw122identified.

After an evaluation report345representing one or more welded joints10awithin the welded object100has been created, the merger module326may combine the files of each evaluation report345into a master report. In some embodiments, the merger module326may extract and include a summary of the PAUT inspection equipment data, PAUT calibration data, and the welding design parameters of the plurality of welded joints10a,10b,10c,10d, etc. within the welded object100for inclusion in the master report.

When a welded joint10ais determined to contain a flaw122, various corrective measures may be implemented to remove and repair it. For instance, the spatial parameters of the flaw122within the welded joint10aare documented and the welded joint10containing the flaw122may be physically marked. The surface of the welded joint10amay then be ground down to the documented depth of the flaw122for removal. Alternatively, an arc-gouging approach may be implemented to remove the flaw122. In this method, an electric arc is generated using a carbon electrode to make the welded joint10abecome molten and to produce high velocity air jet streams for removal of the molten material. In either approach, once the flaw122is removed from the welded joint10, the previously welded joint10ais re-welded and re-inspected.

FIG. 4is a flow chart of an exemplary method400for the graphical representation and data presentation of weld inspection results. As shown inFIG. 4, method400includes steps402,404,406, and408, and may further include at least one of steps410,412,414and416. For purposes of discussion, method400will be described using system300ofFIG. 3A, as described above. However, method400is not intended to be limited thereto.

Method400begins in step402, which includes performing a PAUT inspection of one or more welds10of a welded object100. For example, the inspection may be of welded joints10a,10b,10c,10d, etc. A PAUT inspection tool102is used to propagate acoustic signals118into a welded object100adjacent a weld10. To the extent the welded object100is a pipe and the weld10is a welded joint, the PAUT inspection tool102may be moved along a portion of or the entire periphery of the pipe adjacent the weld10. In one or more embodiments, for each weld10, this process may be repeated multiple times. In any event, at least three reflected signals124are generated upon encountering a welded plane120or a flaw122along the welded joint10. The reflected signals124may be converted to electronic-amplitude signals and are transmitted to a PATI116of the PAUT inspection tool102. The PATI116may display the converted electronic amplitude signals in the form of a plurality of ultrasound images200, which may include a B-scan image208. B-scan image208may comprise an array of reflections210and may represent each complete pass of the PAUT inspection tool102along a welded joint10. It will be appreciated that the disclosure is not limited to particular equipment in performing the PAUT inspection so long as a reflected signal124is generated for one or more flaws122within a weld10.

The PATI116may also be configured to extract and compile PAUT data from the PAUT inspection including, but not limited to, flaw122data, inspector comments, PAUT inspection equipment data PAUT calibration data, and welding design parameters of the plurality of weld10(such as welded joints10a,10b,10c,10d, etc.) and the welded object100.

In step404, a multi-dimensional model of the welded object100is selected or otherwise generated. In this regard, a library of models may be maintained and the model most closely resembling the welded object100may be selected. For example, a model library may contain a two-dimensional or three-dimensional representation of a pipe, a plate, a beam or some other object. A model may be selected from the library that most closely resembles the welded object100. In one or more embodiments, the user may be queried about the dimensioning and/or parameters of the welded object100under investigation this data may be associated with the selected model. For example, a pipe may be selected from the model library to represent a welded object100being inspected. The user may be queried about the inner diameter, the outer diameter and length of the welded object100and the dimensioning data may be utilized to generate a proportional image of the welded object100accordingly.

Alternatively in step404, the user may simply be queried about the dimensioning and/or parameters of the welded object100under investigation this data may be used to generate an image of the welded object100under investigation. For example, a user may input an inner diameter, an outer diameter and a length for a welded object100. Using this data, an image of the welded object100may be generated.

Likewise, a user may be queried about the welds. For example, the number of welds and/or the location of the welds may be provided so that each weld may be separately accounted for as necessary.

In any event, the generated image may be a two-dimensional object or a three-dimensional object, as desired.

In step406, the reflected signal124data is manipulated to conform the data to a two-dimensional or three-dimensional shape. In one or more embodiments, the reflected signal data may be in the form of an ultrasound image. Thus, for example, a point on the ultrasound image may be associated with a particular two or three dimensional point on the shape. In other words, each point on the ultra-sound or each point along an A-scan image202, or an S-scan image204may be assigned or associated with a two or three dimensional coordinate. This coordinate data may be used to link the reflected signal data to the generated image of the welded object100.

In step408, the manipulated reflected signal data is superimposed on the generated image of the welded object100and the superimposed image is graphically presented as a multi-dimensional representation344of the PAUT inspected weld10. In this regard, the manipulated reflected signal data must be aligned with the generated image of the welded object100to yield the multi-dimensional representation344.

This foregoing process may be repeated for each flaw122identified within each weld10and is similarly performed for each welded joint10within the welded object100.

In one or more embodiments, prior to manipulating reflected signal data, a specific reflection210is selected from multiple reflections associated with a particular flaw122. As mentioned above, in some embodiments, multiple passes of a weld10may be made with the PAUT inspection tool102, and thus, multiple sets of reflection data may exist, making it necessary to select the particular data set to be manipulated in step406. In this regard, the flaw indication screen343may be used to choose one reflection210for each welded joint10determined to contain a flaw122. If a reflection210is chosen, the transformation module324may use an image manipulation library to extract the selected reflection210from the memory328. The transformation module324then manipulates the selected reflection210into the shape of a cross-sectional representative image of the weld10and obtains from the image manipulation library, or otherwise generates, a multidimensional digital image representative of the welded joint10.

The transformation module324then superimposes and aligns the manipulated image onto the multidimensional image to create the representation344of the PAUT inspected welded joint10.

In one or more embodiments, in an optional additional step410, a plurality of ultrasound images may be generated for a weld10or a welded object100, and the plurality of ultrasound images200and the PAUT data from the PAUT inspection are transferred from the PATI116to a memory, and may be grouped within the memory by parameters associated with weld10, such as weld number, weld length, weld position or weld type. In this regard, the memory may be external memory310.

In one or more embodiments, in an additional optional step412, an export module322of an engine320comprising memory328and a GUI330may be used to export the plurality of ultrasound images200and PAUT data from the PAUT inspection from the external memory310to the memory328of the engine320. In some embodiments, the export module322is configured to determine whether the PAUT inspection data has been improperly grouped within the external memory310. Further, export module322may be configured to search the plurality of ultrasound images200within the memory328of the engine320to determine whether a flaw122was identified by an inspector in each of the plurality of welded joints10a,10b,10c,10d, etc., of the welded object100and to display a listing of the welded joints10containing flaws122on an interactive flaw indication screen343within the GUI330. The flaw indication screen343is operable to facilitate the selection of which reflections210from the B-scan image208best illustrates the flaw122identified during the PAUT inspection and which reflections210will be used to generate a 3-D image of the welded joint10.

In one or more embodiments, in an additional optional step414, the engine further comprises a merger module that creates an evaluation report345for each weld10of the welded object100. The merger module326contains a database template to designate the display locations of the fields representing the multidimensional representation344the welded object100, selected inspection data from the PAUT inspection and the exported plurality of ultrasound images200within the evaluation report345. Once implemented, the merger module326may function to extract the341selected PAUT inspection data and ultrasound images200stored in memory328from the export module322and the representation344of each PAUT inspected weld10from the transformation module324for each weld10. The merger module326then imports this data to the designated display locations of the fields within the database template and creates digital document which may be presented on an output device or otherwise saved for an evaluation report345representing each welded joint10. In the event the PAUT inspection indicates the weld10contains more than one flaw, the merger module326will create an evaluation report345for each flaw122identified.

Finally in one or more embodiments, in an additional optional step416, the merger module326operates to merge each evaluation report345file into a master report PDF or word processing editable file for presentation. The merger module326is operable to extract and include a summary of the PAUT inspection equipment data, PAUT calibration data, and the welding design parameters of the plurality of welded joints10a,10b,10c,10d, etc. within the welded object100for inclusion in the master report.

FIG. 5is a flow chart of an alternative method500for the graphical representation and data presentation of weld inspection results. For purposes of this discussion, method500is described using system300ofFIG. 3A; however, method500in not intended to be limited thereto. Method500begins in step502by propagating energy into a welded joint10aof a welded object100. In an embodiment, a PAUT inspection tool102may be used to propagate either acoustic energy into a welded object100adjacent a welded joint10a. To the extent the welded object100is a pipe, the PAUT inspection tool102may begin at a reference point l0on the pipe and may be moved along the entire circumference of the pipe adjacent the welded joint10. Alternatively, the PAUT inspection tool102may be only moved along the circumference of the pipe that has been welded.

As the PAUT inspection tool102is moved along the circumference of the pipe, in step504a waveform image of the propagated energy is obtained by the PAUT inspection tool102. In certain embodiments the acoustic energy returns to the PAUT inspection tool102in the form of reflected signals124which may be converted to electronic-amplitude signals and displayed as a variety of waveform images such as an A-scan image202, a S-scan image204, a tomographic image206or a B-scan image208.

In step506a multidimensional representation of the object welded100is identified. In this regard, a library of models may be maintained and the model most closely resembling the welded object100may be selected. For example, a model library may contain a two-dimensional or three-dimensional representation of a pipe, a plate, a beam or some other object. A model may be selected from the library that most closely resembles the welded object100. In one or more embodiments, the user may be queried about the dimensioning and/or parameters of the welded object100under investigation this data may be associated with the selected model. For example, a pipe may be selected from the model library to represent a welded object100being inspected. The user may be queried about the inner diameter, the outer diameter and length of the welded object100and the dimensioning data may be utilized to generate a proportional image of the welded object100accordingly.

Alternatively in step506, the user may simply be queried about the dimensioning and/or parameters of the welded object100under investigation this data may be used to generate an image of the welded object100under investigation. For example, a user may input an inner diameter, an outer diameter and a length for a welded object100. Using this data, an image of the welded object100may be generated.

In step508the waveform image is superimposed on the multi-dimensional representation of the welded object100. In this regard reference point l0, may be used as a basis for aligning the waveform image of the propagated energy on to the multi-dimensional representation of the welded object100.

FIG. 6is a block diagram of an exemplary computer system600in which embodiments of the present disclosure may be implemented. For example, the components of system300ofFIG. 3Ain addition to the steps of method400ofFIG. 4and/or method500ofFIG. 5, as described above, may be implemented using system600. System600can be a computer, phone, PDA, or any other type of electronic device. Such an electronic device includes various types of computer readable media and interfaces for various other types of computer readable media. As shown inFIG. 5, system600includes a permanent storage device602, a system memory604, an output device interface606, a system communications bus608, a read-only memory (ROM)610, processing unit(s)612, an input device interface614, and a network interface616.

Bus608collectively represents all system, peripheral, and chipset buses that communicatively connect the numerous internal devices of system600. For instance, bus608communicatively connects processing unit(s)612with ROM610, system memory604, and permanent storage device602.

ROM610stores static data and instructions that are needed by processing unit(s)612and other modules of system600. Permanent storage device602, on the other hand, is a read-and-write memory device. This device is a non-volatile memory unit that stores instructions and data even when system600is off. Some implementations of the subject disclosure use a mass-storage device (such as a magnetic or optical disk and its corresponding disk drive) as permanent storage device602.

Other implementations use a removable storage device (such as a floppy disk, flash drive, and its corresponding disk drive) as permanent storage device602. Like permanent storage device602, system memory604is a read-and-write memory device. However, unlike storage device602, system memory604is a volatile read-and-write memory, such a random access memory. System memory604stores some of the instructions and data that the processor needs at runtime. In some implementations, the processes of the subject disclosure are stored in system memory604, permanent storage device602, and/or ROM610. For example, the various memory units include instructions for computer aided pipe string design based on existing string designs in accordance with some implementations. From these various memory units, processing unit(s)612retrieves instructions to execute and data to process in order to execute the processes of some implementations.

Bus608also connects to input and output device interfaces614and606. Input device interface614enables the communication of information and selection of commands to the system600. Input devices used with input device interface614include, for example, alphanumeric, QWERTY, or T9 keyboards, microphones, and pointing devices (also called “cursor control devices”). Output device interfaces606enables, for example, the display of images generated by the system600. Output devices used with output device interface606include, for example, printers and display devices, such as cathode ray tubes (CRT) or liquid crystal displays (LCD). Some implementations include devices such as a touchscreen that functions as both input and output devices. It should be appreciated that embodiments of the present disclosure may be implemented using a computer including any of various types of input and output devices341for enabling interaction with a user. Such interaction may include feedback to or from the user in different forms of sensory feedback including, but not limited to, visual feedback, auditory feedback, or tactile feedback. Further, input can be received in any form including, but not limited to, acoustic, speech, or tactile input. Additionally, interaction with the input device614may include transmitting and receiving different types of information, e.g., in the form of documents, to and from the input device614via the above-described interfaces.

Also, as shown inFIG. 6, bus608also couples system600to a public or private network (not shown) or combination of networks through a network interface616. Such a network may include, for example, a local area network (“LAN”), such as an Intranet, or a wide area network (“WAN”), such as the Internet. Any or all components of system600can be used in conjunction with the subject disclosure.

While the above discussion primarily refers to microprocessor or multi-core processors that execute software, some implementations are performed by one or more integrated circuits, such as application specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs). In some implementations, such integrated circuits execute instructions that are stored on the circuit itself. Accordingly, the steps of method400ofFIG. 4and/or method500ofFIG. 5, as described above, may be implemented using system300or any computer system having processing circuitry or a computer program product including instructions stored therein, which, when executed by at least one processor, causes the processor to perform functions relating to these methods.

As used in this specification and any claims of this application, the terms “computer”, “server”, “processor”, and “memory” all refer to electronic or other technological devices. These terms exclude people or groups of people. As used herein, the terms “computer readable medium” and “computer readable media” refer generally to tangible, physical, and non-transitory electronic storage mediums that store information in a form that is readable by a computer.

The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. In some embodiments, a server transmits data (e.g., a web page) to a client device (e.g., for purposes of displaying data to and receiving input from a (I/O) device341interacting with the client device). Data generated at the client device (e.g., a result of the (I/O) device341interaction) can be received from the client device at the server.

Furthermore, the exemplary methodologies described herein may be implemented by a system including processing circuitry or a computer program product including instructions which, when executed by at least one processor, causes the processor to perform any of the methodology described herein.

Thus, a computer implemented method for the graphical representation and data presentation of weld inspection results has been described herein, wherein the method includes obtaining an ultrasound image and phased array ultrasonic testing (PAUT) inspection data from a PAUT inspection of the welded object, creating a multi-dimensional representation of the welded object; and superimposing the ultrasound image onto the multi-dimensional representation of the welded object.

For the foregoing embodiment, the method may include any of the following steps alone or in combination with each other:Propagating an acoustical signal through each welded joint during the PAUT inspection and displaying at least three reflections.Creating a three-dimensional representation of the welded object.Obtaining a plurality of ultrasound images and phased array ultrasonic testing (PAUT) inspection data from a PAUT inspection and grouping the plurality of ultrasound images and the PAUT inspection data from the PAUT inspection by weld size, weld layout or weld type.Determining whether the plurality of ultrasound images and PAUT inspection data from the PAUT inspection are improperly grouped with respect to weld size, weld layout or weld type.Including a reference point on the welded object that correlates to a reference point on the multi-dimensional representation.Obtaining spatial and magnitude information of a flaw from the PAUT inspection of the welded object.Obtaining information related to equipment used during the PAUT inspection of the welded object.Obtaining information related to the calibration of the PAUT inspection.Obtaining information related to welding design parameters of the plurality of welded joints and the welded object.Determining whether a flaw has been identified in each welded joint.Presenting a listing of welded joints in which flaws have been identified and the plurality of ultrasound images related to a selected welded joint using a graphical user interface via a display of a computing device.Selecting an image from the plurality of exported ultrasound images to create the multi-dimensional representation of the PAUT inspected welded object.Creating a multi-dimensional representation of the PAUT inspected welded joint by:transforming a selected image from the plurality of exported ultrasound images into the shape of the representative image of the welded joint;obtaining a multi-dimensional digital copy of the representative image of the welded joint; andsuperimposing the selected image from the exported ultrasound images on to the representative image of the welded joint.Merging the multi-dimensional representation of the PAUT inspected welded joint, user selected PAUT inspection data from the PAUT inspection and the ultrasound image into an evaluation report for each welded joint.Merging the multi-dimensional representation of the welded joint, the user selected PAUT inspection data from the PAUT inspection and the exported ultrasound images into an evaluation report for each welded joint by:providing a database template to designate a display location of the 3-D representation of the welded joint, the user selected PAUT inspection data from the PAUT inspection and the exported ultrasound images for each welded joint for each welded joint in the evaluation report; andplacing the extracted 3-D representation of the welded joint, the user selected PAUT inspection data from the PAUT inspection and the exported ultrasound images into the designated display locations within the database template for presentation within the evaluation report for each welded joint.Merging the evaluation report for each welded joint within the plurality of welded joint within the welded object into a master report.Merging the evaluation report for each welded joint with the plurality of welded joints of the welded object into a master report further comprises importing the phased array ultrasonic testing (PAUT) inspection data from a PAUT inspection into the master report.

Additionally an alternate embodiment of a computer implemented method for the graphical representation and data presentation of weld inspection results has been described herein, wherein the method includes propagating energy into a welded joint of an object, obtaining a waveform image of the propagated energy, identifying a multi-dimensional representation of the object, and superimposing the waveform image onto the multi-dimensional representation of the object.

For the foregoing embodiment, the method may include any of the following steps alone or in combination with each other:Propagating acoustic energy through the object.Creating a three dimensional image of the multi-dimensional representation.Identifying a reference point on the object; propagating energy into the welded joint at distinct locations along the surface of the object relative to the reference point; and superimposing the waveform image on the multi-dimensional object utilizing the reference point.Selecting a multi-dimensional representation that has the same shape as the object and attributing dimensions to the representation that correspond with dimensions of the object.

Selecting the multi-dimensional representation from a library of shapes.Generating the multi-dimensional representation based on the dimensions of the object.When the object is a pipe having a circumference with a welded joint extending about a least a portion of the circumference; directing energy into the welded joint from a plurality of spaced locations on the surface of the pipe along the welded joint.When the object is a pipe having a circumference with a welded joint extending about an entire portion of the circumference; directing energy into the welded joint from a plurality of spaced locations along the entire surface of the pipe along the welded joint.Additionally a system for the graphical representation and data presentation of weld inspection results has been described. Embodiment of the system may include an external memory and an engine. Other embodiments of the system may generally include an external memory and an engine, the engine including an export module, a transformation module, a merger module, a memory, and a GUI. In other embodiments, the engine and export module may be communicatively coupled to one another via an internal bus of the system. Further, in other embodiments, the engine may be operably and communicatively coupled to a network interface.

For any of the foregoing embodiments, the system for the graphical representation and data presentation of weld inspection results may further include any one of the following elements, alone or in combination with each other:at least one processor; anda memory coupled to the processor having instructions stored therein, which when executed by the processor, cause the processor to perform functions, including functions to:obtain a plurality of ultrasound images and phased array ultrasonic testing (PAUT) inspection data from a PAUT inspection of each the plurality of welded joints within the welded object;group the plurality of ultrasound images and the PAUT inspection data from the PAUT inspection by a predetermined characteristic within a computer readable medium;export the plurality of ultrasound images and the PAUT inspection data from the PAUT inspection for each welded joint within the plurality of welded joints from the computer readable medium;create a multi-dimensional representation of a PAUT inspected welded joint for each welded joint within the plurality of welded joints by selecting one of the plurality of exported ultrasound images and superimposing it on to a multi-dimensional representative image of the welded joint;merge the multi-dimensional representation of the welded joint, user selected PAUT inspection data from the PAUT inspection and the plurality of exported ultrasound images into an evaluation report for each welded joint; andmerge the evaluation report for each welded joint within the plurality of welded joints of the welded object into a master report.A processor which further functions to determine whether an acoustical signal generated during a phased array ultrasonic testing (PAUT) inspection indicates a flaw within each welded joint.A processor which further functions to export the PAUT inspection data from the PAUT inspection comprising spatial and magnitude information of the flaw if the flaw in the event the processor determines a flaw is present.A processor which further functions to obtain information related to equipment used during the PAUT inspection from the grouped PAUT inspection data.A processor which further functions to obtain information related to the calibration of the PAUT inspection from the exported PAUT inspection data.A processor which further functions to obtain information related to welding design parameters of the plurality of welded joints and the welded object from the exported PAUT inspection data.A GUI operably connected to the at least one processor, the memory, a display of a computing device, and a user input device coupled to computing device wherein the graphical user interfaces functions to display:a list of welded joints in which flaws have been identified; anda plurality of ultrasound images related to a selected welded joint.A GUI which further functions to allow selection of an image from the plurality of exported ultrasound images to create a 3-D representation the PAUT inspected welded joint using the user input device coupled to the computing device.A processor which further functions to:transform a selected image from the plurality of exported ultrasound images into the shape of the representative image of the welded joint;obtain a multi-dimensional digital copy of the representative image of the welded joint; andsuperimpose the selected image from the plurality of exported ultrasound images on to the representative image of the welded joint;thereby creating the multi-dimensional representation of the PAUT inspected welded joint.A processor which further functions to:use a database template to designate a display location of the multi-dimensional representation of the PAUT inspected welded joint, the user selected PAUT inspection data from the PAUT inspection and the plurality of exported ultrasound images for each welded joint in the evaluation report;group the multi-dimensional representation of the PAUT inspected welded joint, the user selected PAUT inspection data from the PAUT inspection and the plurality of exported ultrasound images; andplace the extracted the multidimensional representation of the PAUT inspected welded joint, the user selected PAUT inspection data from the PAUT inspection and the exported ultrasound images into the designated display locations within the database template for presentation within the evaluation report for each welded joint.A processor which further functions to import the PAUT inspection data from a PAUT inspection into the master report.

In yet a further embodiment the system for the graphical representation and data presentation of weld inspection results may comprise a computer-readable storage medium having instructions stored therein, which when executed by a computer cause the computer to perform a plurality of functions, including functions to:obtain a plurality of ultrasound images and phased array ultrasonic testing (PAUT) inspection data from a PAUT inspection of each the plurality of welded joints within a welded object;group the plurality of ultrasound images and the PAUT inspection data from the PAUT inspection by a predetermined characteristic within a computer readable medium;export the plurality of ultrasound images and the PAUT inspection data from the PAUT inspection for each welded joint within the plurality of welded joints from the computer readable medium;create a multi-dimensional representation of a PAUT inspected welded joint for each welded joint within the plurality of welded joints by selecting one of the exported ultrasound images and superimposing it on to a multi-dimensional representative image of the welded joint;merge the multi-dimensional representation of the PAUT inspected welded joint, user selected PAUT inspection data from the PAUT inspection and the exported ultrasound images into an evaluation report for each welded joint; andmerge the evaluation report for each welded joint within the plurality of welded joints of the welded object into a master report.

While specific details about the above embodiments have been described, the above hardware and software descriptions are intended merely as example embodiments and are not intended to limit the structure or implementation of the disclosed embodiments. For instance, although many other internal components of the system600are not shown, those of ordinary skill in the art will appreciate that such components and their interconnection are well known.

In addition, certain aspects of the disclosed embodiments, as outlined above, may be embodied in software that is executed using one or more processing units/components. Program aspects of the technology may be thought of as “products” or “articles of manufacture” typically in the form of executable code and/or associated data that is carried on or embodied in a type of machine readable medium. Tangible non-transitory “storage” type media include any or all of the memory or other storage for the computers, processors or the like, or associated modules thereof, such as various semiconductor memories, tape drives, disk drives, optical or magnetic disks, and the like, which may provide storage at any time for the software programming.

The above specific example embodiments are not intended to limit the scope of the claims. The example embodiments may be modified by including, excluding, or combining one or more features or functions described in the disclosure.

As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprise” and/or “comprising,” when used in this specification and/or the claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the embodiments in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the disclosure. The illustrative embodiments described herein are provided to explain the principles of the disclosure and the practical application thereof, and to enable others of ordinary skill in the art to understand that the disclosed embodiments may be modified as desired for a particular implementation or use. The scope of the claims is intended to broadly cover the disclosed embodiments and any such modification.