Patent Description:
Ultrasonic testing is one type of NDT. Ultrasound is acoustic (sound) energy in the form of waves that have an intensity (strength) which varies in time at a frequency above the human hearing range. In ultrasonic testing, an ultrasonic probe can generate one or more ultrasonic waves and these waves can be directed towards a target in an initial pulse. As the ultrasonic waves contact and penetrate the target, they can reflect from features such as outer surfaces and interior defects (e.g., cracks, porosity, etc.). The ultrasonic probe can also acquire ultrasonic measurements, acoustic strength as a function of time for example, that characterize these reflected ultrasonic waves and the inspected material. Subsequently, ultrasonic measurements can be analyzed to determine characteristics of the components or test pieces.

A digital twin is a digital replica of a physical asset, environment, and/or a system. Digital twins can be used to project physical objects or configurations of physical objects into a digital environment.

In one aspect, a system is provided to ultrasonically test a test piece within an ultrasonic testing environment using a digital twin representation. The system is defined in claim <NUM>.

In another aspect, a method is provided. The method is defined in claim <NUM>.

Those skilled in the art will understand that the systems, devices, and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the present invention is defined solely by the claims.

Ultrasonic testing can be performed in an ultrasonic testing environment using ultrasonic probes. The ultrasonic probes can be used for non-destructive testing of test pieces within the testing environment and can include ultrasonic transducers that are configured to transmit and/or receive ultrasonic waves. The strength of ultrasonic waves reflected from the test piece features (e.g., geometric boundaries, material flaws, etc.), as well as the amount of time that elapses between transmitting an ultrasonic wave and receiving the reflected ultrasonic wave, can vary depending on the test piece material, the location of the test piece features with respect to the ultrasonic transducer, and/or the shape of the test piece feature. Ultrasonic testing can be performed in a laboratory setting using an ultrasound tank to precisely capture the ultrasonic measurements of test pieces in a controlled environment.

Ultrasonic testing of components or test pieces can be performed in an ultrasound testing tank filled with water. In the ultrasound testing tank, an ultrasound probe can be positioned with specific alignment in terms of for example distance and angles with respect to the test piece. The ultrasound probe can be configured to emit ultrasound signals and receive signals which are reflected back to the ultrasound probe from the test piece. The reflected signals can be recorded as ultrasonic measurements which are associated with characteristics of the test piece.

Software can be used to control the positioning and alignment of the ultrasound probe in relation to the test piece. Such systems require an experienced user who must slowly position and align the probe in an accurate manner in order to avoid a collision with the test piece. The experienced user must slowly advance the ultrasound probe into the desired location necessary to accurately conduct the ultrasonic testing of the test piece which can extend the duration of the ultrasonic testing. In addition, such systems can provide limited feedback to the user regarding the location of the ultrasound probe relative to the test piece. The user can be limited to viewing only the reflected ultrasound signal in order to accurately position the probe. In addition, grease or oil which may be present in or on the test piece can contaminate the water in the ultrasound testing tank. The contaminated water can become opaque and further diminishes the ability to see probe and test piece. In this way, it can be difficult for a user to visually position the ultrasound probe in relation to the test piece.

Aligning the ultrasonic probe with respect to the test piece to perform testing in the ultrasonic testing environment can be a manual, time-consuming process, especially for inexperienced users. Yet, properly positioning the ultrasonic probe in relation to the test piece can be critical to ensure that the ultrasonic testing produces accurate measurements of the test piece. To improve aligning the ultrasonic probe with the test piece, a three-dimensional model, such as a digital twin of the ultrasonic testing environment can be used to provide coordinate system data defining the geometric dimensions and features of the ultrasonic testing environment and a test piece therein. Digital twins can provide a three-dimensional model or digital representation of a component, such as a valve in an aircraft engine, as well as the dynamics that may be associated with the component in a particular environment, for example the motions of the valve as it interacts with a cylinder head inside the aircraft engine. Digital twins can be used to provide a consistent digital representation of a particular physical environment in which test components are to be ultrasonically evaluated. Accordingly, systems and methods for generating a three-dimensional, digital twin representation of the ultrasonic testing environment are provided. The digital twin representation can provide a three-dimensional model of the ultrasonic testing environment that can be used to more accurately visualize and determine the positioning of the ultrasonic probe in relation to the test piece, as well as particular paths that the ultrasonic probe can travel to perform the ultrasonic testing.

In general, systems and methods are provided for generating a digital twin representation of an ultrasonic testing environment. The generated digital twin representation can enable more precise positioning of probe assemblies and/or ultrasonic probes when performing ultrasonic testing in the ultrasonic test environment. Alignment of the probe assemblies and/or ultrasonic probes can be slow and require an experience user to perform the ultrasonic testing using conventional systems and methods. In contrast, the generated digital twin representation can provide users with a more accurate representation of the geometric features of the ultrasonic testing environment than can be acquired otherwise using the conventional systems or methods. In this way, a probe assembly and/or an ultrasonic probe can be positioned relative to a test piece with a greater degree of precision in order to avoid damaging the probe assembly, ultrasonic probe, and/or test piece due to collisions that may occur when these elements are positioned relative to one another without the aid of a digital twin representation. In addition, the generated digital twin representation can reduce the amount of time to perform ultrasonic testing as a result of providing users with a more accurate depiction of the geometric features and dimensions of the ultrasonic testing environment. The generated digital twin representation can also be used to automate ultrasonic testing by providing specific paths for the probe assembly or ultrasonic probe to traverse within the ultrasonic testing environment. For example, the generated digital twin representation can be used to perform an ultrasonic testing scan of a test piece at a constant distance and/or constant angle of the ultrasound probe relative to the test piece. The generated digital twin representation can also be used to determine the position of the probe assembly and/or ultrasonic probe necessary to perform ultrasonic testing along one or more of the paths to be traversed during the ultrasonic testing.

Embodiments of systems and corresponding methods for generating a digital twin representation of an ultrasonic testing environment are disclosed herein.

<FIG> illustrates one exemplary embodiment of a system <NUM> configured to generate a digital twin representation for use in ultrasonic testing. The system <NUM> includes a probe assembly <NUM>. The probe assembly <NUM> includes an ultrasonic probe <NUM> configured to emit a transmitted ultrasonic signal <NUM> toward the test piece <NUM> and to receive a reflected ultrasonic signal <NUM> from the test piece <NUM>. The system <NUM> also includes a controller <NUM> configured to position the probe assembly <NUM> and/or the ultrasonic probe <NUM> within the ultrasonic testing environment <NUM> in relation to the test piece <NUM>. In some embodiments, the system <NUM> includes a plurality of controllers. For example, a first plurality of controllers <NUM> can be configured to position the probe assembly <NUM>, while a second plurality of controllers <NUM> can be configured to position the ultrasonic probe <NUM>. The controller <NUM> is coupled to the processor <NUM> such that probe position data corresponding to the location of the probe assembly <NUM> and/or the ultrasonic probe <NUM> is transmitted to the processor <NUM> for use in generating the digital twin representation of the ultrasonic testing environment <NUM>. The system <NUM> also includes one or more sensors <NUM> (e.g., sensors 140A-140D). The sensors <NUM> are configured to determine the dimensions and geometric features of the ultrasonic testing environment <NUM>, as well as the test piece <NUM> positioned therein, and to generate coordinate system data associated with the ultrasonic testing environment <NUM>. The coordinate system data can represent a three-dimensional model of the ultrasonic testing environment <NUM>. The sensors <NUM> are coupled to processor <NUM>, which can be configured with executable instructions that when executed cause the sensors to generate and transmit the coordinate system data to the processor <NUM>. The processor <NUM> can generate a digital twin representation of the ultrasonic testing environment <NUM> based on the probe position data and the received coordinate system data. The processor <NUM> is also coupled to a display <NUM>, which provides a graphical user interface displaying a graphical user interface associated with the digital twin representation.

To facilitate the discussion of the system <NUM>, and various embodiments of the system and components described herein, a coordinate system reference <NUM> is provided in the upper right corner of <FIG> and is also provided in subsequent figures. The coordinate system reference <NUM> is shown with an x-axis, y-axis, and z-axis such that each axis is orthogonal to the other two axes.

As shown in <FIG>, an ultrasonic testing environment <NUM> defines a three-dimensional volume in which ultrasonic testing may be performed. In some embodiments, the ultrasonic testing environment <NUM> can be configured as, but not limited to, a rectangular tank in which a test piece <NUM> can be placed for ultrasonic testing. The ultrasonic testing environment <NUM> can be configured in a variety of arrangements which form a three-dimensional volume suitable for ultrasonic testing. In some embodiments, the ultrasonic testing environment <NUM> can include a fluidic medium, such as water (not shown), to convey the ultrasonic signals to and from the ultrasonic probe. The specific dimensions and geometric features of the ultrasonic testing environment <NUM> will be determined by the sensors <NUM> and incorporated into coordinate system data included in the generated digital twin representation.

As further shown in <FIG>, a test piece <NUM> is positioned within the ultrasonic testing environment <NUM>. The test piece <NUM> is the objective target of the ultrasonic testing performed within the ultrasonic testing environment <NUM>. The test piece <NUM> can be any object for which ultrasonic test data is to be acquired. For example, the test piece <NUM> can be an internal component of an aircraft engine that is being evaluated for material defects present within the component. The test piece <NUM> can be located at any location within the ultrasonic testing environment <NUM> suitable for accurately performing ultrasonic testing. The test piece <NUM> can be located with respect to specific pre-determined reference locations within the ultrasonic testing environment <NUM>. For example, the test piece <NUM> can be located atop a block positioned on the floor of the ultrasonic testing environment <NUM> in order to bring the test piece <NUM> within range of the ultrasonic probe <NUM>. The specific location, orientation, dimensions, and geometric features of the test piece <NUM> will be acquired by the sensors <NUM> and incorporated into the coordinate system data for use in generating the digital twin representation of the ultrasonic testing environment <NUM>.

As shown in <FIG>, the system <NUM> includes a probe assembly <NUM> and an ultrasonic probe <NUM> coupled to the probe assembly <NUM>. The probe assembly <NUM> can include a plurality of motors or positioning devices (not shown) which are configured to adjust the position of the probe assembly <NUM> and the ultrasonic probe <NUM> in three or more degrees of freedom relative to the test piece <NUM> within the ultrasonic testing environment <NUM>. The motors or positioning devices can be coupled to the controller <NUM> and can receive inputs from the controller <NUM> to adjust the position of the probe assembly <NUM> (and the ultrasonic probe <NUM>). For example, the motors or positioning devices can be configured to position the probe assembly <NUM> and/or the ultrasonic probe <NUM> in regard to any of the x, y, or z-axes shown in coordinate system reference <NUM>. In some embodiments, the motors or positioning devices can be configured to position the probe assembly <NUM> and/or the ultrasonic probe <NUM> in regard to one or more combinations of the x, y, or z-axes. Additionally, the plurality of motors or positioning devices can also be configured rotate the probe assembly <NUM> and the ultrasonic probe <NUM> about the x, y, and z-axes thereby adjusting the yaw, pitch, and roll of the probe assembly <NUM> and the ultrasonic probe <NUM> to achieve six degrees of freedom. In this way, the probe assembly <NUM> (and/or the ultrasound probe <NUM>) can be positioned in a variety of locations within the ultrasound testing environment <NUM>. Once positioned relative to the test piece <NUM>, the ultrasound probe <NUM> is configured to emit a transmitted ultrasonic signal <NUM> in the direction of the test piece <NUM> and to receive a reflected ultrasonic signal <NUM>.

As further shown in <FIG>, the probe assembly <NUM> is coupled to controller <NUM>. The controller <NUM> can include executable instructions, which when executed, adjust the location of the probe assembly <NUM> and/or the ultrasonic probe <NUM> via the one or more motors or positioning devices described above.

As shown in <FIG>, the system <NUM> includes a plurality of sensors <NUM>, for example, sensors 140A-140D. The sensors <NUM> are coupled to the processor <NUM> and can be configured to detect the specific dimensions and geometric features of the ultrasonic testing environment <NUM>, the ultrasonic probe <NUM>, as well as the test piece <NUM>. The detected dimensions and geometric features can then be received by the processor <NUM> as coordinate system data and used to generate a digital twin representation of the ultrasonic testing environment <NUM>. As shown in <FIG>, each of the sensors <NUM> are located in a corner of the ultrasonic testing environment <NUM> and elevated to be positioned near the top of the rectangular tank. The location of the sensors <NUM> can vary based on the type of sensor <NUM>, the configuration of the ultrasonic testing environment <NUM>, the size and/or shape of the test piece <NUM>, as well as the configuration of the probe assembly <NUM>. For example, the sensors <NUM> can be located on the sides or bottom of the ultrasonic testing environment <NUM>. In some embodiments, the sensors <NUM> can be located outside of the ultrasonic testing environment <NUM>. Exemplary sensors <NUM> include tactile and non-tactile sensors. Non-tactile sensors <NUM> can include ultrasonic sensors, optical sensors utilizing visible wavelengths, and sensors utilizing non-visible wavelengths such as infrared sensors. Tactile sensors <NUM> can include sensors configured to detect dimensions or geometric features of the ultrasonic testing environment <NUM> (and the test piece <NUM>) via touch, such as the contact pressure or force measured between the sensor surface and a surface of the ultrasonic testing environment <NUM> (and/or the test piece <NUM>). Tactile sensors <NUM> can include, for example, capacitive tactile sensors, piezo-resistive tactile sensors, piezoelectric tactile sensors, and/or optical tactile sensors.

The digital twin can include potential movements of the ultrasonic probe <NUM> and/or the test piece <NUM>. The ultrasonic probe <NUM> can be moved to the extremities of the ultrasonic testing environment <NUM> to embrace potential movements into the digital twin. The test piece <NUM> optionally, can also be moved, such as by a turntable, shifting table, or a tailstock. In many ultrasonic testing applications the ultrasonic probe <NUM> can describe a scan path, for example an irregular or meandering path for flat products. In some embodiments, the ultrasonic probe <NUM> can be configured to perform a linear scan path. Additionally, or alternatively, the ultrasonic probe <NUM> can be configured to perform a collision-avoidance scan path such that the ultrasonic probe <NUM> will not collide with the test piece <NUM> and/or the ultrasonic testing environment <NUM>. The scan path used for inspection depends on the material and the purpose of the inspection, for example the scan path can be based on defects or features that need to be found. When a digital twin includes potential movements of the ultrasonic probe <NUM> and/or the test piece <NUM>, it is easier to perform inspections rapidly and precisely without the risk of potential collisions.

As shown in <FIG>, the system <NUM> also includes processor <NUM>. The processor <NUM> is coupled to controller <NUM>, sensors <NUM>, and display <NUM>. The processor <NUM> includes executable instructions, which when executed, perform processing necessary to generate a digital twin representation of the ultrasonic testing environment <NUM>. For example, the processor <NUM> can be configured to transmit instructions to the controller <NUM> to adjust the location of the probe assembly <NUM> and/or the ultrasonic probe <NUM>. The processor <NUM> can receive probe position data from the controller <NUM> identifying the specific location of the probe assembly <NUM> and/or the ultrasound probe <NUM> within the ultrasound testing environment <NUM>. The processor <NUM> can also be configured to transmit instructions to the sensors <NUM> to detect the dimensions and geometric features of the ultrasonic testing environment <NUM> and to the generate coordinate system data associated with the ultrasonic testing environment <NUM>. The coordinate system data may be transmitted from the sensors <NUM> to the processor <NUM> and processed to generate the digital twin of the ultrasonic testing environment <NUM>. In some embodiments, the processor can be located remotely from the ultrasonic testing environment <NUM>. In other embodiments, the processor <NUM> can be co-located with the ultrasonic testing environment <NUM>.

As further shown in <FIG>, the system <NUM> includes a display <NUM>. The display <NUM> is coupled to the processor <NUM> and includes a graphical user interface displaying the digital twin representation in embodiments of the system including a vision system which will be described later in regard to <FIG> and <FIG>. The display <NUM> can be, without limitation, any component or functionality configured to provide visual or textual data associated with the generated digital twin representation. For example, the display <NUM> can include a desktop computer, a laptop, a wireless tablet, or a smart phone and can display a variety of data including probe position data, coordinate system data of the ultrasonic testing environment <NUM>, positioning data related to the test piece <NUM>, and/or multiple paths that can be associated with movements of the probe assembly <NUM> and/or the ultrasonic probe <NUM>. In some embodiments, the display <NUM> can be co-located with the ultrasonic testing environment <NUM> and/or the processor <NUM> to which it is coupled. In other embodiments, the display <NUM> can be located remotely from the ultrasonic testing environment <NUM> and/or the processor <NUM>.

<FIG> is a diagram illustrating another exemplary embodiment of a system <NUM> configured to generate a digital twin representation of the ultrasonic testing environment <NUM>. System <NUM> includes the same components of the system <NUM> described in relation to <FIG>, however, in the system <NUM> a plurality of embodiments related to the sensors <NUM> are shown. In one embodiment, the system <NUM> includes a plurality of sensors <NUM> that are positioned outside of the ultrasonic testing environment <NUM>. For example, sensors 140A and 140B are positioned outside of (e.g., above) a portion of the ultrasonic testing environment <NUM>. In this way, the sensors 140A and/or 140B can acquire and generate coordinate system data from a location which provides an alternate (e.g., better, enhanced, or different) determination of the coordinate system data to be incorporated into the digital twin representation, as compared to coordinate sensor data acquired by sensors <NUM> at a location inside the ultrasonic testing environment <NUM>. A user can configure the location of sensors <NUM> based on the configuration of the ultrasonic testing environment <NUM>, the test piece <NUM>, and/or the objective of the ultrasonic testing being performed.

As further shown in <FIG>, a second exemplary embodiment of system <NUM> is shown. The system <NUM> includes a plurality of sensors <NUM> located inside and outside of the ultrasonic testing environment <NUM>. For example, sensors 140A and 140B are positioned outside of the ultrasonic testing environment <NUM>, while sensors 140C and 140D are positioned inside the ultrasonic testing environment <NUM>. The sensors can include a combination of tactile and non-tactile sensors. For example, sensors 140A and 140B are non-tactile sensors such as optical, infrared, or ultrasound sensors. The non-tactile sensors are used to generate coordinate system data for use in the digital twin representation based on acquired image data (e.g., in the case of optical sensors) and/or the reflection of signals from the structural boundaries, dimensions, and/or geometric features of the ultrasonic testing environment <NUM> and/or the test piece <NUM> (e.g., in the case of infrared and/or ultrasonic sensors). Additionally, or alternatively, the system <NUM> includes tactile sensors, such as sensors 140C and 140D. Tactile sensors 140C and 140D can determine and generate coordinate system data for use in the digital twin representation based on positioning the tactile sensors 140C and/or 140D in contact with a location or surface corresponding to a geometric feature of the ultrasonic testing environment <NUM> and/or the test piece <NUM>. In this way, the sensors 140C and 140D can determine the coordinate system data based on a distance traveled from the location of the sensor 140C and/or 140D to the structural boundary or geometric feature being measured. For example, sensors 140C and 140D may be configured with gimballed, robotic arms enabling movement of the sensor <NUM> along the x, y, and z axes into physical contact with the geometric feature, such as a surface of the test piece <NUM> or a surface of the ultrasonic testing environment <NUM>, in order to generate the three-dimensional coordinate system data associated with one or more portions of the ultrasonic testing environment <NUM> and/or the test piece <NUM>.

<FIG> illustrates one exemplary embodiment of a method <NUM> for generating a digital twin representation of an ultrasonic testing environment. In certain embodiments, the method <NUM> can be performed by the system <NUM> of <FIG>, and specifically by the processor <NUM>.

In operation <NUM>, the processor <NUM> receives probe position data. The probe position data can be generated by the controller <NUM> and transmitted to the processor <NUM> for use in generating a digital twin representation of the ultrasonic testing environment <NUM>. The probe position data can be generated by the controller <NUM> based on the location, position, orientation, and/or movement of the probe assembly <NUM> and/or the ultrasonic probe <NUM> along one or more coordinate system axes (e.g., x, y, and/or z axes). In some embodiments the probe position data can be generated by the plurality of sensors <NUM> based on sensing the location, position, orientation, and/or movement of the probe assembly <NUM> and/or the ultrasonic probe <NUM>. The probe position data can include coordinate system data associated with the location, position, orientation, and/or movement of the probe assembly <NUM> and/or the ultrasonic probe <NUM> within the ultrasonic testing environment <NUM>. In some embodiments, the probe position data can include one or more of cartesian coordinate data, polar coordinate data, cylindrical coordinate data, spherical coordinate data, homogenous coordinate data, curvilinear coordinate data, log-polar coordinate data, or Plücker coordinate data. In some embodiments, the probe position data can enable determination of one or more paths that the probe assembly <NUM> and/or the ultrasonic probe <NUM> may traverse in the ultrasonic testing environment <NUM>. For example, the one or more paths can define a sequence of movements for the probe assembly <NUM> to traverse along one or more locations in the ultrasonic testing environment <NUM> in order to accurately perform a scan of the test piece <NUM> during ultrasonic testing. In some embodiments, the probe position data can be generated by the controller <NUM> (and/or the sensors <NUM>) in relation to a pre-determined reference point or reference coordinate system associated with the ultrasonic testing environment <NUM>.

In operation <NUM>, the processor <NUM> receives coordinate system data associated with the ultrasonic testing environment <NUM>. The sensors <NUM> detect and generate coordinate system data and transmit the coordinate system data to the processor <NUM> to be incorporated into a digital twin representation of the ultrasonic testing environment <NUM>. The coordinate system data can include a plurality of coordinate system data points which can correspond to one or more locations or geometric features associated with the ultrasonic testing environment <NUM> and/or the test piece <NUM>. The coordinate system data can describe the dimensional attributes and geometric configuration of the three-dimensional space represented by the ultrasonic testing environment <NUM> with regards to the x, y, and z axes. In this way, a determination of each specific location within the volumetric space associated with the ultrasonic testing environment <NUM> can be made in order to generate the digital twin representation of the ultrasonic testing environment <NUM>. The coordinate system data can include one or more of cartesian coordinate data, polar coordinate data, cylindrical coordinate data, spherical coordinate data, homogenous coordinate data, curvilinear coordinate data, log-polar coordinate data, or Pliicker coordinate data. Additionally, or alternatively, the processor <NUM> can receive test piece coordinate data. The test piece coordinate data can be used to generate the digital twin representation. In some embodiments, the test piece coordinate data can include data related to the position of the test piece <NUM> and/or data associated with the movement of the test piece <NUM>. In some embodiments, the test piece coordinate data can include
In operation <NUM>, the processor <NUM> generates a digital twin representation of the ultrasonic testing environment <NUM>. Based on receiving the probe position data and the coordinate system data, the processor <NUM> can combine the probe position data describing the location and movements of the probe assembly <NUM> and/or the ultrasonic probe <NUM> with the coordinate system data describing the three-dimensional space and geometric features of the ultrasonic testing environment <NUM> and/or the test piece <NUM> to generate the digital twin representation. The digital twin representation represents a virtual, three-dimensional model of the ultrasonic testing environment <NUM> and the objects contained therein (e.g., a test piece <NUM>). In some embodiments, the generated digital twin representation can include the test piece <NUM>. The digital twin representation thus enables a user to visualize the ultrasonic testing environment <NUM> as coordinate system data, such that any specific location within the digital twin representation has a corresponding physical location in the ultrasonic testing environment <NUM>. In this way, a user can, for example, determine a specific location in the digital twin representation (e.g., a location defined in the coordinate system data) associated with a corresponding location in the physical ultrasonic testing environment <NUM> so that the user can accurately position the probe assembly <NUM> and/or ultrasonic probe <NUM> to conduct ultrasonic testing of the test piece <NUM>. As a result, the user can utilize the digital twin representation to position the probe assembly <NUM> and/or ultrasonic probe <NUM>, relative to the test piece <NUM>, more accurately than if the user manually positioned the probe assembly <NUM> and/or ultrasonic probe <NUM>. Manual positioning is prone to positioning errors and collisions between the probe assembly <NUM> and/or ultrasonic probe and the test piece <NUM>. In some embodiments, the digital twin representation can include one or more locations or regions or paths which correspond to secure locations or non-testing regions within the ultrasonic testing environment <NUM>.

Generating the digital twin representation can also include determining probe position measurements corresponding to the location and orientation of the probe assembly <NUM> and/or the ultrasonic probe <NUM> within the ultrasonic testing environment <NUM>. For example, the digital twin representation can include measurement data corresponding to one or more probe position measurements such as a probe elevation measurement. The probe elevation measurement can include a distance measured between a transducer surface configured on the ultrasonic probe <NUM> and a surface of a test piece <NUM> (or a surface within the ultrasonic testing environment <NUM>) from which ultrasonic signals are reflected to the ultrasonic probe <NUM>. The probe elevation measurement can be used to determine the height of the probe assembly <NUM> and/or the ultrasonic probe <NUM> relative to the test piece <NUM> (or a surface within the ultrasonic testing environment <NUM>).

The digital twin representation can also include measurement data corresponding to one or more probe position measurements such as a probe angle measurement. The probe angle measurement corresponds to an angle measured between an axis of the ultrasonic probe <NUM> (or the probe assembly <NUM>) and a surface of the test piece <NUM> (or a surface within the ultrasonic testing environment <NUM>) from which ultrasonic signals are reflected to the ultrasonic probe <NUM>. The probe angle measurement can be used to determine the orientation of the ultrasonic probe <NUM> (or the probe assembly <NUM>) relative to an axis along which the probe assembly <NUM> is oriented.

The digital twin representation can also include a plurality of paths along which the probe assembly <NUM> and/or the ultrasonic probe <NUM> traverse within the ultrasonic testing environment <NUM>. For example, based on the coordinate system data and the probe position measurements, the generated digital twin representation can include one or more paths associated with a series of locations the probe assembly <NUM> (and/or the ultrasonic probe <NUM>) traverses through the ultrasonic testing environment <NUM> to perform a scan of a test piece <NUM> or to position the probe assembly <NUM> (or the ultrasonic probe <NUM>). In this way, each of the plurality of paths can include one or more probe positions corresponding to a specific position of the probe assembly <NUM> and/or the ultrasonic probe <NUM> defined according to the coordinate system data of the digital twin representation. For example, the digital twin representation can include one or more paths associated with moving the probe assembly <NUM> from a storage location to a location suitable for performing an ultrasonic scan of a test piece <NUM>. In another example, the digital twin representation can include one or more paths associated with a series of individual locations that the probe assembly <NUM> (and/or the ultrasonic probe <NUM>) traverses to perform an ultrasonic scan of the test piece <NUM>.

In operation <NUM>, the generated digital twin representation is provided. For example, the digital twin representation can be output for display, such as on display <NUM> included in system <NUM> shown in <FIG>. The generated digital twin representation can be provided or output and stored locally in a memory or storage component coupled to the processor <NUM>. In some embodiments, the generated digital twin representation is stored remotely from the system <NUM> and/or the processor <NUM>. The digital twin representation can be provided for import in other modeling or computer-aided design (CAD) environments or workflows.

<FIG> illustrates an exemplary embodiment <NUM> of generated probe position data associated with the ultrasonic testing environment <NUM>. As described above in relation to operation <NUM> of method <NUM>, the processor <NUM> receives probe position data. The probe position data is generated by the controller <NUM> and/or the sensors <NUM>. The probe position data corresponds to the location of the probe assembly <NUM> and/or the ultrasonic probe <NUM> within the ultrasonic testing environment <NUM> and is presented as coordinate system data (e.g., a location defined in regards to the x, y, and z axes). As shown in <FIG>, three probe positions are shown (e.g., probe positions <NUM>-<NUM>) in a top-down view of the ultrasonic testing environment <NUM> which includes test piece <NUM> positioned therein. As further shown, a coordinate system reference <NUM> is illustrated showing that in the top-down view, the x and y axis data is being determined at a given location along the z axis (e.g., z=<NUM>). In some embodiments, exemplary embodiment <NUM> may be provided in a graphical user interface of the vision system <NUM> which will be described in more detail later in relation to <FIG>. The GUI can display live-image data corresponding to the distance between the ultrasonic probe <NUM> and the test piece <NUM>, for example an A-scan representation.

As shown in <FIG>, three probe positions are shown in a top-down view of the ultrasonic testing environment <NUM>. Probe positions <NUM>-<NUM> can be determined by the controller <NUM> in relation to the location of the probe assembly <NUM> and/or the ultrasonic probe <NUM> along the x and y axes based on the digital twin representation. In some embodiments the scale or range of values associated with the x, y, and z axes can be determined by the controller <NUM>, the sensors <NUM>, and/or can be manually provided based on empirically-determined or previously determined coordinate system data associated with the ultrasonic testing environment <NUM>.

As further shown in <FIG>, the controller <NUM> can execute instructions to begin a scan of a test piece <NUM> starting from probe position <NUM> within the ultrasonic testing environment <NUM>. The controller <NUM> can determine that at probe position <NUM>, the ultrasonic probe <NUM> is centered within the probe assembly <NUM> and located at a position corresponding to coordinates <NUM>, <NUM>, <NUM> (e.g., x, y, z). The x and y coordinate values (e.g., x=<NUM> and y=<NUM>) associated with probe position <NUM> correspond to the x and y axes values at which the ultrasonic probe <NUM> is located. The z coordinate value (e.g., z=<NUM>) illustrates the location along the z axis at which the ultrasonic probe <NUM> is located.

As the controller <NUM> repositions the probe assembly <NUM> and the ultrasonic probe <NUM> from probe position <NUM> to probe position <NUM>, so that it is in closer proximity to the test piece <NUM>, the probe position data is updated. For example, the ultrasonic probe <NUM> remains centered within the probe assembly <NUM> and the ultrasonic probe <NUM> is now located at a position corresponding to coordinates <NUM>, <NUM>, <NUM>. Similarly to probe position <NUM>, the z coordinate value (e.g., z=<NUM>) illustrates that the location along the z axis at which the ultrasonic probe <NUM> is located remains the same to indicate no change in height or elevation (along the z axis) has occurred between probe positions <NUM> and <NUM>.

As the controller <NUM> repositions the probe assembly <NUM> and the ultrasonic probe <NUM> from probe position <NUM> to probe position <NUM>, the probe position data is further updated. For example, the ultrasonic probe <NUM> has now been positioned within the probe assembly <NUM> in an off-center location. Adjusting the location of the ultrasonic probe <NUM> in relation to the probe assembly <NUM> can allow for more accurate ultrasonic scans due to adjusting the angle and orientation of the transducer surface within the ultrasonic probe <NUM> relative to the probe assembly <NUM>. Depending on the size and shape of the test piece <NUM>, adjustments in the probe positioning (including the position of the probe assembly <NUM> and the position of the ultrasonic probe <NUM> relative to the probe assembly <NUM>) may be necessary to satisfactorily scan the test piece <NUM>. In probe position <NUM>, the controller <NUM> has located the ultrasonic probe <NUM> at a position corresponding to coordinates <NUM>, <NUM>, <NUM>. Similarly to probe position <NUM> and <NUM>, the z coordinate value of probe position <NUM> (e.g., z=<NUM>) illustrates that the location along the z axis at which the ultrasonic probe <NUM> is located remains the same to indicate no change in height or elevation (along the z axis) has occurred in probe positions <NUM>, <NUM> and <NUM>. The probe position data associated with each of probe positions <NUM>-<NUM> may be output by the controller <NUM> to the processor <NUM> and used to generate a digital twin representation of the ultrasonic testing environment <NUM>.

As shown in <FIG>, the sensors 140A and 140B can generate coordinate system data corresponding to the ultrasonic testing environment <NUM> and/or the test piece <NUM>. The generated coordinate system data is received by the processor <NUM> and processed to generate a digital twin representation of the ultrasonic testing environment <NUM>. As described above the sensors <NUM> can be configured to transmit signals into the ultrasonic testing environment <NUM>. Reflected signals are received at the sensors <NUM> from one or more geometric structures associated with the ultrasonic testing environment <NUM> and/or the test piece <NUM>. For example, as shown in <FIG>, the sensor 140A transmit signals toward the opposite wall of the ultrasonic testing environment <NUM> on which the sensor 140A is positioned. Upon contact with the opposite wall, the signals are reflected back to sensor 140A and a determination of coordinate system data associated with the opposite wall is made. The sensor 140A can repeatedly determine coordinate system data of the ultrasonic testing environment at multiple locations in order to develop a three-dimensional model of the dimensions and geometric structures related to the ultrasonic testing environment <NUM>. As shown in <FIG>, a plurality of x-y axis planes are shown extending along the z axis space to illustrate how the sensors <NUM> generate the coordinate system data used in the digital twin representation. The sensors <NUM> can generate coordinate system data corresponding to individual volumetric units of space that are associated with the physical dimensions and geometric structure of the ultrasonic testing environment <NUM>. In this way, the coordinate system data generated by the sensors <NUM> can be used to generate a digital twin representation depicting the same physical dimensions and geometric structures.

As further shown in <FIG>, the sensor 140B can similarly transmit signals and receive reflected signals in order to generate coordinate system data. Sensor 140B can be configured to generate coordinate system data associated with the dimensions and geometric features of the test piece <NUM>. The sensor 140B can initially detect the dimensions and location of the geometric features of the test piece <NUM> at a central location within the ultrasonic testing environment <NUM>, along the bottom surface. Upon receiving the reflected signals at a plurality of location from test piece <NUM>, the sensor 140B can determine the coordinate system data corresponding to the test piece <NUM>. The coordinate system data can be used to generate the digital twin representation of the test piece <NUM> within the digital twin representation of the ultrasonic testing environment <NUM>. In this way, the sensors <NUM> determine coordinate system data for a variety of geometric features and dimensions within the ultrasonic testing environment <NUM>. The coordinate system data can be utilized to form a virtual, three-dimensional digital twin representation of the ultrasonic testing environment <NUM> as well as any test pieces <NUM> therein. The digital twin representation can then be used to plan and perform a series of probe positioning adjustments as part of scanning a test piece <NUM> during ultrasonic testing.

<FIG> is an exemplary embodiment <NUM> of a probe assembly <NUM> and ultrasonic probe <NUM> traversing a path (e.g., path <NUM>) included in the digital twin representation of the ultrasonic testing environment <NUM> as part of scanning a test piece <NUM> during ultrasonic testing. As shown in <FIG>, a test piece <NUM> with stair-stepped geometric features is located within the ultrasonic testing environment <NUM>. Based on generating a digital twin representation of the test piece <NUM> according to the system and methods described previously in relation to <FIG>, a path of multiple probe positions can be determined to accurately scan the test piece <NUM> during ultrasonic testing.

As shown in <FIG>, a stair-stepped test piece <NUM> is arranged within the ultrasonic testing environment <NUM>. Based on the digital twin representation of test piece <NUM>, a series of probe positions can be determined to scan the test piece <NUM> during ultrasonic testing. The series of probe positions (e.g., probe positions A-E) are associated with a path (e.g., Path <NUM>) and are included in the digital twin representation of the test piece <NUM>. Based on the digital twin representation of the test piece <NUM>, the processor <NUM> transmits instructions to the controller <NUM> to conduct ultrasonic testing of the test piece <NUM> by traversing path <NUM>. The controller <NUM> scans the test piece <NUM> starting in probe position A and moves the probe assembly <NUM> and/or the ultrasonic probe <NUM> as shown through probe positions B-E, thereby scanning the test piece <NUM> in each of the five probe positions.

As further shown in <FIG>, two probe position measurements have been determined for each probe position based on the generated digital twin representation of the test piece <NUM>, a probe angle measurement, and a probe elevation measurement. The processor <NUM> has determined, based on the coordinate system data used to generate the digital twin representation of the test piece <NUM>, that upon traversing Path <NUM>, the controller <NUM> should position the probe assembly <NUM> and/or the ultrasonic probe <NUM> at a consistent probe elevation of <NUM> in each of the probe positions A-E. As a result, the controller <NUM> positions the probe assembly <NUM> and/or the ultrasonic probe <NUM> such that the transducer surface of the ultrasonic probe <NUM> is <NUM> above the surface of the test piece <NUM> in each of the five probe positions A-E. As further shown, the processor <NUM> has determined that the probe angle measurement should be <NUM> degrees (or orthogonal) based on the generated digital twin representation of the test piece <NUM>. The probe angle measurement corresponds to the angle measured between the axis of the ultrasonic probe <NUM> (and the probe assembly <NUM> to which it is coupled) and the surface of the surface of the test piece <NUM>. Due to the flat, planar shape of each of the five stair step surfaces of test piece <NUM> as represented in the digital twin representation, the processor <NUM> has determined that the controller <NUM> should position the probe assembly <NUM> and/or the ultrasonic probe <NUM> such that the probe angle measurement is <NUM> degrees at each of the probe positions A-E corresponding to path <NUM>. Thus, as determined based on the digital twin representation of the test piece <NUM>, the ultrasonic testing can be performed with the probe assembly <NUM> and/or the ultrasonic probe <NUM> positioned relative to the surfaces of the test piece <NUM> such that the probe angle measurement and the probe elevation measurement are consistent (e.g., <NUM> degrees and <NUM>, respectively) at each probe position A-E associated with path <NUM>. A user can thereby perform the ultrasonic testing of the test piece <NUM> more efficiently with less risk of error or collision as a result of the probe position measurements determined when generating the digital twin representation of the test piece <NUM>.

<FIG> is an exemplary embodiment <NUM> of a probe assembly <NUM> and ultrasonic probe <NUM> traversing a path (e.g., path <NUM>) included in the digital twin representation of the ultrasonic testing environment <NUM> as part of scanning a test piece <NUM> during ultrasonic testing. As shown in <FIG>, a test piece <NUM> with curved geometric features is located within the ultrasonic testing environment <NUM>. Based on generating a digital twin representation of the test piece <NUM> according to the system and methods described previously in relation to <FIG>, a path of multiple probe positions can be determined to accurately scan the test piece <NUM> during ultrasonic testing.

As shown in <FIG>, a curved test piece <NUM> is arranged within the ultrasonic testing environment <NUM>. Based on the digital twin representation of test piece <NUM>, a series of probe positions can be determined to scan the test piece <NUM> during ultrasonic testing. The series of probe positions (e.g., probe positions A-G) are associated with a path (e.g., Path <NUM>) and are included in the digital twin representation of the test piece <NUM>. Based on the digital twin representation of the test piece <NUM>, the processor <NUM> transmits instructions to the controller <NUM> to conduct ultrasonic testing of the test piece <NUM> by traversing path <NUM>. The controller <NUM> scans the test piece <NUM> starting in probe position A and moves the probe assembly <NUM> and/or the ultrasonic probe <NUM> as shown through probe positions B-G, thereby scanning the test piece <NUM> in each of the seven probe positions.

As further shown in <FIG>, two probe position measurements have been determined for each probe position based on the generated digital twin representation of the test piece <NUM>, a probe angle measurement, and a probe elevation measurement (e.g., as shown in the data tables at the bottom left and bottom right of <FIG>). The processor <NUM> has determined, based on the coordinate system data used to generate the digital twin representation of the test piece <NUM>, that upon traversing Path <NUM>, the controller <NUM> should position the probe assembly <NUM> and/or the ultrasonic probe <NUM> at a consistent probe elevation of <NUM> in each of the probe positions A-G. As a result, the controller <NUM> positions the probe assembly <NUM> and/or the ultrasonic probe <NUM> such that the transducer surface of the ultrasonic probe <NUM> is <NUM> above the surface of the test piece <NUM> in each of the seven probe positions A-G. In some embodiments, the probe elevation measurement can vary and can be different at each probe position in a path. As further shown, the processor <NUM> has determined that the probe angle measurement should vary in one or more probe positions based on the curved surface shape of a portion of the test piece <NUM> and the generated digital twin representation of the test piece <NUM>. The probe angle measurement corresponds to the angle measured between the axis of the ultrasonic probe <NUM> (and the probe assembly <NUM> to which it is coupled) and the surface of the surface of the test piece <NUM>. Due to the curved, non-planar shape of the test piece <NUM> as represented in the digital twin representation, the processor <NUM> has determined that the controller <NUM> should position the probe assembly <NUM> and/or the ultrasonic probe <NUM> such that the probe angle measurement is initially <NUM> degrees when starting the scan along Path <NUM> in probe position A. Probe positions B and C are determined from the digital twin representation to require a different probe angle measurement (e.g., <NUM> and <NUM> degrees, respectively) to account for the sloped surface at this location of the test piece <NUM>. As the controller <NUM> continues to adjust the location of the probe assembly <NUM> and/or the ultrasonic probe <NUM> while conducting the scan along path <NUM>, the probe angle measurement is determined to be <NUM> degrees at probe position D. Progressing through the remaining probe positions associated with path <NUM>, the controller <NUM> positions the probe assembly <NUM> and/or the ultrasonic probe <NUM> at <NUM> and <NUM> degrees relative to the surface of the test piece <NUM> in probe positions E and F, respectively, before returning to the probe assembly <NUM> and/or the ultrasonic probe <NUM> to a <NUM> degree probe angle measurement in probe position G located on the flat surface of the test piece <NUM>. Thus, as determined based on the digital twin representation of the test piece <NUM>, the ultrasonic testing can be performed with the probe assembly <NUM> and/or the ultrasonic probe <NUM> positioned relative to the surfaces of the test piece <NUM> such that the probe angle measurement varies at one or more probe positions A-G associated with path <NUM>. A user can thereby perform the ultrasonic testing of the test piece <NUM> more efficiently with less risk of error or collision as a result of the probe position measurements determined when generating the digital twin representation of the test piece <NUM> which can include irregular, sloping or curved geometric features.

<FIG> is a diagram illustrating an additional embodiment of the system <NUM> of <FIG>. The system <NUM> of <FIG> includes a vision system <NUM> configured to generate a digital twin representation for use in ultrasonic testing. As shown in <FIG>, the system <NUM> is similar to the system <NUM> of <FIG>, except the system <NUM> further includes a vision system <NUM>. The vision system <NUM> is coupled to the probe assembly <NUM> and the processor <NUM>. The vision system <NUM> is configured to generate a live-view image of the ultrasonic probe <NUM> in relation to the test piece <NUM> within the ultrasonic testing environment <NUM>. In some embodiments, the vision system <NUM> can include an optical vision system. In other embodiments, the vision system <NUM> can include an ultrasound vision system. As seen in <FIG>, the vision system <NUM> is configured to provide a top-down view of the ultrasonic probe <NUM> as it is positioned within the ultrasonic testing environment <NUM> in relation to the test piece <NUM>. In some embodiments, the vision system <NUM> can be configured in other locations within the ultrasonic testing environment <NUM> and may not be coupled to the probe assembly <NUM>. These alternate locations can provide a sideview or a bottoms-up view depending on the location of the vision system <NUM> relative to the test piece <NUM>.

The vision system <NUM> can be configured to capture a live-view image of the ultrasonic testing environment <NUM> and present the live-view image to a user in a graphical user interface displaying the digital twin representation of the ultrasonic testing environment <NUM>. The graphical user interface can display the live-view image with additional information such as the absolute coordinates of the ultrasonic probe <NUM>, the test piece <NUM> as well as multiple probe position measurements (e.g., probe elevation and probe angle measurements).

<FIG> is a diagram <NUM> illustrating a graphical user interface <NUM> included in the vision system <NUM> described in relation to <FIG>. As shown in <FIG>, the graphical user interface (GUI) <NUM> displays a live-image view <NUM> and probe position and measurement data <NUM>. The live-image view <NUM> displays the image acquired via the vision system <NUM> overlaid upon the coordinate system data of the generated digital twin representation. For example, as shown in <FIG>, the live-image view <NUM> includes x-axis coordinate system data values ranging from <NUM> to <NUM> and y-axis coordinate values ranging from <NUM> to <NUM>. These axis coordinate system data values represent the coordinate system data associated with the digital twin representation of the ultrasonic testing environment. As further shown in <FIG>, the live-image view <NUM> also displays the test piece <NUM>, the ultrasonic probe <NUM>, and a probe orientation indicator <NUM>. The probe orientation indicator <NUM> can display the location of the ultrasonic probe <NUM> relative to a probe assembly. As shown in <FIG>, the probe orientation indicator <NUM> illustrates that the ultrasonic probe <NUM> is centered relative to the probe assembly to which it is coupled. In some embodiments, the probe orientation indicator illustrates that the ultrasonic probe <NUM> is not centered relative to a probe assembly, for example as illustrated in in <FIG> describing probe position <NUM>. The probe orientation indicator <NUM> can enable a user to position the ultrasonic probe <NUM> by dragging and dropping the probe orientation indicator <NUM> to a desired location within the digital twin representation corresponding to a physical location in an ultrasonic testing environment. In this way, the vision system <NUM> and the vision system GUI <NUM> provide a user with direct feedback for faster operation of an ultrasonic testing environment. Optionally, the ultrasound live-image can be displayed on the same or a different user interface. From the ultrasound signal the distance between the ultrasonic probe <NUM> and the test piece <NUM> can be derived, among other information,.

As further shown in <FIG>, the vision system GUI <NUM> also includes probe position and measurement data <NUM>. The probe position and measurement data <NUM> include, but is not limited to, absolute coordinates of the ultrasonic probe <NUM>, absolute coordinates of the test piece <NUM>, a probe elevation measurement, and a probe angle measurement. For example, as shown in the probe position and measurement data <NUM>, the absolute coordinates (x, y, z) of the probe position in the ultrasonic testing environment <NUM> are <NUM>, <NUM>, <NUM>, and the absolute coordinates (x, y, z) of the test piece <NUM> at the exact location over which the ultrasonic probe <NUM> is positioned are <NUM>, <NUM>, <NUM>. As further shown in the probe position and measurement data <NUM>, the probe elevation measurement is <NUM> and corresponds to the difference between the z-axis values of the probe position (e.g., <NUM>) and the test piece position (e.g., <NUM>). The probe position and measurement data <NUM> also displays the probe angle (e.g., <NUM> degrees). Additionally, or alternatively, the vision system GUI <NUM> can display ultrasound data based on emitting ultrasound signals with respect to the test piece <NUM> and/or the ultrasonic testing environment <NUM>. For example, the vision system GUI <NUM> can display an A-scan representation of the test piece <NUM> and/or the ultrasonic testing environment <NUM>. The live-image view <NUM> and the probe position and measurement data <NUM> can provide a user with direct feedback for more precise and accurate positioning of the ultrasonic probe <NUM> in relation to a test piece. The feedback can enable inexperienced users to perform the ultrasonic testing and the required positioning of the ultrasonic probe <NUM> without risk of damaging the equipment in ultrasonic testing environments that do not include such a vision system <NUM>.

Additionally, the vision system <NUM> can enable remote operation of the ultrasonic testing environment <NUM>. A remote facility can receive the digital twin representation and the live-image view in a remotely located display, such as display <NUM> of <FIG> that is not co-located with the ultrasonic testing environment <NUM>. Such a distributed configuration can enable more skilled personnel at the remote location to perform the ultrasonic testing scans with the support of less skilled personnel at the location where the ultrasonic testing environment <NUM> is situated.

Exemplary technical effects of the methods, systems, and devices described herein include, by way of non-limiting example, generating a digital twin representation of an ultrasonic testing environment. In one aspect, the generated digital twin representation can include coordinate system data corresponding to specific geometric features of the ultrasonic test environment and any test pieces therein. In another aspect, the digital twin representation can include coordinate system data associated with the positions and movements of an ultrasonic probe such that the digital twin representation can be used to accurately conduct ultrasonic testing requiring precise, small scale movements in a physical ultrasonic testing environment. In this manner, ultrasonic testing may be performed more quickly and more accurately regardless of the skill of an operator.

To provide for interaction with a user, the subject matter described herein can be implemented on a computer having a display device, such as display <NUM>, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user and a keyboard and a pointing device, (e.g., a mouse or a trackball), by which the user can provide input to the computer.

Certain exemplary embodiments are described to provide an overview of the principles of the structure, function, manufacture, and use of the systems, devices, and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. The features illustrated or described in connection with one exemplary embodiment can be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

Claim 1:
A system, comprising:
a probe assembly (<NUM>) coupled to one or more probe assembly controllers (<NUM>) configured to control the probe assembly (<NUM>), the probe assembly including an ultrasonic probe (<NUM>) coupled to one or more probe controllers configured to control the ultrasonic probe, the ultrasonic probe (<NUM>) configured to transmit ultrasonic signals and receive reflected ultrasonic signals;
a plurality of sensors (<NUM>) configured to generate coordinate system data associated with an ultrasonic testing environment (<NUM>), the coordinate system data corresponding to one or more geometric features of the ultrasonic testing environment and a test piece (<NUM>) within the ultrasonic testing environment (<NUM>); and
characterized by a processor (<NUM>) configured with executable instructions which when executed cause the processor to,
receive probe position data, wherein the probe position data is generated by the one or more probe assembly controllers and the one or more probe controllers,
receive coordinate system data associated with the ultrasonic testing environment (<NUM>),
generate a digital twin representation of the ultrasonic testing environment corresponding to the coordinate system data and the probe position data, wherein the generated digital twin representation is a three-dimensional digital model of the ultrasonic testing environment and generating the digital twin representation includes determining a plurality of probe position measurements and a plurality of paths to be included in the digital twin representation, the plurality of paths including one or more paths along which the probe assembly (<NUM>) and/or the ultrasonic probe (<NUM>) can be configured to traverse within the ultrasonic testing environment (<NUM>), and
provide the digital twin representation.