Patent Description:
Over the operational life of a turbine system, components of the system require regular inspection and/or maintenance. The inspection processes performed on the turbine system may ensure that the components are not damaged, obstructed, properly aligned/positioned, and/or functioning at a desired efficiency level so the turbine system may generate the greatest amount of energy without damaging the system. When the inspection process determines that there is an operational and/or functional issue with a component of the turbine system (e.g., damaged, misaligned and so on), maintenance (e.g., repair, replacement and the like) may be performed on the component and/or system before the turbine system become operational again.

Adequate inspection of the components of the turbine system may be difficult however because of the configuration of the system. For example, a rotor of the turbine system may be encased and/or enclosed within a housing and may include and/or be surrounded by a plurality of features (e.g., turbine buckets, stators and so on) crucial to the operation of the turbine system. As a result, the clearance and accessibility of the rotor of the turbine system may be limited; making inspection of the rotor difficult. In conventional processes, the rotor may be visually inspected by an operator by removing some components on and/or surrounding the rotor. However, the quality of the visual inspection may vary and may depend on the operator conducting the inspection.

In other conventional processes, the rotor may be removed from the housing, and conventional inspection devices, such as sensors, may be used when performing the inspection process. However, the conventional inspection devices may have a difficult time accurately inspecting the rotor because of the number of unique geometries and/or features included on the rotor. Specifically, the non-uniform geometries and/or features included on the rotor of the turbine system may obstruct and/or block lines of sight between the conventional inspection devices used to inspect the rotor. Where the line of sight is obstructed, the results of the inspection generated by the conventional inspection device may be skewed and/or incomplete because the conventional inspection devices have trouble accurately inspecting areas of the rotor that include these unique geometries and/or features. <CIT> discloses a device for positioning heads of two manipulators of e.g. robot relative to each other during testing carbon fiber reinforced plastic made component, having an evaluation device determining positions of heads by evaluating a positioning signal. The device has a positioning signal transmitter for transmission of a positioning signal from a head of a manipulator, where the positioning signal is a signal e.g. ultrasonic wave or electromagnetic wave, partially penetrating through a workpiece to be tested. A positioning signal receiver receives the positioning signal at a head of another manipulator. An evaluation device determines positions of the manipulator heads relative to each other by evaluating the received positioning signal. <CIT> discloses a method of assisting in the alignment of an ultrasonic transmitter implemented by means of an alignment aid system. The alignment aid system includes a receiver having a plurality of transducers each adapted to receive an ultrasonic wave and convert it into a respective signal, and a processing unit configured to digitally process all the signals from the transducers, at least part of the transducers being arranged so as to form a first line continuous transducers. The system also includes an alignment control device communicating with the processing unit, the alignment control device being configured to provide an indication regarding the transducer(s) receiving a single ultrasonic wave emitted by said transmitter along the first line of transducers so as to allow alignment of the transmitter with respect to the receiver.

Aspects of the disclosure are set out in the appended claims.

Reference will now be made in detail to representative embodiments illustrated in the accompanying drawings. It should be understood that the following descriptions are not intended to limit the embodiments to one preferred embodiment. To the contrary, it is intended to cover alternatives, modifications, and equivalents as can be included within the scope of the described embodiments as defined by the appended claims.

The following disclosure relates generally to an inspection system, and more particularly, to inspection probes of an inspection system and a process of maintaining a desired alignment between the inspection probes of the inspection system.

Turning to <FIG>, a schematic depiction of a steam turbine system <NUM> is shown according to embodiments of the disclosure. Steam turbine system <NUM>, as shown in <FIG> may be a conventional steam turbine system. As such, a brief description of the steam turbine system <NUM> is provided for clarity. As shown in <FIG>, steam turbine system <NUM> may include a steam turbine component <NUM>, including a high-pressure section <NUM>, an intermediate-pressure section <NUM> and a low-pressure section <NUM>, coupled to a rotor <NUM> of steam turbine system <NUM>. Rotor <NUM> may also be coupled to a generator <NUM> for creating electricity during operation of steam turbine system <NUM>. As shown in <FIG>, steam turbine system <NUM> may also include a condenser <NUM> in fluid communication with low-pressure section <NUM> of steam turbine component <NUM>, a pump <NUM> in fluid communication with condenser <NUM> and a heat recovery steam generation (HRSG) <NUM> in fluid communication with the pump and steam turbine component <NUM>. The components (e.g., condenser <NUM>, pump <NUM>, HRSG <NUM>) of steam turbine system <NUM> may be in fluid communication with one another via steam conduits <NUM>.

During operation of steam turbine system <NUM>, as shown in <FIG>, steam is generated by HRSG <NUM> and provided to steam turbine component <NUM>. More specifically, HRSG <NUM>, amongst other steam sources (not shown), may provide steam to high-pressure section <NUM>, intermediate-pressure section <NUM> and low-pressure section <NUM> via conduits <NUM> to flow through steam turbine component <NUM>. Each section (e.g., low-pressure section <NUM>) of steam turbine component <NUM> may include a plurality of turbine airfoils including a plurality of stages of buckets positioned in series on rotor <NUM>, and a plurality of stator nozzles positioned adjacent the plurality of buckets. As steam flows over each stage of buckets, rotor <NUM> may be rotated and generator <NUM> may create power (e.g., electric current). The plurality of corresponding stator nozzles may aid in directing the steam toward the plurality of stages of buckets during operation of steam turbine system <NUM>. The steam may exit steam turbine component <NUM>, specifically low-pressure section <NUM>, and may be condensed by condenser <NUM> and provided to HRSG <NUM> via pump <NUM>. The condensed-steam may then aid in the generation of more steam by HRSG <NUM> and may adjacently be provided to steam turbine component <NUM>.

As used herein, the terms "axial" and/or "axially" refer to the relative position/direction of objects along axis (A), which is substantially parallel with the axis of rotation of steam turbine system <NUM> (in particular, the rotor section). As further used herein, the terms "radial" and/or "radially" refer to the relative position/direction of objects along axis (R), which is substantially perpendicular with axis (A) and intersects axis (A) at only one location. Additionally, the terms "circumferential" and/or "circumferentially" refer to the relative position/direction (C) of objects along a circumference which surrounds axis (A) but does not intersect the axis (A) at any location.

<FIG> depicts a side view of a portion of rotor <NUM> of steam turbine system <NUM>, according to embodiments. The portion of rotor <NUM> depicted in <FIG> may be a portion of rotor <NUM> positioned within a section (e.g., low-pressure section <NUM>) of steam turbine component <NUM>. In a non-limiting example, rotor <NUM> may be completely removed from an enclosure of the section of steam turbine component <NUM> that may house and/or surround the portion of rotor <NUM> when performing the inspection process discussed herein. Where rotor <NUM> is completely removed from the enclosure, rotor <NUM> may undergo a surface cleaning and/or roughening process (e.g., sandblasting) prior to performing the inspection process. In other non-limiting examples, rotor <NUM> may remain in a portion (e.g., half-shell) of the enclosure during the inspection process, or alternatively, rotor <NUM> may remain in the entire enclosure of the section of steam turbine component <NUM> where portions of rotor <NUM> may be accessible to the components configured to perform the inspection process.

Rotor <NUM> may include an exposed surface <NUM> and a plurality of features <NUM> formed on exposed surface <NUM>. More specifically, the plurality of features <NUM> of rotor <NUM> may be formed on, extend from and/or project radially from exposed surface <NUM> of rotor <NUM>. The plurality of features <NUM> of rotor <NUM> may also be positioned and/or formed on exposed surface <NUM> substantially around the circumference of rotor <NUM>. In a non-limiting example shown in <FIG>, the plurality of features <NUM> may include dovetails formed on and circumferentially around rotor <NUM>. The dovetails may couple the turbine buckets (not shown) of steam turbine system <NUM> to rotor <NUM>. Although only a single row of the plurality of features <NUM> are shown, it is understood that rotor <NUM> of steam turbine system <NUM> may include multiple rows of the plurality of features <NUM> formed on and separated axially along the length of rotor <NUM>. Additionally, it is understood that the plurality of features <NUM> of rotor <NUM> may include various parts, segments, transitions and/or other element that may be formed on and extend from exposed surface <NUM> of rotor <NUM>.

<FIG> also depicts an inspection system <NUM>, according to embodiments. Portions of inspection system <NUM> may be positioned on or adjacent rotor <NUM> in order to perform an inspection of rotor <NUM> and/or the plurality of features <NUM> formed on rotor <NUM>. Inspection system <NUM> may include at least one transmitter probe <NUM> (hereafter, "transmitter probe <NUM>") positioned on or substantially adjacent to exposed surface <NUM> of rotor <NUM>. When positioned on exposed surface <NUM>, transmitter probe <NUM> may be releasably coupled to rotor <NUM> during the inspection process discussed herein. Alternatively, when transmitter probe <NUM> is positioned adjacent exposed surface <NUM>, transmitter probe <NUM> may be suspended in the space directly adjacent to rotor <NUM> using any suitable device or system capable of holding and/or positioning transmitter probe <NUM> adjacent rotor <NUM>. Additionally, as shown in <FIG>, transmitter probe <NUM> may be positioned adjacent a first side <NUM> of the plurality of features <NUM> (e.g., dovetail) formed on and extending from exposed surface <NUM> of rotor <NUM>. Transmitter probe <NUM> may be configured to transmit energy toward and/or through rotor <NUM>. As discussed in detail below, the energy transmitted by transmitter probe <NUM> may be utilized to inspect rotor <NUM> and/or the plurality of features <NUM> formed on rotor <NUM>, and may be used to maintain a desired spacing and/or alignment between transmitter probe <NUM> and a receiver probe of inspection system <NUM> during the inspection process. In a non-limiting example, transmitter probe <NUM> may be an ultrasonic, phased array transducer that may transmit ultrasonic energy. Although one transmitter probe <NUM> is depicted in <FIG>, it is understood that a plurality of transmitter probes may be positioned on rotor <NUM> and utilized in the inspection process discussed herein.

Transmitter probe <NUM> may be configured to move around rotor <NUM>. Specifically, transmitter probe <NUM> may be configured to move circumferentially around exposed surface <NUM> of rotor <NUM> during the inspection process. In a non-limiting example where transmitter probe <NUM> is positioned on and/or releasably coupled to rotor <NUM>, transmitter probe <NUM> may move circumferentially around rotor <NUM> along exposed surface <NUM>. In another non-limiting example where transmitter probe <NUM> is positioned adjacent exposed surface <NUM> of rotor <NUM>, the suitable device or system holding and/or positioning transmitter probe <NUM> adjacent rotor <NUM> may move transmitter probe <NUM> circumferentially around rotor <NUM> along exposed surface <NUM>.

As shown in <FIG>, inspection system <NUM> may include a first propulsion assembly <NUM> that may automate the movement of transmitter probe <NUM> around rotor <NUM> and/or along exposed surface <NUM>. First propulsion assembly <NUM> may be coupled or fixed to transmitter probe <NUM>, and may contact exposed surface <NUM> of rotor <NUM>. As a result of contacting exposed surface <NUM>, first propulsion assembly <NUM> may also releasable couple and/or position transmitter probe <NUM> on exposed surface <NUM> of rotor <NUM> as well. First propulsion assembly <NUM> may include any suitable elements, device and/or components that may be configured to move transmitter probe <NUM> along exposed surface <NUM> of rotor <NUM>. In a non-limiting example, first propulsion assembly <NUM> may include a plurality of magnetic wheels that may contact, move along and magnetically couple transmitter probe <NUM> to exposed surface <NUM> of rotor <NUM>. In the non-limiting example, first propulsion assembly <NUM> may also include a drivetrain system coupled to and configured to drive the magnetic wheels of first propulsion assembly <NUM> to move transmitter probe <NUM> along exposed surface <NUM> and around rotor <NUM>. Furthermore, first propulsion assembly <NUM> may include a magnetic track coupled to exposed surface <NUM> of rotor <NUM>, which may receive the magnetic wheels and maintain transmitter probe <NUM> on a desired path (e.g., maintain distance (D) between transmitter probe <NUM> and a receiver probe) when moving around rotor <NUM>. As discussed herein, first propulsion assembly <NUM> may be in communication with a probe alignment system which may engage first propulsion assembly <NUM> to move transmitter probe <NUM> around rotor <NUM>, and adjust displacement characteristics of transmitter probe <NUM> using first propulsion assembly <NUM> to maintain an alignment between transmitter probe <NUM> and at least one receiver probe of inspection system <NUM>.

In another non-limiting example, transmitter probe <NUM> may be manually moved along exposed surface <NUM> of rotor <NUM>. Similar to first propulsion assembly <NUM> shown in <FIG>, inspection system <NUM> may include suitable devices, components and/or assemblies for allowing transmitter probe <NUM> to be manually moved around rotor <NUM> and/or along exposed surface <NUM>. Similar to the example discussed above, a plurality of magnetic wheels may be coupled to transmitter probe <NUM> and may contact, move along and magnetically couple transmitter probe <NUM> to exposed surface <NUM> of rotor <NUM>. An operator performing the inspection process on rotor <NUM> may manually move transmitter probe <NUM> along exposed surface <NUM> and around rotor <NUM> as discussed herein. In the non-limiting example where transmitter probe <NUM> is moved manually, the magnetic wheels on transmitter probe <NUM> may maintain the releasable coupling between transmitter probe <NUM> and rotor <NUM>, while allowing the operator to move transmitter probe <NUM> along exposed surface <NUM> with minimal friction. In the non-limiting example where transmitter probe <NUM> is moved manually and as discussed in detail below, first propulsion assembly <NUM> may be in communication with a probe alignment system which may analyze energy characteristics of inspection system <NUM> and provide indicators to an operator when displacement characteristics of transmitter probe <NUM> may require adjustment. Adjusting the displacement characteristics of transmitter probe <NUM> may maintain an alignment between transmitter probe <NUM> and at least one receiver probe of inspection system <NUM> during the inspection process.

As shown in <FIG>, inspection system <NUM> also includes at least one receiver probe <NUM> (hereafter, "receiver probe <NUM>"). Receiver probe <NUM> may be positioned on or substantially adjacent to exposed surface <NUM> of rotor <NUM>. Similar to transmitter probe <NUM>, when receiver probe <NUM> is positioned on exposed surface <NUM>, receiver probe <NUM> may be releasably coupled to rotor <NUM>. Alternatively, when receiver probe <NUM> is positioned adjacent exposed surface <NUM>, receiver probe <NUM> may be suspended in the space direct adjacent to rotor <NUM> using a similar device or system as transmitter probe <NUM>, as discussed herein. As shown in <FIG>, receiver probe <NUM> may be positioned adjacent a second side <NUM> of the plurality of features <NUM> (e.g., dovetail) formed on and extending from exposed surface <NUM> of rotor <NUM>. Specifically, receiver probe <NUM> may be positioned adjacent a second side <NUM>, opposite the first side <NUM> of the plurality of features <NUM> of rotor <NUM> and/or opposite transmitter probe <NUM>. As shown in <FIG>, the plurality of features <NUM> of rotor <NUM> may substantially separate transmitter probe <NUM> and receiver probe <NUM>, and may also substantially obstruct, obscure and/or block a line of sight between transmitter probe <NUM> and receiver probe <NUM>. As a result of separating transmitter probe <NUM> and receiver probe <NUM>, the plurality of features <NUM> of rotor <NUM> may substantially prevent transmitter probe <NUM> from transmitting energy directly to receiver probe <NUM>, as discussed herein.

Receiver probe <NUM> may be configured to receive and/or detect energy. Specifically, receiver probe <NUM> may be configured to receive the energy transmitted from transmitter probe <NUM> of inspection system <NUM>. In a non-limiting example, transmitter probe <NUM> and receiver probe <NUM> may use a "pitch-catch" technique or process for transmitting and receiving energy. As shown in <FIG>, the energy transmitted by transmitter probe <NUM> may pass through rotor <NUM> to a focal point <NUM> of rotor <NUM>. The energy may deflect and/or bounce from focal point <NUM> energy toward focal point <NUM> and receiver probe <NUM> may only detect energy transmitted to focal point <NUM>. The focal point <NUM> may change and/or move as transmitter probe <NUM> and receiver probe <NUM> move along and/or around rotor <NUM>, as discussed herein.

The energy transmitted by transmitter probe <NUM> may be received by receiver probe <NUM> to inspect rotor <NUM> and/or the plurality of features <NUM> formed on rotor <NUM> and determine if rotor <NUM> includes defects, and/or requires maintenance before being implemented back into steam turbine steam <NUM>. Additionally, the energy transmitted by transmitter probe <NUM> may be received by receiver probe <NUM>, and energy characteristics (e.g., amplitude, time of flight and so on) relating to the received energy may be utilized, processed and/or analyzed to maintain a desired spacing and/or alignment between transmitter probe <NUM> and receiver probe <NUM> of inspection system <NUM> during the inspection process. As discussed in detail below, maintaining a desired spacing and/or alignment between transmitter probe <NUM> and receiver probe <NUM> may be critical to ensuring that inspection system <NUM> may adequately inspect rotor <NUM> and/or the plurality of features <NUM>. In a non-limiting example, transmitter probe <NUM> may be an ultrasonic, phased array sensor or receiver that may receive and/or detect ultrasonic energy. Although one receiver probe <NUM> is depicted in <FIG>, it is understood that a plurality of receiver probes may be positioned on rotor <NUM> and utilized in the inspection process discussed herein. Additionally, the number of receiver probes <NUM> of inspection system <NUM> may directly correlate with, or may be substantially dependent from, the number of transmitter probes <NUM> of inspection system <NUM>.

Although discussed herein as transmitter probe <NUM> solely transmitting energy, and receiver probe <NUM> solely receiving energy, it is understood that the probes of inspection system <NUM> may perform different tasks and/or functions. In a non-limiting example, each probe (e.g., transmitter probe <NUM>, receiver probe <NUM>) of inspection system <NUM> may be configured to both transmit and receive energy. That is, a first probe (e.g., transmitter probe <NUM>) positioned adjacent a first side of feature <NUM> formed on rotor <NUM> may be configured to transmit energy toward a second probe (e.g., receiver probe <NUM>) and also receive energy transmitted by the second probe. Similarly, the second probe positioned adjacent a second side of feature <NUM>, opposite the first side, may also be configured to transmit energy toward the first probe and receive energy transmitted by the first probe. The functions and/or operations of transmitter probe <NUM> and receiver probe <NUM> discussed herein may be limited to performing a single operation (e.g., transmitting energy, receiving energy) merely for simplicity in description of inspection system <NUM>.

Similar to transmitter probe <NUM>, receiver probe <NUM> may be configured to move around rotor <NUM>. Specifically, receiver probe <NUM> may be configured to move circumferentially around exposed surface <NUM> of rotor <NUM> during the inspection process. As shown in <FIG>, inspection system <NUM> may include a second propulsion assembly <NUM> that may automate the movement of transmitter probe <NUM> around rotor <NUM> and/or along exposed surface <NUM>. Second propulsion assembly <NUM> may be coupled or fixed to receiver probe <NUM>, and may contact exposed surface <NUM> of rotor <NUM>. As a result of contacting exposed surface <NUM>, second propulsion assembly <NUM> may releasable couple and/or position receiver probe <NUM> on exposed surface <NUM> of rotor <NUM>. Second propulsion assembly <NUM> may include any suitable elements, device and/or components (e.g., magnetic wheels, drivetrain system and the like) that may be configured to move receiver probe <NUM> along exposed surface <NUM> of rotor <NUM>, as similarly discussed herein with respect to first propulsion assembly <NUM>. As discussed herein, and similar to first propulsion assembly <NUM>, second propulsion assembly <NUM> may be in communication with a probe alignment system which may engage second propulsion assembly <NUM> to move receiver probe <NUM> around rotor <NUM>. Additionally, and as discussed herein, the probe alignment system may adjust displacement characteristics of receiver probe <NUM> using second propulsion assembly <NUM> to maintain an alignment between transmitter probe <NUM> and receiver probe <NUM> during the inspection process.

Inspection system <NUM> may also include probe alignment system <NUM>. As shown in <FIG>, probe alignment system <NUM> may be coupled to, operably connected to and/or in electrical communication with transmitter probe <NUM> and receiver probe <NUM> of inspection system <NUM>. As discussed herein, probe alignment system <NUM> may be in electrical communication with transmitter probe <NUM> and receiver probe <NUM> such that probes <NUM>, <NUM> may provide information, data and/or energy characteristics relating to the energy transmitted by transmitter probe <NUM> and/or received by receiver probe <NUM>. As discussed herein, probe alignment system <NUM> may analyze the energy characteristics to determine if displacement characteristics for the transmitter probe <NUM> and/or receiver probe <NUM> require adjustment. Additionally as discussed herein, probe alignment system <NUM> may also be operably connected to and/or in electrical communication with first propulsion assembly <NUM> and second propulsion assembly <NUM> to adjust displace characteristics of transmitter probe <NUM> and/or receive probe <NUM> using propulsion assemblies <NUM>, <NUM>. In non-limiting examples, the energy characteristics may include an amplitude of the energy received by receiver probe <NUM>, a time of flight or travel for the energy to be transmitted from transmitter probe <NUM> and received by receiver probe <NUM>, and any other energy-related information that may be detected by receiver probe <NUM>, analyzed by probe alignment system <NUM> and utilized to maintain a desired alignment or spacing between transmitter probe <NUM> and receiver probe <NUM> during an inspection process, as discussed herein.

As shown in <FIG>, probe alignment system <NUM> may include an energy module <NUM>, a probe displacement module <NUM> and a storage device <NUM>. Energy module <NUM>, probe displacement module <NUM> and storage device <NUM> may all be operably connected and/or in electrical communication with one another. As a result, energy module <NUM>, probe displacement module <NUM> and storage device <NUM> may share, obtain and/or transfer data during the inspection process. Energy module <NUM> may be configured to obtain the energy characteristics relating to the energy received by receiver probe <NUM> and analyze the energy characteristics to determine if displacement characteristics of transmitter probe <NUM> and/or receiver probe <NUM> require adjustment.

Probe displacement module <NUM> may be configured to receive information from energy module <NUM> when energy module <NUM> determines that displacement characteristics of transmitter probe <NUM> and/or receiver probe <NUM> require adjustment. Additionally, probe displacement module <NUM> may be configured to perform additional processes to ensure transmitter probe <NUM> and receiver probe <NUM> remain and/or are moved back into a desired alignment and/or spacing when performing the inspection process. In a non-limiting example where the movement of transmitter probe <NUM> and receiver probe <NUM> is automated (e.g., propulsion assemblies), probe displacement module <NUM> may also be configured to adjust the displacement characteristics of transmitter probe <NUM> and/or receiver probe <NUM> based on the analyzed energy characteristics and determination of energy module <NUM>. In another non-limiting example where the movement of transmitter probe <NUM> and receiver probe <NUM> is manually performed (e.g., operator), probe displacement module <NUM> may be configured to provide instructions to the operator regarding the specific displacement characteristics for transmitter probe and/or receiver probe <NUM> that require adjustment. Probe displacement module <NUM> may provide instructions to the operator via an output device (e.g., computer display, printer and so on) (not shown) in communication with probe alignment system <NUM>. The displacement characteristics for transmitter probe <NUM> and receiver probe <NUM> may include, but are not limited to, the speed in which probes <NUM>, <NUM> move along exposed surface <NUM> and/or around rotor <NUM>, a circumferential position of probes <NUM>, <NUM> with respect to rotor <NUM>, an axial position of probes <NUM>, <NUM> with respect to rotor <NUM>, an axial distance (D) between probes <NUM>, <NUM> and other characteristics that maintain a desired alignment or spacing between transmitter probe <NUM> and receiver probe <NUM> during an inspection process, as discussed herein.

Storage device <NUM> may be configured to store information and/or data relating to the inspection process performed by the inspection system <NUM>, and more specifically, information and/or data pertaining to the alignment and/or spacing between transmitter probe <NUM> and receiver probe <NUM> when performing the inspection process. The information may be stored on storage device <NUM> prior to performing the inspection process. In a non-limiting example, a predetermined desired amplitude and/or a predetermined desired time of flight for the energy transmitted by transmitter probe <NUM> may be stored on storage device <NUM> and sent or obtained by energy module <NUM> when analyzing the energy characteristics, as discussed herein. Additionally, the information stored on storage device <NUM> may be provided and/or continuously updated while performing the inspection process. For example, energy module <NUM> may receive energy characteristics for the energy received by receiver probe <NUM> and may be configured to determine a desired amplitude and/or desired time of flight or the energy based on the energy characteristics. Once energy module <NUM> determines the desired amplitude and/or desired time of flight, energy module <NUM> may provide and store that information and/or data to storage device <NUM>. During the analyze of energy characteristics, energy module <NUM> may obtain and/or recall the stored information and/or data (e.g., desired amplitude) from storage device <NUM>, and compare the stored information and/or data from storage device <NUM> with the energy characteristics (e.g., detected amplitude) for the energy received by receiver probe <NUM>.

Although shown as a standalone component and/or system, it is understood that probe alignment system <NUM> may be formed integrally with and/or may be a portion of an overall system or component used when inspecting rotor <NUM>. That is, probe alignment system <NUM> may be its own system, or alternatively, may be part of a larger system that is in communication with transmitter probe <NUM> and receiver probe <NUM>, and is utilized to perform the inspection process discussed herein.

Aligning and maintaining an alignment for transmitter probe <NUM> and receiver probe <NUM> while performing an inspection process on rotor <NUM> may now be discussed with reference to <FIG>. During the inspection process transmitter probe <NUM> and receiver probe <NUM> may be coupled to and/or positioned on exposed surface <NUM> of rotor <NUM>. Transmitter probe <NUM> may transmit ultrasonic energy through and/or around rotor <NUM> and receiver probe <NUM> may receive the ultrasonic energy in order to detect defects of rotor <NUM> and/or determine the need for maintenance before utilizing rotor <NUM> in steam turbine system <NUM> (see, <FIG>). In order to inspect the entire rotor <NUM>, transmitter probe <NUM> and receiver probe <NUM> may utilize propulsion assemblies <NUM>, <NUM> to move transmitter probe <NUM> and receiver probe <NUM> circumferentially around rotor <NUM>.

In order to obtain the most accurate inspection information about rotor <NUM> using inspection system <NUM>, transmitter probe <NUM> and receiver probe <NUM> should maintain an optimum positioning on rotor <NUM>, axial spacing and/or axial alignment when performing the inspection process. The optimum positioning, spacing and/or alignment may be based on and/or determined using energy characteristics for the ultrasonic energy received by receiver probe <NUM> of inspection system <NUM>. Specifically, energy module <NUM> of probe alignment system <NUM> may determine a desired amplitude and/or desired time of flight for the energy received by receiver probe <NUM> that may ensure that transmitter probe <NUM> and receiver probe <NUM> are performing the most accurate inspection of rotor <NUM> during the inspection process. In a non-limiting example, the desired amplitude may be a maximum amplitude for the energy transmitted by transmitter probe <NUM> and received by receiver probe <NUM>. Additionally, the desired time of flight for the energy received by receiver probe <NUM> may be <NUM> seconds. The amplitude and/or time of flight for the energy received by receiver probe <NUM> may be dependent, at least in part on, the strength and/or operational characteristics of transmitter probe <NUM>, the size (e.g., diameter, circumference) of rotor <NUM>, the material of rotor <NUM>, the size and/or geometry of the plurality of features <NUM> of rotor <NUM>, and so on.

Once the desired amplitude and/or desired time of flight for the energy is determined, probe alignment system <NUM> may continuously, or periodically, obtain/receive, and subsequently analyze energy characteristics from receiver probe <NUM> during the inspection process. The energy characteristics may include the actual or detected amplitude and/or time of flight for the energy being received by the receiver probe <NUM> while inspection system <NUM> is performing the inspection process on rotor <NUM>. In analyzing the energy characteristics, energy module <NUM> of probe alignment system <NUM> may compare the detected amplitude and/or time of flight for the energy received by the receiver probe <NUM> with the desired amplitude and/or time of flight to determine if the detected amplitude and/or time of flight differ from the desired amplitude and/or time of flight. If the detected amplitude and/or time of flight do not differ from the desired amplitude and/or time of flight, probe alignment system <NUM> may determine that transmitter probe <NUM> and receiver probe <NUM> are optimally positioned, spaced and/or aligned to provide the most accurate inspection of rotor <NUM>. As such, the displacement characteristics of transmitter probe <NUM> and/or receiver probe <NUM> may not require adjustment. However, if the detected amplitude and/or time of flight do differ from the desired amplitude and/or time of flight, energy module of probe alignment system <NUM> may determine that the displacement characteristics of transmitter probe <NUM> and/or receiver probe <NUM> may require adjustment so transmitter probe <NUM> and receiver probe <NUM> may subsequently provide the most accurate inspection of rotor <NUM>.

When energy module <NUM> of probe alignment system <NUM> determines that displacement characteristics of transmitter probe <NUM> and/or receiver probe <NUM> may require adjustment, energy module <NUM> may communicate with probe displacement module <NUM>. Specifically, energy module <NUM> may identify and/or instruct probe displacement module <NUM> that displacement characteristics of transmitter probe <NUM> and/or receiver probe <NUM> may require adjustment, and may also provide information relating to the energy characteristics for the energy received by receiver probe <NUM>. The information relating to the energy characteristics provided to probe displacement module <NUM> may include how the detected amplitude and/or time of flight differs from the desired amplitude and/or time of flight (e.g., greater than, less than). Probe displacement module <NUM> may utilize and/or analyze the information relating to the energy characteristics provided by energy module <NUM> to determine which displacement characteristic(s) of transmitter probe <NUM> and/or receiver probe <NUM> may be adjusted to put transmitter probe <NUM> and receiver probe <NUM> back in an optimally position, spacing and/or alignment for the inspection process.

In a non-limiting example, energy module <NUM> may determine that the detected amplitude does not differ from the desired amplitude, but the detected time of flight is less than the desired time of flight. In this non-limiting example, probe displacement module <NUM> may determine that the receiver probe <NUM> is staggered to far behind the transmitter probe <NUM>, and needs to be moved forward. As a result, the speed of transmitter probe <NUM> may be temporarily decreased and/or the speed of receiver prove <NUM> may be temporarily increased until it is determined that the detected time of flight does not differ (e.g., equal) from the desired time of flight.

In another non-limiting example, energy module <NUM> may determine that the detected amplitude differs from or is less than the desired amplitude, but the detected time of flight does not differ from the desired time of flight. In this non-limiting example, probe displacement module <NUM> may determine that transmitter probe <NUM> and receiver probe <NUM> is axially separated beyond an optimum or desired distance (D), and the axial position of transmitter probe <NUM> and/or receiver probe <NUM> needs to be adjusted. In the non-limiting example, receiver probe <NUM> may be moved axially toward transmitter prove <NUM> and feature <NUM> until transmitter probe <NUM> and receiver probe <NUM> are axially spaced or separated by an optimum or desired distance (D), as shown in <FIG>. Once transmitter probe <NUM> and receiver probe <NUM> are axially spaced or separated by the desired distance (D), the detected amplitude may not differ (e.g., equal) from the desired amplitude.

In a further non-limiting example, energy module <NUM> may determine that the detected amplitude and time of flight differ from the desired amplitude and time of flight. In this non-limiting example, probe displacement module <NUM> may adjust one or more displacement characteristics (e.g., speed, position, axial separation and so on) for transmitter probe <NUM> and/or receiver probe <NUM> until the detected amplitude and time of flight no longer differ from the desired amplitude and time of flight.

As discussed herein, probe displacement module <NUM> may adjust the displacement characteristics for transmitter probe <NUM> and/or receiver probe <NUM> by providing instructions and/or electrical signals to the respective propulsion assemblies <NUM>, <NUM> coupled to and configured to move transmitter probe <NUM> and/or receiver probe <NUM>. In another non-limiting example where transmitter probe <NUM> and receiver probe <NUM> are manually moved around rotor <NUM> during the inspection process, probe displacement module <NUM> may provide instructions to the operator of inspection system <NUM> highlighting and/or indicating the adjustments that need to be made to transmitter probe <NUM> and/or receiver probe <NUM>.

As shown in <FIG>, transmitter probe <NUM> and receiver probe <NUM> may be in axial alignment and/or in a similar axial plane when in an optimal position, spacing and/or alignment to provide the most accurate inspection of rotor <NUM>. This may be a result of rotor <NUM> having a uniform and/or single diameter and/or circumference. That is, the portion of rotor <NUM> that transmitter probe <NUM> is position on may have the same diameter and circumference as the portion of rotor <NUM> that receiver probe <NUM> is positioned on. As a result, when transmitter probe <NUM> and receiver probe <NUM> are optimally positioned, spaced and/or aligned, the probes <NUM>, <NUM> may also be in axial alignment with respect to rotor <NUM>. Although shown as aligned, it is understood that the positioning and/or spacing of transmitter probe <NUM> and receiver probe <NUM> shown in <FIG> is merely exemplary, and is not limiting. As discussed herein, the optimal positioning, spacing and/or alignment is dependent on a desired amplitude and time of flight for the energy received by receiver probe <NUM>. As such, transmitter probe <NUM> and receiver probe <NUM> may be axially staggered on rotor <NUM> and still optimally positioned, spaced and/or alignment, regardless of the configuration and/or geometry (e.g., diameter, circumference) of rotor <NUM> undergoing the inspection process discussed herein.

<FIG> depicts a side view of a distinct portion of rotor <NUM> of steam turbine system <NUM>, according to embodiments. <FIG> also depicts inspection system <NUM> used to inspect the distinct portion of rotor <NUM>, as discussed herein. Propulsion assemblies <NUM>, <NUM> have been omitted from <FIG> for clarity. However, it is understood that transmitter probe <NUM> and/or receiver probe <NUM> may include propulsion assemblies <NUM>, <NUM>, respectively, for moving the probes along exposed surface <NUM> of rotor <NUM>, as discussed herein with respect to <FIG>. It is understood that similarly numbered and/or named components may function in a substantially similar fashion. Redundant explanation of these components has been omitted for clarity.

The distinct portion of rotor <NUM> depicted in <FIG> may include two distinct segments. Specifically, and as shown in <FIG>, the depicted portion of rotor <NUM> may include a first segment <NUM> and a second segment <NUM> coupled to first segment <NUM>. First segment <NUM> and second segment <NUM> may be coupled using any suitable coupling and/or material joining technique including, but not limited to, welding, brazing, mechanical fastening, and the like. As discussed herein, rotor <NUM> may include a plurality of features <NUM>. In the non-limiting example shown in <FIG>, the coupling joint formed between first segment <NUM> and second segment <NUM> may be a feature <NUM> of rotor <NUM>. As discussed herein, the feature <NUM> (e.g., joint) of rotor <NUM> may substantially obstruct, obscure and/or block a line of sight between transmitter probe <NUM> and receiver probe <NUM>.

As shown in <FIG>, first segment <NUM> and second segment <NUM> may have varying diameters. More specifically, first segment <NUM> may include a first diameter (Dia<NUM>) and second segment <NUM> may include a second diameter (Dia<NUM>), distinct from the first diameter (Dia<NUM>) of first segment <NUM>. In the non-limiting example shown in <FIG>, the first diameter (Dia<NUM>) of first segment <NUM> may be larger than the second diameter (Dia<NUM>) of second segment <NUM>. As a result, a circumference for first segment <NUM> may also be larger than a circumference for second segment <NUM>.

As a result of the varying diameters and/or circumferences for first segment <NUM> and second segment <NUM> forming rotor <NUM>, transmitter probe <NUM> and receiver probe <NUM> may not be aligned in similar positions and/or in a similar manner as when rotor <NUM> has a uniform or single diameter (see, <FIG>). In the non-limiting example shown in <FIG>, transmitter probe <NUM> and receiver probe <NUM> of inspection system <NUM> may be positioned such that the amplitude and time of flight for the energy received by receiver probe <NUM> is equal to the desired amplitude and/or time of flight for optimum inspection of rotor <NUM>, as discussed herein. Compared to the example in <FIG>, transmitter probe <NUM> and receiver probe <NUM> may be axially out of alignment. That is, transmitter probe <NUM> positioned on first segment <NUM> may be axially staggered from and/or in a distinct axial plane than receiver probe <NUM> positioned on second segment <NUM>. The staggering between transmitter probe <NUM> and receiver probe <NUM> to maintain the desired amplitude and/or time of flight for the energy received by receiver probe <NUM> may be a result of the distinct diameters between first segment <NUM> and second segment <NUM>. Although transmitter probe <NUM> is shown as being staggered and/or positioned in front of receiver probe <NUM> it is understood that this is merely a non-limiting example, and in some instances, receiver probe <NUM> may be positioned in front of transmitter probe <NUM> during an inspection process.

<FIG> depicts a side view of a portion of rotor <NUM> of steam turbine system <NUM> similar to the portion shown in <FIG>. <FIG> also depicts inspection system <NUM> used to inspect the distinct portion of rotor <NUM>, as discussed herein. It is understood that similarly numbered and/or named components may function in a substantially similar fashion. Redundant explanation of these components has been omitted for clarity.

Inspection system <NUM> shown in <FIG> may include additional components used to align and/or maintain alignment between transmitter probe <NUM> and receiver probe <NUM> during the inspection process of rotor <NUM> discussed herein. Specifically, inspection system <NUM> may also include an encoder <NUM> and inclinometers <NUM>, <NUM>. As shown in <FIG>, encoder <NUM> may be positioned on an end <NUM> of rotor <NUM> of steam turbine system <NUM>. Specifically, encoder <NUM> may be coupled to end <NUM> of rotor <NUM> and may be positioned in axial alignment with a center of rotor <NUM>. Encoder <NUM> may be operably connected to and/or in electrical communication with probe alignment system <NUM> and inclinometers <NUM>, <NUM> of inspection system <NUM>. In a non-limiting example, encoder <NUM> may be hardwired to probe alignment system <NUM> and may in wireless communication with inclinometers <NUM>, <NUM> in order to share data from inclinometers <NUM>, <NUM> with probe alignment system <NUM>. As discussed herein, encoder <NUM> may define a "<NUM> degree" mark or reference for inclinometers <NUM>, <NUM> coupled to transmitter probe <NUM> and receiver probe <NUM>, respectively, so probe alignment system <NUM> may detect the circumferential movement and/or position of transmitter probe <NUM> and receiver probe <NUM> as they move around rotor <NUM>.

As shown in <FIG>, first inclinometer <NUM> may be coupled to, formed and/or positioned on transmitter probe <NUM>, and a second inclinometer <NUM> may be coupled to, formed and/or positioned on receiver probe <NUM>. In another non-limiting example, first inclinometer <NUM> may be coupled to and/or positioned on first propulsion assembly <NUM>, and second inclinometer <NUM> may be coupled to and/or positioned on second propulsion assembly <NUM>. Inclinometers <NUM>, <NUM> may also move with the respective probes <NUM>, <NUM> during the inspection process. Specifically, first inclinometer <NUM> coupled to and/or positioned on transmitter probe <NUM> may move with and/or be carried by transmitter probe <NUM> as transmitter probe <NUM> moves along exposed surface <NUM> of rotor <NUM> during the inspection process. Additionally, second inclinometer <NUM> coupled to and/or positioned on receiver probe <NUM> may move with and/or be carried by receiver probe <NUM> as receiver probe <NUM> moves along exposed surface <NUM> of rotor <NUM> during the inspection process. Inclinometers <NUM>, <NUM> may be operably connected to and/or in electrical communication with probe alignment system <NUM> for transmitting data or information relating to the position (e.g., angle) of transmitter probe <NUM> and receiver probe <NUM>, respectively, to probe alignment system <NUM> during the inspection process. Inclinometers <NUM>, <NUM> may be any suitable instruments or components that may be configured to detect and/or measure the angle of transmitter probe <NUM> and receiver probe <NUM> with respect to rotor <NUM>, as discussed herein.

Encoder <NUM>, and inclinometers <NUM>, <NUM> of inspection system <NUM> may be utilized to detect and/or determine the circumferential position of transmitter probe <NUM> and receiver probe <NUM> on rotor <NUM> and subsequently aid in the alignment of transmitter probe <NUM> and receiver probe <NUM>. That is, during the inspection process, encoder <NUM> positioned on end <NUM> may define a "<NUM> degree" mark or reference for the circumference of rotor <NUM> to be utilized by inclinometers <NUM>, <NUM>. Inclinometers <NUM>, <NUM> may be configured to measure the angle of transmitter probe <NUM> and receiver probe <NUM>, as defined by encoder <NUM> (e.g., <NUM> degree mark), as transmitter probe <NUM> and receiver probe <NUM> move around rotor <NUM> during the inspection process. Specifically, first inclinometer <NUM> may be configured to measure the angle of transmitter probe <NUM> and second inclinometer <NUM> may be configured to measure the angle of receiver probe <NUM> during the inspection process. Data or information relating to the angle of transmitter probe <NUM> and receiver probe <NUM> may be sent and/or transmitted to encoder <NUM> and/or probe alignment system <NUM> to be analyzed by probe alignment system <NUM>. As similarly discussed above with respect to analyzing the energy characteristics transmitted by receiver probe <NUM>, the data or information relating to the angle of transmitter probe <NUM> and receiver probe <NUM> obtained by encoder <NUM> and/or inclinometers <NUM>, <NUM> may be utilized to ensure transmitter probe <NUM> and receiver probe <NUM> remain and/or are moved back into a desired (axial) alignment when performing the inspection process. In a non-limiting example, first inclinometer <NUM> may determine that transmitter probe <NUM> is positioned at the <NUM>° mark on rotor <NUM>, and second inclinometer <NUM> may determine that receiver probe <NUM> is positioned at the <NUM>° mark on rotor <NUM>. In the non-limiting example, it may be determined that transmitter probe <NUM> and receiver probe <NUM> should be in axial alignment on rotor <NUM> to ensure the most accurate inspection results. As a result, probe alignment system <NUM> may determine that transmitter probe <NUM> and receiver probe <NUM> are not properly aligned based on the data from inclinometers <NUM>, <NUM> and may subsequently adjust the displacement characteristics (e.g., speed, position) of transmitter probe <NUM> and/or receiver probe <NUM> to put the probes <NUM>, <NUM> in axial alignment (e.g., <NUM>° mark).

In a non-limiting example, encoder <NUM> and inclinometers <NUM>, <NUM> may be concurrently or simultaneously with transmitter probe <NUM> and receiver probe <NUM> for detecting and/or maintaining alignment of transmitter probe <NUM> and receiver probe <NUM> during the inspection process. In another non-limiting example, encoder <NUM> and inclinometers <NUM>, <NUM> may be used exclusively for detecting and/or the circumferential position of transmitter probe <NUM> and receiver probe <NUM> to ensure alignment between transmitter probe <NUM> and receiver probe <NUM> during the inspection process. In this non-limiting example, transmitter probe <NUM> and receiver probe <NUM> may still perform operations discussed herein to ensure a desired spacing or distance (D) is maintained between transmitter probe <NUM> and receiver probe <NUM> during the inspection process.

<FIG> depicts an example process for aligning inspection probes of an inspection system. Specifically, <FIG> is a flowchart depicting one example process <NUM> for aligning and maintaining alignment between a transmitter probe and a receiver probe of an inspection system while performing an inspection process on a rotor.

In operation <NUM>, initial preparation processes may be performed. Specifically, preparation processes may be performed on the rotor that may undergo the inspection process using the inspection system. The preparation processes may include, but are not limited to, removing the rotor from a housing and/or enclosure of the turbine system, and roughening the surface of the rotor. Roughening the surface of the rotor may include, for example, sandblasting the surface of the rotor to improve inspection results. Preparation processes can also include releasably coupling at least one transmitter probe and at least one receiver probe to the exposed surface of the rotor. The transmitter probe may be releasably coupled to the rotor on a first side of a feature of the rotor, and the receiver probe may be releasably coupled to the rotor on a second side of the feature. The second side of the feature may be opposite the first side. As such, the feature may substantially block the line of sight between the transmitter probe and the receiver probe.

In operation <NUM>, the transmitter probe releasably coupled to the rotor may be moved on the rotor. Specifically, the transmitter probe may be moved along the exposed surface of the rotor and/or may move circumferentially around the exposed surface of the rotor. In a non-limiting example, the movement of the transmitter probe may automated and the transmitter probe may include a propulsion assembly configured to move the transmitter probe around the rotor. In another non-limiting example, the movement of the transmitter probe may be done manually by an operator performing the inspection process on the rotor.

In operation <NUM>, the receiver probe releasably coupled to the rotor may also be moved around the rotor. Specifically, and similar to the movement of the transmitter probe in operation <NUM>, the receiver probe may be moved along the exposed surface of the rotor and/or may move circumferentially around the exposed surface of the rotor. In non-limiting examples, the movement of the receiver probe may automated (e.g., a propulsion assembly), or alternatively, may be manual (e.g., operator).

Although shown in <FIG> as being linear and/or performed in succession, it is understood that operation <NUM> and operation <NUM> may be performed simultaneously. That is, the movement of the transmitter probe in operation <NUM> and the movement of the receiver probe in operation <NUM> may happen simultaneously, such that both the transmitter probe and receiver probe are both moving along the exposed surface of the rotor. Additionally, it is understood that operation <NUM> and operation <NUM> may be performed independent of one another. That is, the movement of the transmitter probe may be independent from the movement of the receiver probe.

In operation <NUM>, energy characteristics for the energy received by the receiver probe may be analyzed. Specifically, energy characteristics including, but not limited to, a detected amplitude and/or a detected time of flight or travel for the energy received by the receiver probe may be analyzed. Analyzing the energy characteristics may also include determining a desired amplitude for the energy received by the receiver probe, and/or determining a desired time of flight for the energy received by the receiver probe. Determining the desired amplitude and/or time of flight may be accomplished when performing the analysis process in operation <NUM>. Alternatively, determining the desired amplitude and/or time of flight may be accomplished prior to the analysis process in operation <NUM>. For example, the desired amplitude and/or time of flight may be determined when performing the initial preparation processes in operation <NUM>. Analyzing the energy characteristics may also include comparing the detected amplitude of the energy received by the receiver probe with the determined, desired amplitude, and determining if the detected amplitude differs from the desired amplitude. Also, analyzing the energy characteristics may include comparing the detected time of flight of the energy received by the receiver probe with the determined, desired time of flight, and determining if the detected time of flight differs from the desired time of flight. If it is determined that the detected amplitude and/or time of flight differs from the determined, desired amplitude and/or time of flight, then the analyzing of operation <NUM> may also include determining that the transmitter probe and the receiver probe are out of alignment and displacement characteristics of the transmitter probe and/or the receiver probe may require adjustment.

In operation <NUM>, displacement characteristics for the transmitter probe and/or the receiver probe may be adjusted based on the analyzed energy characteristics. Specifically, when it is determined that detected amplitude and/or time of flight differs from the determined, desired amplitude and/or time of flight, displacement characteristics for the transmitter probe and/or the receiver probe may be adjusted to realign and/or reposition the transmitter probe and the receiver probe on the rotor. The realignment and/or repositioning achieved by adjusting displacement characteristics of the transmitter probe and/or the receiver probe may allow the transmitter probe and the receiver probe to provide optimum inspection results when performing the inspection process on the rotor. Adjusting the displacement characteristics of the transmitter probe and/or the receiver probe may include altering a speed of the transmitter probe and/or the receiver probe, altering a circumferential position of the transmitter probe and/or the receiver probe with respect to the rotor, altering an axial position of the transmitter probe and/or the receiver probe with respect to the rotor, and/or altering an axial distance the transmitter probe and/or the receiver probe. Additionally, adjusting the displacement characteristics of the transmitter probe and/or the receiver probe may include axially aligning the transmitter probe and the receiver probe in response to the rotor undergoing the inspection process having a uniform and/or single diameter and circumference. Furthermore, adjusting the displacement characteristics of the transmitter probe and/or the receiver probe may include axially staggering the transmitter probe and the receiver probe in response to the transmitter probe being positioned on a first segment of the rotor having a first diameter and first circumference, and the receiver probe being positioned on a second segment of the rotor having a second diameter and second circumference. The second diameter and second circumference of the second segment may be smaller than the first diameter and first circumference of the first segment.

Claim 1:
A rotor (<NUM>) comprising:
a plurality of features formed on and extending from an exposed surface; and
an inspection system comprising:
at least one transmitter probe (<NUM>) positioned on the exposed surface and adjacent the plurality of features, the at least one transmitter probe (<NUM>) configured to transmit energy;
at least one receiver probe (<NUM>) positioned on the exposed surface and separated from the at least one transmitter probe (<NUM>) by the plurality of features, the at least one receiver probe (<NUM>) configured to receive the energy transmitted by the at least one transmitter probe (<NUM>); and
a probe alignment system (<NUM>) in communication with the at least one transmitter probe (<NUM>) and the at least one receiver probe (<NUM>), the probe alignment system (<NUM>) configured to:
analyze an energy characteristic for the ultrasonic energy received by the at least one receiver probe (<NUM>) to determine if a displacement characteristic for at least one of the at least one transmitter probe (<NUM>) and the at least one receiver probe (<NUM>) requires adjustment;
the inspection system further comprising:
an encoder (<NUM>) positioned on an end of the rotor (<NUM>), the encoder (<NUM>) axially aligned with a center of the rotor (<NUM>);
a first inclinometer (<NUM>), the first inclinometer (<NUM>) having been coupled to, formed and/or positioned on the first ultrasonic probe (<NUM>); the first inclinometer (<NUM>) in communication with the encoder (<NUM>) and the probe alignment system (<NUM>); and
a second inclinometer (<NUM>), the second inclinometer (<NUM>) having been coupled to, formed and/or positioned on the second ultrasonic probe (<NUM>);
the second inclinometer (<NUM>) in communication with the encoder (<NUM>) and the probe alignment system (<NUM>).