Systems and methods for inspecting a machine

A method for performing an inspection of a machine, comprising:

• providing a plurality of status interrogation systems on an inspection vehicle, wherein the plurality of status interrogation systems are operative to capture inspection data regarding a plurality of inspection procedures to be performed on the machine;
• immersing the inspection vehicle within a dielectric liquid medium inside a housing of the machine;
• operating a base station to wirelessly direct a maneuvering of the inspection vehicle within the machine and to wireles sly direct the plurality of inspection procedures of the inspection vehicle using the plurality of status interrogation systems while immersed within the dielectric medium,
• wherein the plurality of status interrogation systems includes a magnetometer, further comprising sensing a magnetic field strength in the machine using the magnetometer while the inspection vehicle is immersed within the dielectric liquid medium,
• wherein the plurality of status interrogation systems includes an ultrasound sensor, further comprising measuring a transformer wall thickness while the inspection vehicle is immersed within the dielectric liquid medium using the ultrasound sensor, and
• wherein the plurality of status interrogation systems includes more than two microphones operative to sense sound waves associated with a partial discharge event.

An inspection system for inspecting a machine, comprising:

• an inspection vehicle constructed for operation while submersed within a dielectric liquid medium, wherein the inspection vehicle is self-propelled;
• a base station operative to direct activities of the inspection vehicle, wherein the base station comprises a controller operative to direct activities of the inspection vehicle;
• means for communicating between the base station and the inspection vehicle;
• and
• a plurality of means for interrogating the status of the machine, wherein the means for interrogating are disposed on the inspection vehicle,
• wherein the plurality of means for interrogating the status of the machine includes more than two microphones operative to sense sound waves associated with a partial discharge event.