# US 12,000,800 B2 · System and method for passive normalization of a probe

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- Number: US 12,000,800 B2
- Document ID: US12000800B2
- Status: Granted
- Kind: B2
- Application number: 18/299,292
- Filed: 2023-04-12
- Published: 2023-08-03
- Granted: 2024-06-04
- Earliest claimed: 2020-11-30
- Assignees: Saudi Arabian Oil Company; King Abdullah University of Science and Technology
- Applicants: Saudi Arabian Oil Company; King Abdullah University of Science and Technology
- Inventors: Fadl Abdellatif; Hesham A. Jifri; Sahejad Patel; Ali Alrasheed; Amjad Felemban; Jeff S. Shamma
- Web page: https://patentgrep.com/patent/US12000800B2

## CPC

- G01N 29/2493: {Wheel shaped probes}
- G01N 29/04: Analysing solids (using acoustic emission techniques G01N29/14)
- G01N 29/225: {Supports, positioning or alignment in moving situation}
- G01N 29/265: by moving the sensor relative to a stationary material
- G01N 2291/2626: Wires, bars, rods
- G01N 2291/2634: cylindrical from outside
- G01N 2291/2638: Complex surfaces
- G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q)

## Abstract

A system and method passively normalize an ultrasonic dry coupled wheel probe as the probe traverses a surface of a structure to inspect the structure, such as a flat structure or a curved pipe. At least a pair of arms are configured to passively maintain normalization of the probe in a detection direction normal to the surface.

## Claims

### Claim 1

An assembly configured to hold a probe adjacent to a test surface, comprising:
a first connector;
a first arm pivotably coupled to the first connector at a first end thereof, the first arm extending in a forward direction and extending in a normal direction perpendicular to the forward direction and normal to the test surface, the first arm configured to pivot with a first degree of freedom in the forward direction;
a second arm pivotably coupled to the first connector at a first end thereof, the second arm extending in a rearward direction opposite to the forward direction and extending in the normal direction, the second arm configured to pivot with the first degree of freedom in the rearward direction;
a pair of first mounting members each coupled to a respective second end of the first and second arms;
a pair of first wheels each coupled to a respective first mounting member; and
a holder monolithically integral with the first connector and configured to hold the probe,
wherein the pivotable coupling of the first and second arms to the first connector passively normalizes a detection direction of the probe as the probe traverses the test surface.

### Claim 2 (depends on 1)

The assembly of claim 1, further comprising:
a first resilient member connected to each of the first and second arms and configured to bias the first and second arms towards each other.

### Claim 3 (depends on 1)

The assembly of claim 1, wherein the pair of first wheels are casters.

### Claim 4 (depends on 1)

The assembly of claim 1, wherein the holder is coupled to a rotating shaft of the probe and configured to allow the probe to rotate around the rotating shaft.

### Claim 5 (depends on 1)

The assembly of claim 1, wherein the first connector includes a first pinion gear.

### Claim 6

A system configured to traverse a test surface, comprising:
a housing:
a drive wheel rotatably coupled to the housing and configured to traverse the test surface; and
an assembly disposed within the housing and comprising:
a first connector;
a first arm pivotably coupled to the first connector at a first end thereof, the first arm extending in a forward direction and extending in a normal direction perpendicular to the forward direction and normal to the test surface, the first arm configured to pivot with a first degree of freedom in the forward direction;
a second arm pivotably coupled to the first connector at a first end thereof, the second arm extending in a rearward direction opposite to the forward direction and extending in the normal direction, the second arm configured to pivot with the first degree of freedom in the rearward direction;
a pair of first mounting members each coupled to a respective second end of the first and second arms;
a pair of first wheels each coupled to a respective first mounting member; and
a holder monolithically integral with the first connector and configured to hold a probe adjacent to the test surface,
wherein the pivotable coupling of the first and second arms to the first connector passively normalizes a detection direction of the probe towards the test surface as the system with the probe traverses the test surface in response to rotation of the drive wheel.

### Claim 7 (depends on 6)

The system of claim 6, further comprising:
a linear motion guide affixed within the housing and configured to guide the assembly linearly relative to the housing.

### Claim 8 (depends on 6)

The system of claim 6, further comprising:
a compression-based resilient member disposed between a top surface of the assembly and an interior surface of the housing.

### Claim 9 (depends on 6)

The system of claim 6, wherein the pair of first wheels are casters.

### Claim 10 (depends on 6)

The system of claim 6, wherein the holder is coupled to a rotating shaft of the probe and configured to allow the probe to rotate around the rotating shaft.

### Claim 11 (depends on 6)

The system of claim 6, further comprising:
a first resilient member connected to each of the first and second arms and configured to bias the first and second arms towards each other.

### Claim 12

An assembly configured to hold a probe adjacent to a test surface, comprising:
a symmetry-preserving sub-assembly;
a first arm coupled to the symmetry-preserving sub-assembly, the first arm extending in a forward direction and extending in a normal direction perpendicular to the forward direction and normal to the test surface, the first arm configured to pivot with a first degree of freedom in the forward direction;
a second arm coupled to the symmetry-preserving sub-assembly, the second arm extending in a rearward direction opposite to the forward direction and extending in the normal direction, the second arm configured to pivot with the first degree of freedom in the rearward direction;
a first wheel coupled to an end of the first arm and configured to move on the test surface;
a second wheel coupled to an end of the second arm and configured to move on the test surface; and
a holder coupled to the symmetry-preserving sub-assembly and configured to hold the probe,
wherein the coupling of the first and second arms to the symmetry-preserving sub-assembly maintains a symmetrical configuration of the first and second arms about an axis through the probe to passively normalize a detection direction of the probe as the probe traverses the test surface.

### Claim 13 (depends on 12)

The assembly of claim 12, wherein as a curvature of the test surface changes, movement of the first arm in a first direction relative to the probe, as the first wheel traverses the test surface, is mirrored by the symmetry-preserving sub-assembly to move the second arm in a second direction relative to the probe with the second direction mirroring the first direction about the axis as the second wheel traverses the test surface.