Systems and methods for robotic inspection with simultaneous surface measurements at multiple orientations

A system, comprising:

• a payload for an inspection robot structured to move in a direction of travel on an inspection surface, the payload comprising:
• a first sensor holder including a first bottom surface and structured to support a first ultrasonic (UT) phased array at a first angle relative to the first bottom surface;
• a second sensor holder including a second bottom surface and structured to support a second ultrasonic (UT) phased array at a second angle relative to the second bottom surface, wherein the second angle is distinct from the first angle;
• an acoustic barrier structured to be positioned between the first UT phased array and the second UT phased array to reduce acoustic cross-talk between the first UT phased array and the second UT phased array;
• and
• a couplant channel structured to provide a couplant to the inspection surface and form an acoustic connection between at least one of the first UT phased array or the second UT phased array.