MXPA06004096A - Bore inspection probe - Google Patents

Abstract

A probe for inspecting a bore includes a housing dimensioned for insertion into the bore and a plurality of stabilization legs having a first end attached to the housing and a second end extendable from the housing. The stabilization legs are configured to contact the inner surface of the bore. A plurality of sensor arms is extendable from the housing and is rotatable relative to the stabilization legs. A motor provides for rotating the sensor arms relative to the stabilization legs.

Description

PERFORATION INSPECTION PROBE FIELD OF THE INVENTION The present invention relates to an apparatus for inspecting an interior of a perforation and more specifically refers to a probe for inspecting the interior of a perforation.

BACKGROUND OF THE INVENTION Perforations such as pipes or cylindrical equipment are often constructed of welded segments that are subject to stress or wear. As such, there is often a need to inspect the internal surface of the bore during maintenance procedures for breaks and the integrity of a weld joint. For example, a reactor pressure vessel (RPV) of a boiling water reactor (BWR) typically has submerged boreholes having internal welds that need to be inspected during maintenance routines. Hollow tubular jet pumps having internal perforations are positioned within a ring to provide the required flow of water through the reactor core. The jet pumps include a top portion known as the inlet mixer and a lower portion, known as the diffuser. The inlet mixer and the diffuser, due to its large size, are formed by the welding of a plurality of cylindrical and conical sections together. Specifically, the respective ends of the adjacent cylindrical sections are joined with a circumferential weld. During the operation of the reactor, the circumferential weld joints may experience breakage due to inter-tension corrosion. -granular (IGSCC) and breakage by assisted radiation stress corrosion (IASCC) in affected areas the heat of the welds, which can decrease the integral integrity of the jet pump. It is important to examine the welds of the inlet mixer and the jet pump diffuser periodically to determine if a break has occurred. While examinations in the rings or region between a coating and a wall of the pressure vessel can be carried out, it is likely that these examinations are only partial inspections due to access limitations in the annular region of the reactor. As such, in the examination, the welds of the jet pump are often examined by an inspection tool positioned inside the inlet mixer of the jet pump and the diffuser of the jet pump. Such an inspection tool performs ultrasonic and / or swirl current examinations of the jet pump welds from the inside of the inlet mixer and diffuser of the jet pump in a nuclear reactor. Typically, operating personnel located on a fuel refueling bridge on the surface of the pool manipulate a tool supply system that is connected to a jet pump inlet for the insertion of an inspection probe. The long cylindrical inspection probe is inserted through the narrow opening of the jet pump inlet and is joined and positioned vertically inside the jet pump by a guide wire. Once inside, the inspection probe is activated so that the arms containing sensors are extended from the long cylindrical body of the inspection probe. The sensor arms of the inspection probe are rotated by a motor in the inspection probe to provide a radial check of the interior surfaces of the jet pump. The inspection probe often includes a stabilizing weight in an effort to stabilize the probe in the borehole.

BRIEF DESCRIPTION OF THE INVENTION As recognized by the inventors herein, current probes do not prevent rotation of the non-sensitive portions of the probe body and therefore the rotation position of the sensors can not be traced or determined. Also, such probes are only typically Usable in a substantially vertical bore where the sensor arms by themselves center the probe within the bore when making contact with the inner surface of the bore while rotating. This is partly due to the suspended coupling of the inspection probe in the vertical perforation of the jet pump and the inability to limit the movement or to establish a radial reference position within the borehole. The inventors hereof have successfully developed an improved inspection probe for insertion and inspection of the interior of a perforation that may or may not be a vertically positioned perforation. By stabilizing a portion of the probe inside the borehole, the present invention can also be provided for the determination and monitoring of the rotation position of the sensor elements and therefore the sensor measurements can be correlated with a rotational position that allows the position of any identified defect. According to one aspect of the invention, a probe for the inspection of a bore includes a housing sized for insertion into the bore and a plurality of stabilizing ends having a first end attached to the housing and a second end extending from the housing . The stabilization limbs are configured to make contact with the inner surface of the bore. A plurality of sensor arms is extendable from the housing and can rotate relative to the stabilization ends. An engine is provided to rotate the sensor arms relative to the stabilization limbs. According to another aspect of the invention, a perforation inspection probe includes a housing, sized for insertion into the perforation and having a first portion and a second portion. The probe includes at least one flexible connection coupling the first portion and the second portion and an axis for rotating engagement of the first portion to the second portion. A plurality of stabilizing limbs has a first end attached to the first housing portion and a second end extending from the housing. The stabilization limbs are configured to make contact with the inner surface of the bore. A predisposed element is provided for retaining the stabilizing limbs within the housing and a stabilizing limb actuator is configured to extend the second end of the stabilizing limbs from said housing. The probe also includes a plurality of sensor arms with each of the sensor arms having a first end attached to the second portion and a second end extending from the second portion and having a sensor. At least one arm activator is provided to extend the second end of the sensor arms from the housing to an extended detection position. An engine is provided to rotate the second portion relative to the first portion. According to yet another aspect of the invention, a probe for inspecting an internal surface of a perforation includes a housing sized for insertion into the perforation and having a first portion and a second portion and at least one flexible connection engaging the first portion and the second portion. An axis is provided to rotatably couple the first portion to the second portion. A plurality of stabilizing limbs includes a first end attached to the first housing portion and a second end extending from the housing and each configured to contact the inner surface of the bore. The probe also includes a stabilization limb actuator configured to extend the second end of the stabilization limbs from said housing and a plurality of sensor arms with each of the sensor arms having a first end attached to the second portion and a second end extending from the second portion. Each second end includes a sensor. The probe has at least one arm activator for extending the second end of the sensor arms from said housing to an extended detection position. An engine is provided for the rotation of the second portion relative to the first portion. According to yet another aspect of the invention, a probe for inspecting an inner surface of a bore includes a housing sized for insertion into the bore, with the housing having a first portion and a second portion. A plurality of stabilization limbs is configured to make contact with the inner surface of the bore. Each stabilization tip has a first end attached to the housing and a second end extending from the housing. The probe includes a means for extending each of the stabilizing limbs from a position within the housing to a position where the second end comes into contact with the internal surface of the bore. The probe also includes a plurality of sensor arms with each of said sensor arms having a first end attached to a second portion and a second end extending from the second portion and having a sensor. The probe further includes means for extending each of the sensor arms from a position within the housing to a position by positioning the sensor close to the inner surface of the bore and means for rotating the sensor arms relative to the stabilizing ends. Additional aspects of the present invention will be in part apparent and in part signaled later. It should be understood that various aspects of the invention can be implemented individually or in combination with one another. It should also be understood that the detailed description and drawings, although they indicate certain exemplary embodiments of the invention, they are intended for purposes of illustration only and should not be taken into account as limiting the scope of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a piercing probe in a collapsed position according to an exemplary embodiment of the invention. FIG. 2 is a perspective view of a piercing probe in a radially extended position according to an exemplary embodiment of the invention. FIG. 3 is a perspective view of an axis assembly for a piercing probe according to an exemplary embodiment of the invention. FIG. 4 is a perspective view of an axis for use in a piercing probe according to an exemplary embodiment of the invention. FIG. 5 is a perspective view of a sensor arm having a deflected and bullet sensor tip for use in a perforation according to an exemplary embodiment of the invention. FIG. 6 is a side view of a sensor arm coupled to a sensor arm activator and includes a passive deflection member according to an exemplary embodiment of the invention. FIG. 7 is a side view of a sensor segment with an extended sensor arm, each having a passive deflection element according to another exemplary embodiment of the invention. FIG. 8 is a view of a sensor segment having three sensor arms and three sensor arm actuators of the air cylinder according to one embodiment of the invention. FIG. 9 is a view of an air manifold for coordinating the activation of the three sensor arms actuators of the air cylinder according to another embodiment of the invention. Similar reference symbols indicate similar or characteristic elements throughout the drawings.

DETAILED DESCRIPTION OF EXEMPLIFICATION MODALITIES The following description is merely exemplary in nature and is in no way intended to limit the invention, its applications, or uses. As noted, similar reference symbols or numbers in the various figures indicate similar or characteristic elements throughout the drawings. As such, the description of the common elements, features, or parts in the previously presented figures are not repeated herein. In one embodiment of the invention, a probe for inspecting an inner portion of a bore includes a housing sized for insertion into the bore and a plurality of stabilizing ends having a first end attached to the housing and a second end extending from the housing . The stabilization limbs are configured to make contact with the inner surface of the bore. A plurality of sensor arms is extendable from the housing and can be rotated relative to the stabilizing ends. An engine is provided for the rotation of the sensor arms relative to the stabilization limbs. An example of such a probe is illustrated in Fig. 1. As shown, the probe 100 has a housing 101 with a first segment or portion 102 and a second segment 1 04, and a first end 106 and a second end 108. While the probe 100 and / or the housing 101 may have many shapes and sizes, the probe 100 has in many embodiments a preferred cylindrical and long shape with an outer diameter smaller than the internal diameter of the borehole to which the probe is to be inserted and operated. The first segment 102 includes one or more chambers or cavities 1 10 that are dimensioned to capture and retain a plurality of stabilizing limbs 1 12. Fig. 1 illustrates stabilization limbs 1 12 in a collapsed position within the cavities of the limbs 1 10 and Fig. 2 illustrates the stabilization limbs 1 12 in a radially extended position. As shown, each stabilization limb 1 12, in this exemplary embodiment, has one end rotatably connected to the first segment 102 and a second end that is radially extended from the body portion of the first segment 102. Similarly, the second segment 104 includes one or more chambers or cavities 1 14 that are dimensioned to capture and retain a plurality of sensor arms 1 16. Fig. 1 illustrates sensor arms 1 16 in a collapsed position within the arm cavities sensor 1 14 and Fig. 2 illustrates sensor arms 1 16 in a radially extended position. As shown, each sensor arm 1 16, in this exemplary embodiment, has one end rotatably connected to the second segment 104 and a second end that is radially extended from the body portion of the second segment 104. While Figs. 1 and 2 illustrated the first segment 102 as an upper segment and the second segment 104 as a lower segment, this position can be reversed in other embodiments of the invention.

The first segment 102 is flexibly attached to the second segment 104 by a flexible joint or coupler 18 which provides flexibility between the two segments and thus allows the insertion of the probe 100 into a bore having limited access. Additionally, a rotary coupler 120 is provided for rotation of the second segment 104 relative to the first segment 102. The rotary coupler 120 includes a motor (not shown) and may include other components including, by way of example, a bearing, a gear, a spindle, and an axis (not shown). Typically, probe 1 00 is supported or engaged for operation via a support cable (not shown) attached to first end 106. Additionally, one or more operational lines 122, as will be mentioned in greater detail below, may enter in the probe through a cavity 127 or a port in the first end 106. Once the probe 100 is placed within a borehole, the stabilization limbs 1 12 are radially extended from the cavity of the end 1 10. as shown in Fig. 2. The exemplary probe 100 may have each stabilizing end 1 12 radially extended by one or more supports or guides 124 and may have a friction element 1 13 on one end. These guides 124 may extend the stabilization limbs 12 by one or more activators (not shown). The friction elements 1 13 can be configured to contact and engage the inner surface or wall of a perforation with some degree of friction. The friction elements 1 13 may be composed of any type of material, such as rubber, or may be a tooth or other characteristic of the end of the stabilizing end 1 12 which may increase the frictional contact of the stabilizing end 1 12 with the internal surface of the perforation. Additionally, one or more of the guides 124 or of the actuators may be deflected by a deflecting element 1 15, such as a spring, for positioning the stabilization limbs 1 12 in a normally open or normally closed position. In a preferred embodiment, one or more springs (not shown) can be configured to deflect the guides 124 to collapse in a normal manner 1 12 within the cavities of the limbs 1 1 0. An activator 125, such as an air cylinder or Hydraulic, it can exert a force contrary to the normal deviation of the deflecting element 1 1 5 to move the guides 124 upwards and by flying one end of each guide 124 outwards. In such a manner, an unattached end of each stabilization limb 1 12, which may include a friction element 1 13, is radially extended to come into contact with the inner surface of the surrounding bore. The amount of external force exerted by the activator 125 on the stabilizing limbs 1 12 and the friction elements 1 13 can be adjusted and monitored to provide the appropriate stability of the stabilization limbs 1 12 relative to the bore. Some embodiments may also provide a substantially similar extension or external force on each stabilization limb 1 12, which may result in a plurality of limbs (shown by way of example to be three limbs) centering the probe 100 within the bore. Additionally, by having the stabilization limbs 1 12 biased to a collapsed position, the probe 100 can be more easily extracted from a piercing if a probe 100 fails, such as the loss or blackout of an operational line or signal . The sensor arms 1 16 also extend radially from the cavity of the arms 114 by one or more sensor arm activators 126. In the exemplary embodiment of Fig. 2, each sensor arm 116 having a sensor 117 on one end it may also include an arm activator 126 associated with the sensor arm 116 to position the sensor arm 116 in the desired position. Typically, the sensor arms 1 16 will be inside the arm cavities 114 in a collapsed position as a fault. As such, one or more deflection elements (not shown) can be used to collapse each sensor arm 1 16. Each arm activator 126 when receiving the necessary trigger input or signal extends at least a portion of the associated sensor arm 1 16. from the arm cavity 114 outwards as shown in Fig. 2. The amount of extension of the sensor arms 1 16 can be adjusted during the operation based on the particular requirements. For example, the sensor arms 1 16 may be extended to be in contact with the inner surface of the perforation walls if the sensor 17 or the sensor operation requires contact. Otherwise, the sensor arms 1 16 can only be partially extended between the sensor body and the perforation walls. The present design allows this partial placement since the probe can be centered and stabilized within the bore by the stabilizing limbs 1 12 which are separated from the sensor arms 1 16. As shown, one end of the sensor arm 1 16 it includes a sensor 1 17. The sensor 1 17 can be of any type of sensor and there can be more than one sensor per sensor arm 1 16. Additionally, the sensor 1 17 can be attached to one end of the sensor arm 1 16 for a pellet or board and may include a diversion member. The sensor pellet can be provided for alignment of the sensor 17 with an internal surface of the perforation. The biasing element can retain the sensor 1 17 or a sensitive tip in a plane with the sensor arm 1 16 during normal operation to thereby allow the sensitive tip to also collapse within the sensor cavity 1 14. The elements of Ballast and deflection can still allow the sensor to adjust or align with the sensitive surface of the bore as required when the sensor arms 16 are in the extended position. A motor 1 1 1 may be provided in either the first segment 102 or the second segment 104 and provide a rotational force to rotate the sensor arms 1 16 relative to the stabilization ends 1 12. As shown in Fig. 2, by way of example, the motor 11 1 may be included within the lower portion of the first segment 102 adjacent to and possibly within the rotary coupler 120. It should be understood by those skilled in the art, however, that other positions and locations of the engine 11 are possible and are still within the scope of this invention. Fig. 2 also illustrates a flexible coupling 128 proximate the first end 106 to provide a flexible connection to an external support cable (not shown). Also the operational lines 122, such as 130 (electric power line), 132 (activating line), and 134 (sensor line) provide operational connectivity to an external control or operational systems (not shown). This may include a power line 130 for one or more probe systems including the operation of the motor 11, an activating line 132 to provide air or other hydraulic fluid for the operation of one or more limb activators 125 and arm activators. 126, and a sensor line 134 for communication of a detected signal or sensor characteristics from sensors in the probe to an external operational system. Additionally, in some embodiments, a resolver 136 may be included to track or determine the radial position of the sensor arms 116 relative to the stabilization limbs 1 12. The resolver 136 generates a signal indicative of the radial position or of the radial coordinates of one or both of the sensor arms 116 and the stabilization ends 112, or the second segment 104 or first segment 1 02 to which they are respectively coupled. In the exemplary embodiment of Fig. 2, resolver 136 is illustrated as being positioned at or near the lower portion of second segment 104. However, it should be clear to those in the art that resolver 136 may be positioned at several other positions on probe 100 and still be provides for the determination of the relative radial position. In a further embodiment, the probe 100 may include one or more sensor devices, such as a video sensor or camera (not shown). For example, in some embodiments, a video camera may be positioned on the upper segment 102 to view the lower segment 104, and / or to observe the display of the stabilizing legs 1 12 or the sensor arms 1 16. The signal of video can be transmitted back to a support system or display screen by an operator to allow the monitoring of one or more operations of the sensor arms, as well as their rotation. In other embodiments, a video camera may also be positioned to observe an area detected by the sensors 17. Referring now to FIG. 3, a rotary coupler 120 for coupling the first segment 102 and the second segment 104 according to a modality exemplifying is illustrated. In this example, the rotary coupler 120 is shown to be associated with the first segment 1 02. However, in other embodiments the one or more components of the rotary coupler 120 may be associated with the second segment 104. In the exemplary embodiment of FIG. Fig. 3, the first segment 1 02 is terminated at one end with shaft cover 302. The motor 1 1 1 can be positioned within the body of the first segment 102 and is operably coupled to a motor controller 304 that extends further beyond the shaft cover 302. A transfer activator 306 receives the rotational energy from the motor controller 304. The shaft cover 302 may also include one or more passages 308 that can accept one or more operational lines (not shown) that are connect between the first segment 102 and the second segment 104. A rotating shaft (not shown) can be positioned on the shaft cover and provide for a rotational connectivity between the two segments 102 and 104. In the illustrated embodiment of FIG. 3, the rotating shaft 31 0 also includes a passage 308 in its base to accept the one or more operational lines 122. However while the rotary coupler 120 provides for a rotation between the first segment 102 and the second segment 104, the rotating shaft 310 includes a central passage 312 for a continuous passage of the operational lines 122. In this way, the operational lines 122 do not twist during the rotary operation of the rotary coupler 120. A ring gear 314 is driven by the transfer activator 306 to drive the rotation of the second segment 104. A bearing 316 can be included to provide improved rotation of the rotary coupler 120. A shaft coupler (not shown) can be placed on the other components of the rotary coupler 120. The shaft coupler may include on its internal surface (not shown) an engr union mechanism A to receive the rotational energy of the ring gear 314. The shaft coupler may include one or more joining characteristics that are provided for the coupling of the rotary coupler 120 to another component, such as the flexible coupler 1 18. Fig. 4 provides a more detailed perspective view of a rotating shaft 310 according to an exemplary embodiment of the invention. As shown, the rotating shaft 310 may include a flange 402, an axis 404, and an end of shaft 406, and a coupling end 408. Additionally, the flange 402 may include one or more fasteners or fasteners, such as, by way of example, mounting holes. As noted above, one or more sensor arms 1 16 may be configured to include one or more sensors 1 17. Fig. 5 illustrates an exemplary embodiment of a sensor end or the tip of a sensor arm 1 16. In this example, the sensor arm 1 16 includes a balled end 502 which is attached to the sensor arm 1 16 with a hinge 504 or a similar flexible device. A sensor 1 17 is attached to the balled end 502 and positioned for optimum detection of a feature of the borehole to be inspected. Additionally, a spring 506 (not shown in FIG. 5) can provide a deflection to the balled end 502 so that the balled end 502 is normally positioned in the same plane as the sensor arm 16. In this manner, the balled end 502 is positioned to be encased with the body of the second segment 104 when the sensor arm 1 16 is collapsed within the arm cavity 1 14. However, when the sensor arms 16 are extended and in contact with an inner surface of the bore, the balled end 502 rotates around the hinge 504 so that the sensor 1 17 is optimally aligned with the plane of the internal surface of the bores. Referring now to FIG. 6, a sensor arm 1 16 is coupled to the arm activator 126 via a hinge 602 or a similar flexible joint. In some embodiments, each sensor arm 1 16 may also include a passive biasing member 604. The passive biasing member 604 may include, by way of example, a wedge, ramp, or curved surface. The passive bypass element 604 of the sensor arm 1 16 may operate in conjunction with one or more body features of the second segment 1 04 to provide an initial external deflection of the sensor arms 1 16 when the sensor arm 126 activator starts to move from the collapsed position to the extended position. As shown in Fig. 7, a second passive deflection member 702 can also be a wedge, ramp or curved surface, flange, which when placed in contact with an upward movement of the passive deflection member 604, provides a pressure out of the sensor arm 1 16 to expedite, at least a portion, of the sensor arm to extend radially from the arm cavity 1 14. In one embodiment, both passive biasing elements 604 and 702 are wedges. While the sensor arms 16 extend radially, the arm actuators 126 rotate outwards and provide the necessary radial extension to the sensor arms 1 16. As shown in FIG. 7, a second end 802 of each activator arm 126 is coupled to the body of second segment 104 by a hinge, shaft, or a similar rotational or flexible element. As noted above, each arm activator 126 can be any type of activator including a hydraulic cylinder, a motor and a worm gear arrangement, or a similar activating assembly. Also as shown in FIG. 8, each arm activator 126 is an air cylinder mounted on a rotary coupler 804 and includes an air inlet port 806 for operable control of the arm activator 126. Although there may be less than one or more than one arm activator 126 associated with each sensor arm 1 16, in a preferred embodiment there are three sensor arms 1 16, each associated with an air cylinder arm activator 126. To allow equalization of the extension of each sensor arm 1 16 and the amount of pressure applied by the sensor arm 1 16 to the inner surface of the bore, a coordinated device, such as an air manifold 902, as shown in Fig. 9 can be provided. The air manifold 902 may have a plurality of air inlet ports and outlet ports 904 to provide a coordinated air supply to the various arm actuators 126. For example, where the probe 100 includes three sensor arms 1 and 16 three arms activators 126, the air manifold 902 can include a single inlet port 904 and three outlet ports 904. One mode of the air manifold 902 could include an internal air chamber (not shown) that receives the activating air from the single entry port 904 and provides equal distribution to each of the three output ports 904. In this way, each arm activator 126 receives a substantially equal amount of activating air. Additionally, this may reduce the number of operational lines 122 required to extend the sensor arms 1 16. The various exemplary embodiments of the inspection probe 100 described herein may provide an improved inspection of an interior bore. Stabilization limbs 1 12 can center and stabilize the probe within the bore thus providing the sensor arms with the ability to be optimally positioned within the bore to conduct an inspection or sensing operation. Additionally, radial stabilization of the first segment 102 of the probe 100 can provide improved determination and track the rotational position of each sensor 1 17 within the bore. As such, the sensed characteristics of the sensor 17 may be more accurately associated with a particular circumferential position within the bore, thereby improving the ability for operating personnel to identify and correct detected defects. Some of the improvements and advantages, in addition to others, are provided by the various embodiments of the invention. When the elements or features of the present invention or modalities thereof are described, the articles "a", "an", "the" and "said" are intended to mean that there is one or more of the elements or features. The terms "encompassing", "including", and "having" are intended to be inclusive and mean that there may be additional elements or characteristics beyond those specifically described. Those skilled in the art will recognize that various changes can be made to exemplary embodiments and implementations described above without departing from the scope of the invention. Accordingly, all matter contained in the above description or shown in the accompanying drawings should be construed as illustrative and not as in a limiting sense. It is further to be understood that the steps described herein are not to be taken into account as necessarily requiring their performance in the particular order discussed or illustrated. It should also be understood that additional or alternative stages may be employed.

Claims (10)

1. CLAIMS 1. A probe (100) for inspecting a bore, comprising: a housing (101) sized to be inserted into the bore; a plurality of stabilization limbs (12) having a first end 106 attached to the housing (101) and a second end (108) extendable from the housing (101) and configured to contact the inner surface of the bore; a plurality of sensor arms (1 16) extendable from the housing (101) and rotatable relative to the stabilization ends (1 12); and a motor (11) to rotate the sensor arms (16) relative to the stabilization ends (12). The probe (100) of claim 1 wherein said housing (101) having a first portion 102 and a second portion (104), said stabilization ends (1 12) being coupled to the first portion 102 and said arms sensor (1 16) being coupled to the second portion (104), said motor (1 1 1) rotating the second portion (104) including the sensor arms (16) relative to the first portion 102. 3. The probe (100) of claim 1, further comprising a deflection element (1 15) for retaining the stabilization limbs (1 12) within the housing (101) and a stabilization end activator (125) configured to extend the second end (108) of the stabilization limbs (12) from the position retained within the housing (01) to an extended position making contact with the inner surface of the bore. The probe (100) of claim 1, further comprising a plurality of sensor arm actuators (126) configured to extend the sensor arms (16) from a position within the housing (101) to an extended position of detection wherein one end of the sensor arm sensor (1 16) is positioned proximate the internal surface of the bore, wherein each sensor arm (1 16) has an associated sensor arm activator (126). The probe (100) of claim 4, further comprising a sensor arm activation device (902) configured to coordinate the control of the sensor arm activators (126), wherein the arm activation device of sensor (902) includes an air manifold (902) and each sensor arm activator (126) is an air cylinder, said air manifold (902) configured to receive an air inlet and provide activating air to each cylinder of sensor arm air (126). The probe (100) of claim 4, further comprising one or more passive deflection elements (702) associated with each sensor arm (1 16), said passive deflecting elements (702) dimensioned and positioned to assist the extension Radial of the sensor arms (1 16) from the position within the housing (101). The probe (100) of claim 1 wherein each sensor arm (1 16) includes a sensor (1 17) configured to detect a characteristic of the inner surface of the bore and wherein each sensor arm (1 16) ) includes a first end (106) attached to the housing (101) and a second end (1 08) extendable from the housing (101) and configured to make contact with the inner surface of the bore, and wherein each sensor (17) ) is attached close to the second end (108). The probe (100) of claim 7, wherein each sensor arm (1 16) includes a pellet portion (502) on the second end (108) biased to be positioned normally along a plane of the sensor arm (1 16), and rotating to a plane of the inner surface of the bore when in contact with the inner surface. The probe (100) of claim 1, further comprising: a resolver (136) to provide a signal indicative of the radial position of the sensor arms (1 16) relative to the stabilization limbs (1 12); and a fixed video sensor relative to the stabilization limbs (1 12) and configured to observe at least one sensor arm (1 16), wherein each second end (1 08) of each stabilization extremity (112) includes a friction element (113) to make frictional contact with the inner surface of the bore. The probe (100) of claim 1 wherein the motor (11) is configured to rotate the sensor arms (16) clockwise by approximately 360 degrees and then rotate the sensor arms (1 16) counterclockwise by approximately 360 degrees.