• Dedicated 6-axis lightweight portable NDE robot based on modular standard components with integrated gears and electronics with power supply and communication in a single cable.

• PS-4 UT data acquisition system for recording of RF A-scans with attached scanner position information.

• Generic multi-axis scanner online control system integrated in 3D CAD environment with attached motion simulation facilities.

• UT ray-tracing simulation module for simulation of ultrasonic sound propagation, mode conversion, etc.

• Module for generation of optimised robot scanning paths from ray-tracing calculation in test object.

• Module for real 3D reconstruction of recorded A-scan data in 3D-voxel space representing data as level or image coded in real 3D views and 2D projection views.

In 1997 the system was successfully used for pre-service inspection of 11 large nozzle weld located on the main circulation system of a BWR reactor.