is connected to a floating arm 204 through a universal joint 205 allowing pitch and roll motions of the carriage 202 the floating arm 204 is connected to the transducer manipulator 5 with a revolute joint 206 and can be held against the surface through a spring attached to the floating arm and transducer manipulator an actuator can provide lift motion of the transducer manipulator to place it on the climbing surface or lift as desired guide wheels 208 on the carriage can maintain a consistent position and orientation of the transducer to the climbing surface a cleaning mechanism for light cleaning can be mounted in the inspection transducer carriage linear actuator and can consist of a brush 210 driven by a rotary actuator 211 fig1 shows a second view of the inspection transducer carriage 5 with universal attachment 8 wheel probe 200 mounted in a carriage 202 and oriented to the inspection surface through guide wheels 208 the cleaning brush 210 is shown to operate in line with the wheel probe 200 fig1 shows a surface cleaning manipulator 9 with side plate removed so that the internal components are exposed the universal attachment 8 is located at one end to mount with the track unit an actuator 220 can provide lift motion of the surface cleaning manipulator to place it on the climbing surface or lift as desired the surface cleaning manipulator consists of some type of tooling to prepare the surface for cleaning fig1 shows a set of three needle scalars 222 driven by actuators 223 mounted in attachment blocks 224 to the surface cleaning manipulator 9 body through rubber isolators 225 to reduce vibration on the surface cleaning manipulator fig1 shows a block diagram that presents the overall control system for the mobile inspection system.