Applied Impact Robotics is developing a robotic solution capable of inspecting a crude oil tank floor while the tank remains in-service. By starting with a clean slate and using biomimicry our solution is unique in its ability to reduce viscosity of the sludge in a localized way. We leverage this reduced viscosity for penetration and maneuvering directly through the sludge and sediment to position sensors for floor scanning. By utilizing conventional UT sensors which are accepted as part of the API653 standard we can seamlessly integrate into your environment and provide high quality scan. By keeping the tank in-service during the scan, we significantly reduce the number of man hours required for confined space entry.