An apparatus for characterizing objects in the bore of a well assembly is provided. In one embodiment, the apparatus includes a sensing array including ultrasonic transducers and a data analyzer coupled to receive input from the sensing array. The sensing array is positioned to transmit ultrasonic waves into the bore of a well assembly and to receive ultrasonic waves from the bore. The data analyzer processes data representative of ultrasonic waves received by the sensing array to identify a location of a component in the bore. Additional systems, devices, and methods are also disclosed.