Abstract: An apparatus comprising a processor configured to implement a method comprising obtaining a pipe profile comprising a diameter, a nominal thickness, and a material, receiving a magnetic flux leakage (MFL) indication for a pipe associated with the pipe profile, and determining a wall thickness for the pipe using the pipe profile and the MFL indication. Also disclosed is a method comprising modeling an apparatus comprising a magnet configured to induce a magnetic field in a pipe, and determining a wall thickness measurement (WTM) for the pipe using a model of the apparatus and the pipe, a detected MFL signal, and a simulated MFL signal.

Abstract: An apparatus comprising a processor configured to implement a method comprising obtaining a pipe profile comprising a diameter, a nominal thickness, and a material, receiving a magnetic flux leakage (MFL) indication for a pipe associated with the pipe profile, and determining a wall thickness for the pipe using the pipe profile and the MFL indication. Also disclosed is a method comprising modeling an apparatus comprising a magnet configured to induce a magnetic field in a pipe, and determining a wall thickness measurement (WTM) for the pipe using a model of the apparatus and the pipe, a detected MFL signal, and a simulated MFL signal.

Abstract: The specification discloses a robot for inspection adapted to travel virtually unlimited distances through small-diameter enclosed spaces such as conduits or ducts, preferably using a fluid-driven screw-drive propulsion system. The robot preferably includes a drive module having a plurality of wheels inclined at an angle greater than zero degrees and less than ninety degrees to the longitudinal axis of the pipe, a driver module having a plurality of wheels aligned parallel to the longitudinal axis of the pipe, and a power module. The driver module is preferably connected to the drive module such that the drive and driver modules are capable of providing the locomotive motion of the robot. The power module preferably provides the power to the drive and driver modules.

Abstract: The specification discloses a robot for inspection adapted to travel virtually unlimited distances through small-diameter enclosed spaces such as conduits or ducts, preferably using a fluid-driven screw-drive propulsion system. The robot preferably includes a plurality of wheels inclined at an angle greater than zero degrees and less than ninety degrees to the longitudinal axis of the pipe, a plurality of wheels aligned parallel to the longitudinal axis of the pipe, and a power system for causing relative rotation of the sections bearing the pitched and non-pitched wheels. The robot may include internal fluid flow passages, notched wheels, multiple retractable wheels, and is configured so as to have an operating diameter less than six and preferably less than two inches.

Abstract: The specification discloses a robot for inspection adapted to travel virtually unlimited distances through small-diameter enclosed spaces such as conduits or ducts, preferably using a fluid-driven screw-drive propulsion system. The robot preferably includes a plurality of wheels inclined at an angle greater than zero degrees and less than ninety degrees to the longitudinal axis of the pipe, a plurality of wheels aligned parallel to the longitudinal axis of the pipe, and a power system for causing relative rotation of the sections bearing the pitched and non-pitched wheels. The robot may include internal fluid flow passages, notched wheels, multiple retractable wheels, and is configured so as to have an operating diameter less than six and preferably less than two inches.

Abstract: The specification discloses a robot for inspection adapted to travel virtually unlimited distances through small-diameter enclosed spaces such as conduits or ducts, preferably using a fluid-driven screw-drive propulsion system. The robot preferably includes a drive module having a plurality of wheels inclined at an angle greater than zero degrees and less than ninety degrees to the longitudinal axis of the pipe, a driver module having a plurality of wheels aligned parallel to the longitudinal axis of the pipe, and a power module. The driver module is preferably connected to the drive module such that the drive and driver modules are capable of providing the locomotive motion of the robot. The power module preferably provides the power to the drive and driver modules.