Abstract: An in-pipe apparatus for pipe inspection or maintenance is provided. The apparatus includes: a rotational deployment mechanism to rotationally deploy a probe or tool about an inner circumference of a pipe with respect to an axis of rotation; a radial deployment mechanism to radially deploy the probe or tool in a radial direction from the axis of rotation toward a target point on the inner circumference; and a passive centering mechanism to passively align the axis of rotation with the axis of the pipe. In some embodiments, the rotational deployment mechanism includes a motor to rotate the radial deployment mechanism about the axis of rotation. In some embodiments, the apparatus further includes a longitudinal deployment mechanism to longitudinally deploy the probe or tool along the pipe axis, with the passive centering mechanism passively maintaining alignment of the axis of rotation with the pipe axis during the longitudinal deployment.

Abstract: This application discloses magnetically coupled integrated probes and probe systems, attachable to the robotic arms of a remotely operated vehicle to perform both cathodic protection (CP) voltage measurements and ultrasonic testing (UT) thickness measurements at an underwater surface. The integrated probe system can include a spring for coupling to an ROV end effector. An ultrasonic probe is disposed within and extends from the sleeve housing. A magnetic carrier, flux concentrator, and gimbal surround a portion of the ultrasonic probe, and one or more electrically conductive legs extend from the front surface of the gimbal to function as a CP probe. The legs are arranged about the ultrasonic probe, which has a flexible membrane exposed at the front surface of the gimbal, such that during inspection, at least one leg contacts the surface and the ultrasonic probe is sufficiently proximate to provide substantially simultaneous CP and UT measurements.

Abstract: An in-pipe apparatus for pipe inspection or maintenance is provided. The apparatus includes: a rotational deployment mechanism to rotationally deploy a probe or tool about an inner circumference of a pipe with respect to an axis of rotation; a radial deployment mechanism to radially deploy the probe or tool in a radial direction from the axis of rotation toward a target point on the inner circumference of the pipe; and a passive centering mechanism to passively align the axis of rotation with the axis of the pipe. In some embodiments, the rotational deployment mechanism includes a motor to rotate the radial deployment mechanism about the axis of rotation. In some embodiments, the apparatus further includes a longitudinal deployment mechanism to longitudinally deploy the probe or tool along the axis of the pipe, with the passive centering mechanism passively maintaining alignment of the axis of rotation with the pipe axis during the longitudinal deployment.

Abstract: An automated method of pipeline sensor integration for product mapping of a pipeline network is provided. The method includes acquiring, by a plurality of sensors of the pipeline network, first sensor responses of a pipeline in the pipeline network when a first hydrocarbon product is flowing through the pipeline. The method further includes using a prediction circuit to receive the acquired first sensor responses, integrate the received first sensor responses into one or more integrated first sensor responses in order to improve accuracy of the received first sensor responses, and identify the first hydrocarbon product in the pipeline based on the integrated first sensor responses. The prediction circuit is built from training data using a machine learning process. The training data includes first training sensor responses of the pipeline by the plurality of sensors acquired at a previous time when the first hydrocarbon product was flowing through the pipeline.

Abstract: Systems and methods are provided for aligning a laser scanning device for measurement of a volume of a container. A method includes: causing an autonomous vehicle coupled to the laser scanning device to move to a location at a known distance from a reference circumference; generating data indicative of locations of points along a portion of the reference circumference; determining, based on the data, an alignment angle by which the autonomous vehicle is to steer such that an axis of the laser scanning device that intersects the container passes through a center axis of the container; causing the autonomous vehicle to steer by the alignment angle, such that the laser scanning device is thereby aligned normal to a tangent plane of a wall of the container; and measuring a plurality of horizontal offsets of the wall relative to the reference circumference for use in determining the volume.

Abstract: Disclosed herein are systems and methods for profiling a surface. In some embodiments, the systems and methods perform profiling using a robotic vehicle. The vehicle can include a drive system, one or more wheel encoders, and one or more distance sensors and/or inertial measurement units for capturing measurement data, such as the slope of the surface or the angle of the robotic vehicle relative to the surface or the gravity vector. A control computing system is included having one or more processors that execute instructions stored in software modules to process movement data. In some embodiments, the processed movement data determines a plurality of snapshots of the surface at different times and positions as the robotic vehicle traverses the surface. These snapshots are combined to generate a profile of the surface.

Abstract: A digital retrofit device comprises a camera, a processor coupled to the camera and configured with computer-executable instructions that cause the processor to activate the camera to capture an image and process the image so as to identify measurement data being displayed on an analog measurement instrument which is within the image captured by the camera, wherein the processing includes: identifying a type of the analog measurement instrument, identifying features of the analog measurement instrument, extract the measurement data displayed on the analog instrument based on the identified type and features of the analog instrument measurement, convert the extracted data into converted digital information, and obtain supplemental information from a database related to the analog instrument.

Abstract: A mobile or wearable computing device comprises a camera, a processor coupled to the camera and configured with computer-executable instructions that cause the processor to activate the camera to capture an image and process the image so as to identify measurement data being displayed on an analog measurement instrument which is within the image captured by the camera, wherein the processing includes: identifying a type of the analog measurement instrument, identifying features of the analog measurement instrument, extract the measurement data displayed on the analog instrument based on the identified type and features of the analog instrument measurement, convert the extracted data into converted digital information, and obtain supplemental information from a database related to the analog instrument. The device also includes a display coupled to the processor upon which the digital information and supplemental information is displayed to a wearer of the smart glasses.

Abstract: A self-calibrating system, apparatus, and method for accurately measuring a volumetric capacity of a tank. The system, apparatus and method comprise: a mechanism that adjusts a level of a platform; a light-emitting device with beam-like optics (laser, diode, etc.) mounted to the platform; mechanism for adjusting alignment of the light-emitting device with respect to the platform; a mechanism for rotating the platform by variable angles, including by 180-degrees; one or more level sensors (such as, for example, spirit levels, tilt sensors, or other devices) that provide feedback on the alignment of the platform normal to the gravity vector.

Abstract: This application discloses magnetically coupled integrated probes and probe systems, attachable to the robotic arms of a remotely operated vehicle to perform both cathodic protection (CP) voltage measurements and ultrasonic testing (UT) thickness measurements at an underwater surface. The integrated probe system can include a spring for coupling to an ROV end effector. An ultrasonic probe is disposed within and extends from the sleeve housing. A magnetic carrier, flux concentrator, and gimbal surround a portion of the ultrasonic probe, and one or more electrically conductive legs extend from the front surface of the gimbal to function as a CP probe. The legs are arranged about the ultrasonic probe, which has a flexible membrane exposed at the front surface of the gimbal, such that during inspection, at least one leg contacts the surface and the ultrasonic probe is sufficiently proximate to provide substantially simultaneous CP and UT measurements.

Abstract: A system for performing multiple operations on one or more weld joints of a pipe string includes a robotic scanning device that is configured to controllably travel inside of the pipe string and detect, scan and uniquely identify each weld joint within the pipe string. The system further includes a plurality of secondary robotic devices that are each configured to controllably travel inside of the pipe string and perform one or more specific operations on the one or more weld joints of the pipe string. The robotic scanning device includes a processor that is configured to generate a work plan for the plurality of secondary robotic devices. The robotic scanning device transmits work plan commands to each of the plurality of secondary robotic devices and receive transmissions from the plurality of secondary robotic devices.

Abstract: A method according to the disclosure configures a processor to predict metal loss in a structure for remediation. The method uses a machine learning model, trained based upon historical data, to predict metal loss over locations of a structure at a time of the prediction. The method identifies from among the predicted locations a high-risk location on the structure in which a magnitude of metal loss indicates potential remediation being needed, dispatches a robotic vehicle to the high-risk location on the structure and inspects the high-risk location using the robotic vehicle to confirm whether the magnitude of metal loss at the location requires remediation. In further methods, remediation is performed. In still further methods, a three-dimensional visualization of the structure is generated with an overlay which depicts predicted metal loss over the sections of the structure.

Abstract: An in-pipe apparatus for pipe inspection or maintenance using a probe or tool includes: a lateral deployment mechanism including a perpendicular deployment mechanism and a linear actuator configured to deploy the perpendicular deployment mechanism in a lateral direction toward a target point to contact an inner wall of the pipe and passively deploy a probe or tool perpendicularly on or at the target point; and a rotational deployment mechanism coupled to the lateral deployment mechanism and including a motor configured to rotationally deploy the lateral deployment mechanism about the inner circumference with respect to a rotation axis that differs from the pipe axis, to align the lateral deployment mechanism in the lateral direction. The perpendicular deployment mechanism includes: a pivot member to pivot the perpendicular deployment mechanism about a pivot axis parallel to the rotation axis; and a probe or tool holder coupled to the pivot member.

Abstract: An in-pipe apparatus for pipe inspection or maintenance is provided. The apparatus includes: a rotational deployment mechanism to rotationally deploy a probe or tool about an inner circumference of a pipe with respect to an axis of rotation; a radial deployment mechanism to radially deploy the probe or tool in a radial direction from the axis of rotation toward a target point on the inner circumference of the pipe; and a passive centering mechanism to passively align the axis of rotation with the axis of the pipe. In some embodiments, the rotational deployment mechanism includes a motor to rotate the radial deployment mechanism about the axis of rotation. In some embodiments, the apparatus further includes a longitudinal deployment mechanism to longitudinally deploy the probe or tool along the axis of the pipe, with the passive centering mechanism passively maintaining alignment of the axis of rotation with the pipe axis during the longitudinal deployment.

Abstract: An apparatus for automated inspection or maintenance is provided. The apparatus includes a dual slider mechanism for deploying a probe. The dual slider mechanism comprises: a frame; a probe slider configured to attach the probe; a probe linear guide coupled to the frame and configured to guide the probe slider and attached probe in a linear direction; a spring having one end attached to the probe slider; a spring slider attached to another end of the spring; and a spring linear guide coupled to the frame and configured to guide the spring slider and attached spring in the linear direction, in order to guide the probe slider and attached probe in the linear direction along the probe linear guide using the guided spring.

Abstract: A method according to the disclosure configures a processor to execute a machine learning model specific to a type and size of the structure, the machine learning model being trained using historical data of known structures of the same type and size to predict an amount of metal lost by the structure over time. The method predicts metal loss over sections of a specimen structure using the trained machine learning model and generates a three-dimensional visualization of the specimen structure including an overlay depicting predicted metal loss over the sections of the structure at the time of prediction. The historical data upon which prediction of an amount of metal lost is based includes: spatial maps of measured wall thicknesses over time, material composition, operating conditions for structures of the same type and size, or a combination of the foregoing. In certain embodiments, the structure is a pipe component.

Abstract: A system is disclosed for detecting holidays, defects, in surface coatings applied to metallic assets like a pipe. The system comprises a detection circuit with a test probe having a conductive tip which is moved along the coating during inspection and a DC voltage input signal generator which supplies a switched DC voltage input to the test probe. The detection circuit can be configured to operate using a low and/or high voltage switched DC input voltage signal. A measurement component comprising a sensing resistor and measurement tool is configured to measure a signal response of the detection circuit during inspection and detect holidays based on changes in the signal response caused by electrical properties of the coated surface. The detection circuit is configured such that the probe provides the only area of contact between the circuit and asset and enables detection of holidays without a separate ground connection.

Abstract: Systems and methods are provided for aligning a laser scanning device for measurement of a volume of a container. A method includes: causing an autonomous vehicle coupled to the laser scanning device to move to a location at a known distance from a reference circumference; generating data indicative of locations of points along a portion of the reference circumference; determining, based on the data, an alignment angle by which the autonomous vehicle is to steer such that an axis of the laser scanning device that intersects the container passes through a center axis of the container; causing the autonomous vehicle to steer by the alignment angle, such that the laser scanning device is thereby aligned normal to a tangent plane of a wall of the container; and measuring a plurality of horizontal offsets of the wall relative to the reference circumference for use in determining the volume.

Abstract: A sensing device for measuring an offset along a longitudinal axis comprises a housing including a plurality of slots, two or more arrays of optical sensors aligned along the longitudinal axis, at least one of the arrays being offset along the longitudinal axis with respect to the other arrays and a microcontroller coupled to the two or more arrays of optical sensors and configured to determine a positional offset along the longitudinal axis at which light is detected by at least one of arrays of optical sensors. In some embodiments, each of the optical sensors of the arrays are positioned within the housing underneath one of the plurality of slots to reduce an angle of incidence of radiation received.

Abstract: Systems and methods for securing a remotely operated vehicle (ROV) to a subsea structure during cleaning, maintenance, or inspection of the structure surface are provided. In one or more embodiments, an attachment mechanism includes a pair of grasping hooks that are raised and lowered when driven by a motorized drive. In one or more embodiments, an attachment mechanism includes a rigid holder having a mechanical stop and connected to a swing arm, the swing arm configured to rotate inward, but not outward beyond the mechanical stop. In one or more embodiments, an attachment mechanism includes a plurality of linked segments in series, each connected at a plurality of pivot points. A pair of wires passes through the plurality of linked segments and connects to a pair of pulleys that extend or retract the wires, thereby rotating the plurality of linked segments.