Abstract: A method and an assembly for determining a volume of a tank. A measuring tape having multiple magnets is attached to a first location of the tank. A first circumference of the tank at the first location of the tank is measured. A value of the first circumference is recorded. Multiple wheels coupled to the measuring tape are rotated. Responsive to rotating the wheels, the measuring tape is moved from the first location to a second location of the tank. A second circumference of the tank at the second location is measured. A value of the second circumference is recorded. Based on the value of the first circumference and the value of the second circumference, the volume of the tank is calculated.

Abstract: A system and method control magnetic adhesion of a wheel to a ferromagnetic surface using sliding magnets, which slide in and out of a disc. Moving the magnets into the apertures generates a magnetic flux, increasing the magnetic adhesion. The system implements the method.

Abstract: An actuation system and method are actuated to control magnetic adhesion of a wheel to a surface. The actuation system is coupled to the wheel having inner and outer annular discs and the wheel is configured to adhere magnetically to a surface. The actuation system has a motor configured to rotate a first disc and to not rotate a second disc. In a first configuration, the motor rotates the first disc relative to the second disc in a first rotational direction, thereby generating a first magnetic flux to increase the adhesion of the wheel to the metallic surface. In a second configuration, the motor rotates the first disc relative to the second disc in a second rotational direction opposite the first rotational direction, thereby generating a second magnetic flux to decrease the adhesion of the wheel to the metallic surface. A method is also disclosed.

Abstract: A fire blanket deployment system includes a fire blanket assembly including a foldable fire blanket that is detachably coupled to a carrier. The foldable fire blanket is initially in a folded state. The system can include a frame having a plurality of vertical supports that are spaced apart from one another and for placement about an asset to be protected. A first suspension system is coupled to the plurality of vertical supports and is configured to move the fire blanket assembly to a target location between the plurality of vertical supports. A second suspension system that is coupled to the plurality of vertical supports and is configured to controllably unfold the fire blanket once the fire blanket assembly in at the target location. The second suspension system has an automatic detachment mechanism that allows the unfolded fire blanket to move downward toward the asset to be protected.

Abstract: Systems and methods include a computer-implemented method for inspection. Sensors are installed on locations susceptible to high temperature hydrogen attack (HTHA) on equipment used in hydrocarbon facilities. Attachment uses adaptable hybrid pads. Surface data captured using permanent sensors includes surface temperatures, per hydrogen (pH) measurements, and methane measurements for methane escaping from external surfaces of the equipment. Stress cracks in the equipment base metal are detected. An HTHA susceptibility analysis of the equipment is performed based on the presence of the cracks and by analyzing surface data and mapping potential HTHA cracks and locations of early signs of methane formation, including monitoring heat-affected zones (HAZ) and fusion lines of welds. Locations of the detected stress cracks caused by HTHA in metals are determined.

Abstract: Systems and methods include a computer-implemented method for inspection. Removable sensors are installed on equipment used in hydrocarbon facilities at locations susceptible to high temperature hydrogen attack (HTHA). Attachment uses adaptable hybrid pads. Surface data captured using the sensors includes surface temperatures, per hydrogen (Ph) measurements, and methane measurements for methane escaping from external surfaces of the equipment. A presence of cracks in the equipment base metal is determined. An HTHA susceptibility analysis of the equipment is performed based on the presence of the cracks and by analyzing the surface data and mapping potential HTHA cracks and early signs of methane formation. The steps are repeated on other locations. An inspection result and assessment, generated using the captured surface data, includes a final analysis of assessment reports indicating a likelihood of cracks propagation and a presence of fissuring inside the equipment base metal.

Abstract: Systems and methods for dynamically magnetizing a chassis of a robotic vehicle are provided. The system can include a chassis having a fixed first section with a first magnet, and a moveable a second section having a second magnet with an opposition orientation relative to the first magnet. The second section is located above or below the first section and includes a mechanism that moves the second section relative to the first magnet. The system also includes an actuator connected to the second section, and a control system operatively connected to the actuator. In the systems and methods, the control system can send commands to the actuator to selectively move the mechanism, thereby moving the second section relative to the location of the first magnet to activate or inactivate a magnetic force on a portion of the chassis.

Abstract: Modular, propelled cable-driven robotic platform systems and methods of operation are disclosed. The system includes a robotic platform suspended by a system of overhead cables, motorized cable reels and pulleys. The robotic platform is configured to be equipped with tool modules for performing respective tasks. Additionally, the tool modules each have a multirotor propulsion system. A master control computer coordinates operation of the motorized cable and propulsion systems as a function of sensor data captured by navigation sensors on-board the platform so as to maneuver the robotic platform inside an industrial plant. The system is configured to maneuver around pipings and avoid obstacles in the plant in order to maximize the effective workspace that the robotic platform can reach to perform operations including inspection or repair.