Abstract: Methods and systems for inspecting insulated equipment for corrosion under insulation are provided. The system includes an autonomous unmanned vehicle having aerial and ground locomotive capabilities. The vehicle includes an infrared detector and a pulsed eddy current sensor. In the method, infrared waves emitted from the equipment are detected along the equipment with the infrared detector. Using the infrared detector, at least one image of an inner surface of the equipment is developed based on the detected infrared waves. At least one area that is susceptible to corrosion is determined based on the at least one image. The susceptible area is inspected with the pulsed eddy current sensor, which induces an eddy current in the inner wall of the equipment. Based on a rate of the decay in strength of the eddy current, it is determined whether corrosion exists at the susceptible area using a processor configured by code.

Abstract: A deployable docking station for supporting at least one mobile robot is provided. The deployable docking station includes a housing and an anchor connected to the housing. The anchor can engage with a surface to maintain the position of the deployable docking station. The deployable docking station is further configured to couple and decouple with the at least one mobile robot. The deployable docking station can be configured to selectively alternate between a first and second condition. In the first condition, the deployable docking station is coupled with the at least one mobile robot and the at least one mobile robot can transport the deployable docking station to a desired location on the surface. In the second condition, the deployable docking station is de-coupled from the at least one mobile robot.

Abstract: A system and method for inspecting a surface of a structure for defects includes an inspection apparatus having a heating device for heating a section of the surface of the structure, an infrared camera for receiving infrared radiation from the surface in response to heating, a controller configured to generate thermographs from the received infrared radiation, and a communication device. A training system includes an expert system module configured to determine correlations between a set of thermographs generated by a thermal simulation of modeled structural elements with defects, and parameters of the modeled structural elements. A computer system communicatively coupled to the training system and the inspection apparatus, is adapted to receive thermographs received from the inspection apparatus and to detect quantitative parameters of defects in the structure using the correlations obtained from the training system.

Abstract: A deployable docking station for supporting at least one mobile robot is provided. The deployable docking station includes a housing and an anchor connected to the housing. The anchor can engage with a surface to maintain the position of the deployable docking station. The deployable docking station is further configured to couple and decouple with the at least one mobile robot. The deployable docking station can be configured to selectively alternate between a first and second condition. In the first condition, the deployable docking station is coupled with the at least one mobile robot and the at least one mobile robot can transport the deployable docking station to a desired location on the surface. In the second condition, the deployable docking station is de-coupled from the at least one mobile robot.

Abstract: A method for performing operations using a water environment robotic system on a target section of pipeline located in an underwater environment is provided. The method includes the steps of deploying the underwater robotic vehicle into the water and visually inspecting the underwater environment to locate the pipeline and its plurality of weld joints. A cleaning operation is performed at one of the plurality of weld joints using the underwater robotic vehicle. The robotic vehicle can land on the sea floor and deploy a robotic arm to inspect the cleaned weld joint. The underwater can then swim to a next weld joint and land and perform cleaning and inspection operations, which can be repeated until all inspection sites are inspected.

Abstract: This application discloses integrated probes and probe systems, which can be attached 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. In some embodiments, the integrated probe system couples an inner and outer gimbal together such that one or more electrically conductive legs pass from the outer gimbal through the inner gimbal. These legs are arranged about an ultrasonic sensor which extends from the front surface of the inner gimbal. When the integrated probe contacts the underwater surface, both the ultrasonic sensor and at least one leg contact the surface, thereby providing substantially simultaneous CP and UT measurements.

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 underwater remotely operated vehicles (ROVs) and wirelessly controlled subsystems is provided. The system comprises an ROV and a subsystem mounted to the ROV. The ROV includes a microcontroller, a main battery, and a transmitter-receiver. The subsystem includes a controller and a transmitter-receiver. The ROV is configured to communicate wirelessly with the subsystem via signals transmitted between the ROV transmitter-receiver and the subsystem transmitter-receiver. The system can further comprise a control center having a transmitter-receiver configured to communicate wirelessly with the ROV transmitter-receiver and the subsystem transmitter-receiver. The system can further comprise at least one relay module configured to relay signals between the transmitter-receivers of the system. The ROV of the system can also be configured to wirelessly transfer power from the main battery to the power source of the subsystem, such as by resonance coupling.

Abstract: A modular inspection vehicle having at least first and second motion modules is provided. The first and second motion modules are connected to a chassis. The first motion module includes a first wheel mounted to the chassis. The second motion module includes second wheel mounted to the chassis, the second wheel being at an angle to the first wheel. The vehicle further includes a navigation module configured to collect position data related to the position of the vehicle, an inspection module configured to collect inspection data related to the vehicle's environment, and a communication module configured to transmit and receive data. The vehicle can also include a control module configured to receive the inspection data and associate the inspection data with received position data that corresponds to the inspection data collect at a corresponding position for transmission via the communication module.

Abstract: A cleaning device that passively self-adjusts to improve biofoul removal across curved, non-uniform, or irregular underwater surfaces. The cleaning device includes a motor, one or more shafts coupled to the motor and coupled to one another via at least one universal joint, and a cleaning mechanism for removing biofoul from the target surface. The cleaning device includes an alignment mechanism that restricts the cleaning mechanism's movement to improve biofoul removal. The alignment mechanism can include bearings, spring components, dampening material, adhesion components, floatation objects, or a combination thereof.

Abstract: A modular inspection vehicle having at least first and second motion modules is provided. The first and second motion modules are connected to a chassis. The first motion module includes a first wheel mounted to the chassis. The second motion module includes second wheel mounted to the chassis, the second wheel being at an angle to the first wheel. The vehicle further includes a navigation module configured to collect position data related to the position of the vehicle, an inspection module configured to collect inspection data related to the vehicle's environment, and a communication module configured to transmit and receive data. The vehicle can also include a control module configured to receive the inspection data and associate the inspection data with received position data that corresponds to the inspection data collect at a corresponding position for transmission via the communication module.