Abstract: Embodiments may be used to evaluate completed inspection jobs using updated pipe segment data obtained by inspecting a rehabilitated pipe after completion of a project. One embodiment provides a method of generating an infrastructure project summary, including: collecting, using one or more sensors of an inspection robot, pipe segment data relating to the one or more pipe segments; the second pipe segment data comprising one or more of laser condition assessment data and sonar condition assessment data; generating infrastructure summary data for at least a part of the network using the pipe segment data, comparing, using a processor, first and second infrastructure summary data; generating, using the processor, a parameter of the infrastructure project summary based on the comparing; and including the parameter of the infrastructure project summary in a project summary report. Other embodiments are disclosed and claimed.

Abstract: Embodiments may be used to evaluate completed inspection jobs using updated pipe segment data obtained by inspecting a rehabilitated pipe after completion of a project. One embodiment provides a method of generating an infrastructure project summary, including: collecting, using one or more sensors of an inspection robot, pipe segment data relating to the one or more pipe segments; the second pipe segment data comprising one or more of laser condition assessment data and sonar condition assessment data; generating infrastructure summary data for at least a part of the network using the pipe segment data, comparing, using a processor, first and second infrastructure summary data; generating, using the processor, a parameter of the infrastructure project summary based on the comparing; and including the parameter of the infrastructure project summary in a project summary report. Other embodiments are disclosed and claimed.

Abstract: An embodiment provides for storing, in a server, pipe segment data, e.g., pipe scan data derived from a pipe inspection robot that traversed through an interior of the segment of pipe. The pipe scan data may include three-dimensional (3D) and two-dimensional (2D) image data of the interior of the segment of pipe, where the 2D image data includes a flat graph formed from the 3D image data. In one example, infrastructure summary data is stored in the server, including a level of corrosion and a level of sediment buildup determined based on the pipe scan data. An infrastructure project summary report is based on the infrastructure summary data, and after receiving a request from a client device, the pipe segment data and the infrastructure project summary report are transmitted to the client device.

Abstract: An embodiment provides for storing, in a server, pipe segment data, e.g., pipe scan data derived from a pipe inspection robot that traversed through an interior of the segment of pipe. The pipe scan data may include three-dimensional (3D) and two-dimensional (2D) image data of the interior of the segment of pipe, where the 2D image data includes a flat graph formed from the 3D image data. In one example, infrastructure summary data is stored in the server, including a level of corrosion and a level of sediment buildup determined based on the pipe scan data. An infrastructure project summary report is based on the infrastructure summary data, and after receiving a request from a client device, the pipe segment data and the infrastructure project summary report are transmitted to the client device.

Abstract: One aspect provides a method, including: storing an infrastructure project summary report with one or more other infrastructure project reports pooled in a database of project summary reports; the infrastructure project report being prepared via accessing fluid conveyance infrastructure summary data describing a condition of a fluid conveyance infrastructure segment; and using a processor of an electronic device to match the infrastructure project summary report with one or more other infrastructure project reports pooled in the database of project summary reports. Other aspects are described and claimed.

Abstract: One aspect provides a modular infrastructure asset inspection robot, including: a plurality of modules for use in fluid conveyance infrastructure assets; each of the plurality of modules including at least one standardized electromechanical connection permitting a connection to be established with another of the plurality of modules; the plurality of modules being interchangeable and allowing reconfiguration of said modular infrastructure asset inspection robot to perform one or more of: two or more deployment methods for a first infrastructure asset type; and one deployment method for the first infrastructure asset type and a second infrastructure asset type. Other aspects are described and claimed.

Abstract: One aspect provides a method, including: storing an infrastructure project summary report with one or more other infrastructure project reports pooled in a database of project summary reports; the infrastructure project report being prepared via accessing fluid conveyance infrastructure summary data describing a condition of a fluid conveyance infrastructure segment; and using a processor of an electronic device to match the infrastructure project summary report with one or more other infrastructure project reports pooled in the database of project summary reports. Other aspects are described and claimed.

Abstract: One aspect provides a method of generating an infrastructure analysis report, including: accessing infrastructure data stored in a database relating to one or more fluid conveyance infrastructure assets, wherein the infrastructure data is one or more of sensed data, contextual data and institutional knowledge data; and generating an analysis report based on a failure risk and consequence analysis of the one or more fluid conveyance infrastructure assets. Other aspects are described and claimed.

Abstract: One aspect provides a method of generating an infrastructure project summary, including: accessing fluid conveyance infrastructure summary data describing a condition of a fluid conveyance infrastructure segment; generating least one parameter of the infrastructure project summary based on the condition of the fluid conveyance infrastructure segment; and including the at least one generated parameter of the infrastructure project summary in a project summary report. Other aspects are described and claimed.

Abstract: Methods and apparatuses for inspecting manholes or other voids and collecting data in a comprehensive, repeatable, and measurable manner. A sensor head is suspended and lowered into a manhole or other void. The sensor head collects data related to the condition of the manhole or void walls, and locations of defects, damage, or lateral pipe openings. The data can then be processed to provide a three-dimensional model of the manhole or void, and can be compared to previous or future data.

Abstract: Methods and tools for automatically performing work within a pipe or pipe network based on sensed impedance information. A robot, which may be tethered or un-tethered, includes a computer controller and a work tool for performing work within the pipe. With or without impedance-based calibration, the robot senses environmental and tool-based impedance characteristics and determines, using said software, ways in which the current work performance can be altered or improved based on the impedance information. The operation of the work tool is then altered in line with the control software. Many different types of work related to the inspection, cleaning and rehabilitation of pipes can be accomplished with the present robots including reinstating laterals after lining, cutting or clearing debris, sealing pipe joints and/or other heretofore manual pipe-based processes.

Abstract: Systems, methods and devices for indexing, archiving, analyzing and reporting pipe and other void network data. Specifically, multi-dimensional indexing and correlation of spatial, temporal, feature, environmental, uncertainty and/or context-based data is synchronized, indexed and analyzed across a wide variety of pipe networks at various times. The present invention preferably includes data represented at several different levels of reference including: referenced to the sensor with which it was collected; referenced to the robot or platform upon which the sensor is attached; and the world. The structure and functionality of the system provides for extensive querying, trouble-shooting and predictive analysis for pipe networks.

Abstract: An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or offboard the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

Abstract: Methods and tools for cleaning pipes or pipe networks based on characteristics of pipes and debris in the pipes. A mobile platform includes a cleaning head and a sensor head. The platform implements a cleaning plan and senses characteristics of the pipe and debris. The cleaning plan is incrementally updated based on the sensed characteristics, and can be automatically updated using software. Many different cleaning tasks can be accomplished using the present platforms including agitation of sediment, pulverization of large debris, and movement of debris to facilitate removal.

Abstract: Devices and methods for streamlining the completion of work functions within a lateral pipe connected to a main pipe. A variety of different lateral devices may be used to aid in the process of relining the main or lateral pipe. A lateral location device is inserted into the lateral pipe prior to relining of the main pipe and is subsequently used to aid in the conventional cutting of the main-lateral interface. A lateral cutting device actually performs the main-lateral cutting process from within the lateral or from within the main. A lateral inspection device crawls up the lateral for inspection via camera. A lateral relining device aids in the placement of a liner used to reline the lateral pipe. Each of these interchangeable work functions may be optional performed by one or more lateral devices, often carried and inserted by a delivery device.

Abstract: Devices and methods for streamlining the completion of work functions within a lateral pipe connected to a main pipe. A variety of different lateral devices may be used to aid in the process of relining the main or lateral pipe. A lateral location device is inserted into the lateral pipe prior to relining of the main pipe and is subsequently used to aid in the conventional cutting of the main-lateral interface. A lateral cutting device actually performs the main-lateral cutting process from within the lateral or from within the main. A lateral inspection device crawls up the lateral for inspection via camera. A lateral relining device aids in the placement of a liner used to reline the lateral pipe. Each of these interchangeable work functions may be optional performed by one or more lateral devices, often carried and inserted by a delivery device.

Abstract: A pulse-width modulated (PWM) circuit alternately applies voltage from a power supply across a load, and alternately establishes one or more non-powered, closed paths for freewheeling current. The circuit includes pairs of switches connected to the load and also connected to the power supply. PWM signals derived from a command signal drive the switches in such a manner as to create the freewheeling current paths in a desired pattern and sequence. The circuit effectively reduces ripple current in the load while also substantially reducing the amount of current flowing through the power supply filter capacitor. Thus, the size and rating of the power supply can be reduced. One can use the invention to drive a load in a multiple-phase environment, and also in the context of a three-phase trapezoidal drive.

Abstract: A pulse-width modulated (PWM) circuit provides current through a load by opening and closing main electronic switches which connect the load to a power supply. Each main electronic switch connects with an auxiliary switch, connected in series with a diode, the auxiliary switch and diode being called "recovery paths". The recovery paths provide a path between the load and the associated main switch, on one side, and the power supply on the other. A first train of pulses, derived from a command signal, drives the main switches, and a second train of pulses, derived from the first pulse train, controls the switches in the recovery paths. One arranges the second train such that the recovery paths carry current only while the main switches change from on to off, or from off to on. In this way, the recovery paths carry part of the current that would otherwise flow transiently through the main switches, due to the inherent inefficiencies in semiconductor switching.

Abstract: A pulse-width modulated (PWM) circuit alternately applies voltage from a power supply across a load, and alternately establishes one or more non-powered, closed paths for freewheeling current. The circuit includes pairs of switches connected to the load and also connected to the power supply. PWM signals derived from a command signal drive the switches in such a manner as to create the freewheeling current paths in a desired pattern and sequence. The circuit effectively reduces ripple current in the load while also substantially reducing the amount of current flowing through the power supply filter capacitor. Thus, the size and rating of the power supply can be reduced. One can use the invention to drive a load in a multiple-phase environment, and also in the context of a three-phase trapezoidal drive.