Abstract: Systems and methods for measuring multiphase flow of a fluid mixture in a downhole pipe of an oil/gas/water well are presented. According to one aspect, time-series measurement of the flow velocity and composition at a plurality of discrete azimuths of the pipe are measured. Measured time-correlated velocity and composition data are used to identify fluid components present in the pipe and estimate cross-sectional area and velocity of each of the fluid components. According to another aspect, pressure and temperature at the downhole pipe are measured, and used to calculate the mass density of each fluid component. For each of the fluid components, the cross-sectional area, velocity, and mass density are used to generate a corresponding mass flow rate. An algorithm with a set of parameters tuned to specific flow regimes is used to map the sensed data from the time-scrics measurements into the mass flow rate of each fluid component.

Abstract: Systems and methods for driving and steering of a robot, or mobile vessel, for operation in a downhole pipe of an oil/gas/water well are presented. According to one aspect, the mobile vessel includes a plurality of wheels arranged outwardly from the mobile vessel so that each wheel may contact the inner wall of the casing. According to another aspect, the plurality of wheels may include respective wheel-centerlines that intersect the centerline of the casing that is at an offset from a centerline of the mobile vessel. The plurality of wheels includes at least two drive wheels and at least one passive wheel. According to a further aspect, the drive wheels are configured to rotate about their respective wheel-centerlines to steer the mobile vessel during traversal of the casing. In one case, the mobile vessel includes two drive and steering wheels and one passive wheel.