Abstract: Wireless communication system for underground pipeline inspection. The system includes a plurality of sensor nodes moved by robots within the pipeline and each sensor node includes a radio transceiver. A plurality of spaced apart, above ground relay nodes are deployed along the pipeline, each relay node including a radio transceiver for communication with the sensor nodes. A remote monitoring center is provided in communication with the relay nodes, whereby a leak detected by a sensor node is communicated to the remote monitoring center. Each sensor node may further include a microcontroller, an accelerometer and a timer.

Abstract: A system for continuous authentication of internet of things (IoT) devices in a communication network utilizes lightweight authentication for a sequence of message transmissions in a specific time-frame. A claimer device and a verifier device are in communication with the network. The claimer is configured to define a time frame and a time flag for an authentication session for a predetermined maximum number of messages, generate a time-bound share from a secret key, calculate a share authenticator for the share, combine a claimer identity (ID), a verifier ID, a message payload, the share, the share authenticator, a time flag, a timestamp, and message authenticator into a message, and send the message to the verifier within the time period. The verifier is configured to receive the message from the claimer, verify the message freshness, verify authenticity of the time flag and timestamp, and reveal and check the authenticity of the share.

Abstract: Multi-actuator system. The system includes at least two nano positioners having different ranges and bandwidths located in cascaded serial form to contact and move an object. A control system employs data-based control design to combine the at least two nano positioners so as to apportion actuation responsibilities among the at least two nano positioners so as to compensate for their coupled dynamics while moving the object. It is preferred to provide a separate controller for controlling separately each of the at least two nano positioners. Parameters of the separate controllers may be determined by minimizing output error.

Abstract: Leak detection system. The system includes a structure sized to fit within a pipe for supporting at least one sensing element near an inside wall of the pipe, whereby a pressure gradient at a leak in the pipe will cause the sensing element to respond. Structure is provided for detecting movement or deformation of the sensing element, the movement or deformation indicating the presence of a leak. In a preferred embodiment, the structure includes two spaced-apart rings for supporting the at least one sensing element. The sensing element is a diaphragm in a preferred embodiment. In this embodiment, the sensing element is supported for movement with respect to the ring structure which includes sensing circuitry for detecting the movement to indicate a leak. Other embodiments employ different sensing elements that respond to pressure gradients near leaks.

Abstract: Force control system. The system includes a first pair of permanent magnets for providing a normal force on the wheel of a robot adapted for n-pipe inspections. A second pair of magnets is provided with opposite polarity so that a rotor containing magnets may be rotated with a minimum of torque required and therefore with a minimum of energy expended.

Abstract: Leak detection apparatus for deployment in a pipe. The apparatus includes a carrier disposed for motion along the pipe and a detector connected to move with the carrier in an axial direction. The detector comprises a drum mounted for rotation about pitch and yaw axes. A flexible material is mounted on, and extends from, the drum and at least two sensors responsive to drum rotation are provided. The flexible material will be drawn into contact with a wall of the pipe at a leak location, thereby producing a torque on the drum, causing the drum to rotate, and the at least two sensors to generate signals from which leak location is determined.

Abstract: Wireless communication system for underground pipeline inspection. The system includes a plurality of sensor nodes moved by robots within the pipeline and each sensor node includes a radio transceiver. A plurality of spaced apart, above ground relay nodes are deployed along the pipeline, each relay node including a radio transceiver for communication with the sensor nodes. A remote monitoring center is provided in communication with the relay nodes, whereby a leak detected by a sensor node is communicated to the remote monitoring center. Each sensor node may further include a microcontroller, an accelerometer and a timer.

Abstract: Pressure sensor. The sensor includes a deformable diaphragm responsive to applied pressure and a rigid beam mounted to move as the diaphragm deforms. The rigid beam includes a mirrored surface for receiving light from and reflecting light into an optical fiber thereby forming a Fabry-Perot cavity to detect changes in the position of the rigid beam. The rigid beam further includes inter-digital fingers extending from the mirrored surface and moving with the rigid beam with respect to fixed inter-digital fingers to create a change in electrical charges in the fingers to detect changes in the position of the rigid beam thereby providing two measures of rigid beam displacement which are measures of pressure. In a preferred embodiment, the optical fiber is a single mode optical fiber.

Abstract: Multi-actuator system. The system includes at least two nano positioners having different ranges and bandwidths located in cascaded serial form to contact and move an object. A control system employs data-based control design to combine the at least two nano positioners so as to apportion actuation responsibilities among the at least two nano positioners so as to compensate for their coupled dynamics while moving the object. It is preferred to provide a separate controller for controlling separately each of the at least two nano positioners. Parameters of the separate controllers may be determined by minimizing output error.

Abstract: Leak detection system. A rigid body is resiliently supported within an outer cage. Structure is provided for detecting displacement of the rigid body with respect to the outer cage, the displacement indicating a leak when the rigid body is moved by a suction force generated by a local pressure gradient resulting from a leak within a pipe network. The invention allows a leak to be determined around the circumference of a pipe.

Abstract: Force control system. The system includes a first pair of permanent magnets for providing a normal force on the wheel of a robot adapted for n-pipe inspections. A second pair of magnets is provided with opposite polarity so that a rotor containing magnets may be rotated with a minimum of torque required and therefore with a minimum of energy expended.

Abstract: The system includes structure for supporting at least one tube within a pipe. The tube has one end disposed close to, or in contact with, a wall of the pipe. A sensor is disposed within the at least one tube to detect a pressure gradient or fluid movement within the tube. Such pressure gradient or fluid movement indicates a leak in the pipe adjacent to the tube location. In a preferred embodiment, the structure is a ring sized to fit within the pipe and the ring supports a plurality of tubes. In another aspect, the tube includes a restriction to prevent flow and pressure is measured on each side of the restriction.

Abstract: Localization and tracking system. The system includes at least one laser mounted for pointing its beam at arbitrary locations within a three-dimensional space. An object within the three-dimensional space supports a screen at its top for receiving the laser beam to create a shaped image on the screen. The shaped image on the screen is observed by a camera and computing apparatus determines the location of the object in the three-dimensional space from pointing parameters of the laser and from shape and center points of the shaped image on the screen.

Abstract: A stamping structure for imprinting micro-sized features is provided. The stamping structure includes one or more optical flats. A flexure arrangement includes a plurality of beam flexures arranged in a symmetric configuration around the one or more optical flats so as to minimize the error yaw motion (?z) from thermal fluctuations associated with fixturing the one or more optical flats.

Abstract: System for pipeline rehabilitation. The system includes repairing a leak in a pipe using a pair of substantially semi-cylindrical parts connected through a compliant joint. When the parts are compressed, the semi-cylindrical parts form a cylinder whose outside diameter is less than the inside diameter of a pipe with a defect thereby allowing the cylinder to be inserted into the pipe at a location of a leak. Once in place, the parts engage the inside surface of the pipe when the compression is released thereby to seal the leak.

Abstract: Leak detection apparatus for deployment in a pipe. The apparatus includes a carrier disposed for motion along the pipe and a detector connected to move with the carrier in an axial direction. The detector comprises a drum mounted for rotation about pitch and yaw axes. A flexible material is mounted on, and extends from, the drum and at least two sensors responsive to drum rotation are provided. The flexible material will be drawn into contact with a wall of the pipe at a leak location, thereby producing a torque on the drum, causing the drum to rotate, and the at least two sensors to generate signals from which leak location is determined.

Abstract: Localization and tracking system. The system includes at least one laser mounted for pointing its beam at arbitrary locations within a three-dimensional space. An object within the three-dimensional space supports a screen at its top for receiving the laser beam to create a shaped image on the screen. The shaped image on the screen is observed by a camera and computing apparatus determines the location of the object in the three-dimensional space from pointing parameters of the laser and from shape and center points of the shaped image on the screen.

Abstract: Method for mapping capped cylindrical environments. The method uses an algorithm for creating an environment map through 3D data segmentation and fitting of right planar capped cylinders. The algorithm implementing the method of the invention offers improved robustness, accuracy and speed over existing segmentation and fitting methods. The improved properties of the invention are achieved through the use of a Gauss map, 3D histogram and shape knowledge driven segmentation. Performance was demonstrated on a variety of cylinders using simulated data.

Abstract: Rheology system. The system includes a first piezoelectric actuator assembly for providing microscale displacement of a sample and a second piezoelectric actuator assembly for oscillating the sample at a nano/micro scale displacement in a selected frequency range extended significantly as compared to the frequency range available on the commercial AFMs. A preferred sample is cartilage and the disclosed system can distinguish between normal cartilage and GAG-depleted cartilage.

Abstract: Leak detection system. The system locates leaks in a pipeline that includes RFID tags deployed at known locations along the pipeline. A pair of bodies tethered to one another a fixed distance apart travels along the pipeline. Each of the bodies is supported for movement substantially along the centerline of the pipeline and each body includes a sensor responsive to sound or pressure variations generated by a leak. Signals are correlated to identify the existence of a leak. Each body also includes an RFID reader for reading the RFID tags in the pipeline. At least one of the bodies includes a power supply and/or electronics that are adapted to correlate signals from sensor on each body to determine the location of a leak within the pipeline.