Abstract: In one aspect a system for asset model reconstruction is provided. The system includes a data collection assembly including a rotator, a LIDAR sensor coupled to the rotator and arranged to acquire LIDAR point cloud data of an asset, an inertial measurement unit (IMU) arranged to collect inertial data of the data collection assembly and a computing system communicatively coupled to the data collection assembly and including at least one data processor and a memory storing instructions which, when executed by the at least one processor, cause the at least one processor to perform operations including receiving rotational data from the rotator, receiving inertial data from the IMU, receiving LIDAR point cloud data from the LIDAR sensor and generating a surface model of the asset.

Abstract: A magnetic adhesive force monitoring system, magnetic wheeled robot and related method are disclosed. The system includes a magnetic field sensor measuring a stray field portion of a total magnetic field emitted by a magnetic wheel that is magnetically adhered to a ferromagnetic structure, the stray field portion including a portion of the total magnetic field redirected by the ferromagnetic structure. A controller determines a change in a magnetic adhesion force of the magnetic wheel to the ferromagnetic structure based on a change in the measured stray field portion of the total magnetic field. Embodiments also provide for determination of a contact point of the wheel with a ferromagnetic structure.

Abstract: A magnetic adhesive force monitoring system, magnetic wheeled robot and related method are disclosed. The system includes a magnetic field sensor measuring a stray field portion of a total magnetic field emitted by a magnetic wheel that is magnetically adhered to a ferromagnetic structure, the stray field portion including a portion of the total magnetic field redirected by the ferromagnetic structure. A controller determines a change in a magnetic adhesion force of the magnetic wheel to the ferromagnetic structure based on a change in the measured stray field portion of the total magnetic field. Embodiments also provide for determination of a contact point of the wheel with a ferromagnetic structure.