Abstract: The robotic leader-follower navigation and fleet management control method implements SLAM in a group leader of a nonholonomic group of autonomous robots, while, at the same time, executing a potential field control strategy in follower members of the group.

Abstract: The computer vision-based valve control system and method includes a camera mounted on a pneumatic control valve in such a way that the camera periodically observes positioning of the valve stem. An image processor is applied to the output of the camera to determine percentage opening of the valve. The valve opening percentage of the image processor is fed to a PID controller that uses the valve opening percentage in its process control calculations.

Abstract: The multiphase flow measurement system and method includes video sensors and illumination along a pipe upstream, and a similar arrangement of sensors and illumination downstream displaced from the first location by a known distance utilized for velocity calculation between images at both locations. Image capturing and processing is done from video data at both locations. Objects corresponding to each flow phase in the video images are characterized and sorted by size, color, spectral properties, shapes, and pattern features using automatic pattern recognition. Image cross-correlation and pattern recognition are applied to each group of objects corresponding to one or more flow phases to estimate the velocity of each phase based on the delay calculation. Flow velocity is calculated from the weighted average of the phase velocities. Overall flow type is estimated using the estimated phase velocities and the areas occupied by the objects corresponding to each phase in the images.

Abstract: The dual submarine leak detection system provides for controllable in-pipe leak detection. The dual submarine leak detection system includes first and second submarines joined to one another by a tether. Each of the submarines includes a housing and at least one leak detector mounted thereon. A communication transceiver is mounted in the housing for remotely communicating the leak condition and a location of the leak condition, as well as receiving control and communication signals. Each submarine further includes at least one selectively retractable leg mounted on the housing and selectively extending therefrom, and a motor mounted within the housing for driving a propeller to propel the submarine through a fluid-filled pipe. A control system further allows for controllable or programmable steering of the submarine through the fluid-filled pipe and any pipe joints associated therewith.

Abstract: The computer vision-based valve control system and method includes a camera mounted on a pneumatic control valve in such a way that the camera periodically observes positioning of the valve stem. An image processor is applied to the output of the camera to determine percentage opening of the valve. The valve opening percentage of the image processor is fed to a PID controller that uses the valve opening percentage in its process control calculations.

Abstract: The dual submarine leak detection system provides for controllable in-pipe leak detection. The dual submarine leak detection system includes first and second submarines joined to one another by a tether. Each of the submarines includes a housing and at least one leak detector mounted thereon. A communication transceiver is mounted in the housing for remotely communicating the leak condition and a location of the leak condition, as well as receiving control and communication signals. Each submarine further includes at least one selectively retractable leg mounted on the housing and selectively extending therefrom, and a motor mounted within the housing for driving a propeller to propel the submarine through a fluid-filled pipe. A control system further allows for controllable or programmable steering of the submarine through the fluid-filled pipe and any pipe joints associated therewith.