Abstract: A system for georeferencing three-dimensional (3D) geometric data associated with a global positioning system (GPS)-denied environment. The system includes an apparatus couplable to a mobile platform and a computing system communicably couplable with the apparatus. The apparatus includes a processing circuit and a range sensor and/or a camera. The computing system includes a 3D generator module configured to generate a digital 3D model of the GPS-denied environment based on data acquired by the range sensor and/or the camera, a 3D survey control generator module configured to identify a survey control point within the GPS-denied environment and generate a 3D digital anchor within the 3D model of the GPS-denied environment, a georeferencing module configured to apply one or more non-rigid transformations to the 3D model of the GPS-denied environment, and a second processing circuit communicably couplable with the 3D generator module, the 3D survey control generator module and the georeferencing module.

Abstract: A system for georeferencing three-dimensional (3D) geometric data associated with a global positioning system (GPS)-denied environment. The system includes an apparatus couplable to a mobile platform and a computing system communicably couplable with the apparatus. The apparatus includes a processing circuit and a range sensor and/or a camera. The computing system includes a 3D generator module configured to generate a digital 3D model of the GPS-denied environment based on data acquired by the range sensor and/or the camera, a 3D survey control generator module configured to identify a survey control point within the GPS-denied environment and generate a 3D digital anchor within the 3D model of the GPS-denied environment, a georeferencing module configured to apply one or more non-rigid transformations to the 3D model of the GPS-denied environment, and a second processing circuit communicably couplable with the 3D generator module, the 3D survey control generator module and the georeferencing module.

Abstract: A system. The system includes an apparatus and a computing system. The apparatus is couplable to a mobile platform and includes a sensing device and/or a camera. The computing system includes an anchor module configured to define a plurality of virtual anchors associated with a subterranean structure; a movement determination module configured to determine a movement of at least one of the virtual anchors, and a movement classification module configured to determine a type of subterranean structure movement based on the determined movement of the at least one of the virtual anchors. The type of subterranean structure movement comprises convergence, subsidence, movement along a fault line, cross-sectional movement, longitudinal movement and/or hidden movement.

Abstract: A system. The system includes an apparatus and a computing system. The apparatus is couplable to a mobile platform and includes a sensing device and/or a camera. The computing system includes an anchor module configured to define a plurality of virtual anchors associated with a subterranean structure; a movement determination module configured to determine a movement of at least one of the virtual anchors, and a movement classification module configured to determine a type of subterranean structure movement based on the determined movement of the at least one of the virtual anchors. The type of subterranean structure movement comprises convergence, subsidence, movement along a fault line, cross-sectional movement, longitudinal movement and/or hidden movement.

Abstract: A system for measuring geometric change in a subterranean structure. The system includes an apparatus communicably couplable to a computing system. The apparatus is couplable to a mobile platform and includes a sensor configured to acquire data representative of a geometry of the subterranean structure and/or a camera configured to capture images of an interior of the subterranean structure, and a processing circuit. The computing system includes at least one processor, a 3D generator module configured to generate a digital three-dimensional model of the subterranean structure, an anchor module configured to define a plurality of digital anchors associated with the subterranean structure; a movement determination module configured to determine a movement of at least one of the digital anchors, and a movement classification module configured to determine a type of movement within the subterranean structure based on the determined movement of the at least one of the digital anchors.

Abstract: A system for measuring geometric change in a subterranean structure. The system includes an apparatus communicably couplable to a computing system. The apparatus is couplable to a mobile platform and includes a sensor configured to acquire data representative of a geometry of the subterranean structure and/or a camera configured to capture images of an interior of the subterranean structure, and a processing circuit. The computing system includes at least one processor, a 3D generator module configured to generate a digital three-dimensional model of the subterranean structure, an anchor module configured to define a plurality of digital anchors associated with the subterranean structure; a movement determination module configured to determine a movement of at least one of the digital anchors, and a movement classification module configured to determine a type of movement within the subterranean structure based on the determined movement of the at least one of the digital anchors.

Abstract: A thermal insulation jacket system. The thermal insulation jacket system includes a thermal insulation jacket configured to surround a valve, a plurality of detection devices and a computing device. Each detection device is configured to detect a different temperature associated with the valve. The computing device is coupled to the thermal insulation jacket and is communicably connected to the plurality of detection devices. The computing device is configured to calculate real-time energy savings attributable to the thermal insulation jacket and perform at least one diagnostic analysis associated with the valve.

Abstract: A thermal insulation jacket system comprising: a first thermal insulation jacket configured to fit on an object; a microcontroller located in the first thermal insulation jacket; a first temperature measuring means in signal communication with the microcontroller, configured to measure the temperature of the object; a second temperature measuring means in signal communication with the microcontroller, configured to measure the ambient temperature; where the microcontroller is configured to determine the energy savings achieved by the insulative properties of the first thermal insulation jacket.

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: A thermal insulation jacket system comprising: a first thermal insulation jacket configured to fit on an object; a microcontroller located in the first thermal insulation jacket; a first temperature measuring means in signal communication with the microcontroller, configured to measure the temperature of the object; a second temperature measuring means in signal communication with the microcontroller, configured to measure the ambient temperature; where the microcontroller is configured to determine the energy savings achieved by the insulative properties of the first thermal insulation jacket.

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.