Abstract: A system includes a navigation apparatus and controller. The navigation apparatus includes a body assembly that includes a plurality of pneumatic or artificial muscles that are configured to interact with a sidewall of the conduit and move the body assembly through the conduit. The plurality of pneumatic or artificial muscles are independently actuated to steer the body assembly. The navigation apparatus also includes a sensor array coupled to the body assembly. The sensor array is positioned to interact with the sidewall of the conduit and provide signals as the body assembly moves through the interior cavity. The controller is communicatively coupled to the sensor array and configured to determine a characteristic of the conduit based on the signals provided by the sensor array.

Abstract: A system can include an upper completion string including an outer mandrel and an inner mandrel positioned coaxially within the outer mandrel. The upper completion string can include a first pressure sensor in communication with a first chamber via a first channel extending through an outer housing of the outer mandrel for detecting a first pressure within the first chamber and transmitting an associated sensor signal. The first chamber can have a boundary that is defined at least in part by (i) an outer surface of the inner mandrel, (ii) an inner surface of the outer mandrel, and (iii) at least two protrusions positioned between the outer surface of the inner mandrel and the inner surface of the outer mandrel. The system can include a computing device in communication with the first pressure sensor for determining a pressure difference between the first pressure and another pressure.

Abstract: A system can include an upper completion string including an outer mandrel and an inner mandrel positioned coaxially within the outer mandrel. The upper completion string can include a first pressure sensor in communication with a first chamber via a first channel extending through an outer housing of the outer mandrel for detecting a first pressure within the first chamber and transmitting an associated sensor signal. The first chamber can have a boundary that is defined at least in part by (i) an outer surface of the inner mandrel, (ii) an inner surface of the outer mandrel, and (iii) at least two protrusions positioned between the outer surface of the inner mandrel and the inner surface of the outer mandrel. The system can include a computing device in communication with the first pressure sensor for determining a pressure difference between the first pressure and another pressure.