Abstract: In embodiments, systems and methods include using a modular robotic inspection system to inspect a tubular of a vehicle or building. The modular robotic inspection system comprises a first modular robot and a second modular robot. Both the first modular robot and the second modular robot comprise a base, a plurality of wheels disposed around the base, wherein each of the plurality of wheels is coupled to the base through a set of extendable arms, wherein each one of the plurality of wheels is disposed at a distal end of one of the set of extendable arms, and a plurality of centralizing rollers disposed around the base, wherein each one of the plurality of centralizing rollers is disposed at a proximal end of one of the set of extendable arms. The first modular robot further comprises a motor operable to actuate the plurality of wheels of the first modular robot.

Abstract: The present invention includes a device and method for determining the flow of one or more phases of a multiphase fluid mixture comprising: a tube, a pipe, a main body or any combinations thereof comprising an interior and an exterior, wherein the interior receives a multiphase fluid mixture for the determination of the fractions in the multiphase; a first ultrasound field detector ring comprising: two or more pairs of transversal paired dual frequency ultrasound transmitter/receivers are on the same normal plane and are positioned in a transversal direction to a flow of the multiphase fluid mixture on the exterior of the tube, pipe, or main body, wherein the sampled volume covers a part of or the whole cross-section of the flow volume; and a computer connected to the ultrasound transmitter/receivers that determines the one or more phases of a multiphase fluid mixture.

Abstract: The present invention includes a device and method for determining the flow of one or more phases of a multiphase fluid mixture comprising: a tube, a pipe, a main body or any combinations thereof comprising an interior and an exterior, wherein the interior receives a multiphase fluid mixture for the determination of the fractions in the multiphase; a first ultrasound field detector ring comprising: two or more pairs of transversal paired dual frequency ultrasound transmitter/receivers are on the same normal plane and are positioned in a transversal direction to a flow of the multiphase fluid mixture on the exterior of the tube, pipe, or main body, wherein the sampled volume covers a part of or the whole cross-section of the flow volume; and a computer connected to the ultrasound transmitter/receivers that determines the one or more phases of a multiphase fluid mixture.

Abstract: The present invention includes a device and method for determining the flow of one or more phases of a multiphase fluid mixture comprising: a tube, a pipe, a main body or any combinations thereof comprising an interior and an exterior, wherein the interior receives a multiphase fluid mixture for the determination of the fractions in the multiphase; a first ultrasound field detector ring comprising: two or more pairs of transversal paired dual frequency ultrasound transmitter/receivers are on the same normal plane and are positioned in a transversal direction to a flow of the multiphase fluid mixture on the exterior of the tube, pipe, or main body, wherein the sampled volume covers a part of or the whole cross-section of the flow volume; and a computer connected to the ultrasound transmitter/receivers that determines the one or more phases of a multiphase fluid mixture.

Abstract: An automated calibration device that comprises a tube for trapping a multiphase sample between three ultrasound (US) transducer pairs wherein each of the three transducer pairs is positioned to measure a different fraction of the multiphase sample.

Abstract: The disclosure describes a system and a method for locating a cement plug within a wellbore. The system includes a signal transmitter mounted to the cement plug, a receiver at the opening to the wellbore, one clock positioned on the cement plug and in communication with the transmitter, a second clock which is synchronized to the first clock and in communication with the receiver, and a controller for triggering the transmittal of the signal.

Abstract: The disclosure describes a system and a method for locating a cement plug within a wellbore. The system includes a signal transmitter mounted to the cement plug, a receiver at the opening to the wellbore, one clock positioned on the cement plug and in communication with the transmitter, a second clock which is synchronized to the first clock and in communication with the receiver, and a controller for triggering the transmittal of the signal.

Abstract: An automated calibration device that comprises a tube for trapping a multiphase sample between three ultrasound (US) transducer pairs wherein each of the three transducer pairs is positioned to measure a different fraction of the multiphase sample.

Abstract: An automated calibration device that comprises a tube for trapping a multiphase sample between three ultrasound (US) transducer pairs, wherein each of the three transducer pairs is positioned to measure a different fraction of the multiphase sample.

Abstract: An apparatus and method to determine fractions of various phases in a multiphase fluid. The apparatus includes main body including an interior configured receive a multiphase fluid and an exterior. The apparatus senses fluid pressure of multiphase fluid received in the interior and senses a fluid temperature of the multiphase fluid. The apparatus transmits an ultrasonic wave into the fluid and detects the transmitted wave to determine its velocity and attenuation. The apparatus may adjust the determined velocity and attenuation based on the temperature and pressure of the fluid to compensate for a difference between the sensed temperature and pressure and a standard temperature and pressure. The apparatus determines a gas fraction, water fraction, and a non-water fluid fraction of the multiphase fluid based on the sensed fluid pressure, the sensed fluid temperature, and the velocity and attenuation of the ultrasonic wave in the multiphase fluid.

Abstract: A device for automated calibration of a multiphase flowmeter comprising a tube for trapping a multiphase sample along with three ultrasound (US) transducers is described herein. The calibration device is placed vertically, using two valves the tube traps a sample of the liquid in the tube. Then, once the three phases of the liquid separate, the ultrasound transmitters are used to determine the phase fractions of each phase.

Abstract: An apparatus and method to determine fractions of various phases in a multiphase fluid. The apparatus includes main body including an interior configured receive a multiphase fluid and an exterior. The apparatus senses fluid pressure of multiphase fluid received in the interior and senses a fluid temperature of the multiphase fluid. The apparatus transmits an ultrasonic wave into the fluid and detects the transmitted wave to determine its velocity and attenuation. The apparatus may adjust the determined velocity and attenuation based on the temperature and pressure of the fluid to compensate for a difference between the sensed temperature and pressure and a standard temperature and pressure. The apparatus determines a gas fraction, water fraction, and a non-water fluid fraction of the multiphase fluid based on the sensed fluid pressure, the sensed fluid temperature, and the velocity and attenuation of the ultrasonic wave in the multiphase fluid.

Abstract: An apparatus and method to determine fractions of various phases in a multiphase fluid. The apparatus includes main body including an interior configured receive a multiphase fluid and an exterior. The apparatus senses fluid pressure of multiphase fluid received in the interior and senses a fluid temperature of the multiphase fluid. The apparatus transmits an ultrasonic wave into the fluid and detects the transmitted wave to determine its velocity and attenuation. The apparatus may adjust the determined velocity and attenuation based on the temperature and pressure of the fluid to compensate for a difference between the sensed temperature and pressure and a standard temperature and pressure. The apparatus determines a gas fraction, water fraction, and a non-water fluid fraction of the multiphase fluid based on the sensed fluid pressure, the sensed fluid temperature, and the velocity and attenuation of the ultrasonic wave in the multiphase fluid.

Abstract: An apparatus and method to determine fractions of various phases in a multiphase fluid. The apparatus includes main body including an interior configured receive a multiphase fluid and an exterior. The apparatus senses fluid pressure of multiphase fluid received in the interior and senses a fluid temperature of the multiphase fluid. The apparatus transmits an ultrasonic wave into the fluid and detects the transmitted wave to determine its velocity and attenuation. The apparatus may adjust the determined velocity and attenuation based on the temperature and pressure of the fluid to compensate for a difference between the sensed temperature and pressure and a standard temperature and pressure. The apparatus determines a gas fraction, water fraction, and a non-water fluid fraction of the multiphase fluid based on the sensed fluid pressure, the sensed fluid temperature, and the velocity and attenuation of the ultrasonic wave in the multiphase fluid.

Abstract: An apparatus and method to determine fractions of various phases in a multiphase fluid. The apparatus includes main body including an interior configured receive a multiphase fluid and an exterior. The apparatus senses fluid pressure of multiphase fluid received in the interior and senses a fluid temperature of the multiphase fluid. The apparatus transmits an ultrasonic wave into the fluid and detects the transmitted wave to determine its velocity and attenuation. The apparatus may adjust the determined velocity and attenuation based on the temperature and pressure of the fluid to compensate for a difference between the sensed temperature and pressure and a standard temperature and pressure. The apparatus determines a gas fraction, water fraction, and a non-water fluid fraction of the multiphase fluid based on the sensed fluid pressure, the sensed fluid temperature, and the velocity and attenuation of the ultrasonic wave in the multiphase fluid.

Abstract: An apparatus and method to determine fractions of various phases in a multiphase fluid. The apparatus includes main body including an interior configured receive a multiphase fluid and an exterior. The apparatus senses fluid pressure of multiphase fluid received in the interior and senses a fluid temperature of the multiphase fluid. The apparatus transmits an ultrasonic wave into the fluid and detects the transmitted wave to determine its velocity and attenuation. The apparatus may adjust the determined velocity and attenuation based on the temperature and pressure of the fluid to compensate for a difference between the sensed temperature and pressure and a standard temperature and pressure. The apparatus determines a gas fraction, water fraction, and a non-water fluid fraction of the multiphase fluid based on the sensed fluid pressure, the sensed fluid temperature, and the velocity and attenuation of the ultrasonic wave in the multiphase fluid.