Robotic non-destructive testing: Difference between revisions

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{{short description|Method of inspection using remotely operated tools}}

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'''Robotic [[non-destructive testing]]''' (NDT) is a method of inspection used to assess the [[structural integrity]] of [[petroleum]], [[natural gas]], and water installations. [[Crawler (BEAM)|Crawler]]-based robotic tools are commonly used for in-line inspection (ILI) applications in [[Pipeline transport|pipelines]] that cannot be inspected using traditional [[Pigging#Intelligent pigging|intelligent pigging tools]] (or unpiggable pipelines).

Robotic [[non-destructive testing|NDT]] tools can also be used for mandatory inspections in inhospitable areas (e.g., tank interiors, subsea petroleum installations) to minimize danger to human inspectors, as these tools are operated remotely by a trained technician or NDT analyst. These systems transmit data and commands via either a wire (typically called an umbilical cable or tether) or wirelessly (in the case of battery-powered tetherless crawlers).

== Applications ==

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** Pipe walls

** Girth welds

* [[Nuclear reactor safety system|Nuclear cooling systems]]

* [[Storage tankstank]]s

** Floor plates

** Shell plates

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=== Untethered ILI crawler overview ===

[[File:Pipetel Explorer 30-36.jpg|thumb|Pipetel Explorer untethered NDT pipeline crawler, manufactured and operated by Pipetel Technologies.]]

Untethered robotic ILI crawlers are powered by onboard batteries; these tools transmit sensor data wirelessly to the tool operator or store the data for downloading upon tool retrieval. Untethered crawlers have the following advantages over tethered crawlers:

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[[File:GWS diagram.jpg|center|The principle of angle-beam EMAT use in pipeline girth weld assessment.]]

[[File:GWS FTM scan.jpg|thumb|upright|The frequency-time matrix for a lateral cylindrical hole in a pipe.]]

The tool merges each set of FT scans into a single frequency-time matrix scan to display weld conditions, with anomalies color-coded by severity.<ref name="GWS" /> This method of girth weld scanning is designed to detect the following [[Welding defect|weld defects]]:

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=== Video inspection ===

[[File:Pipeline video inspection - pitting corrosion.png|thumb|A high-resolution camera image of an internal corrosion pit in a pipe wall.]]

Main article – [[Pipeline video inspection|video inspection]]

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=== Laser profilometry ===

[[File:Laser profilometry - pitting corrosion.png|thumb|Laser profilometry assessment of the pipe wall corrosion pit shown in the previous image.]]

Main article – [[surface metrology]]

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Natural gas pipeline operators can use tetherless robotic ILI crawlers for smaller distribution pipelines that are not located beneath critical infrastructure elements (e.g., freeway crossings).

* In 2011, [[Southern California Gas Company]] (SoCalGas) used a tetherless robotic ILI crawler manufactured by Pipetel to inspect an 8” natural gas pipeline whose product flow lacked the pressure to propel a traditional smart pig. The tool successfully inspected 2.5 miles of pipeline, including a cased segment and an area underneath a railway track.<ref>[http://www.prnewswire.com/news-releases/pipetels-explorer-robotic-inspection-tool-used-to-inspect-socalgas-pipelines-127879588.html Pipetel’s Explorer Robotic Inspection Tool Used to Inspect SoCalGas Pipelines]. PR Newswire. August 16, 2011. Web. Accessed 15 March 2015.</ref>

* [[Southwest Gas Corporation]] used the same tool in 2013 to inspect approximately one mile of a 6” natural gas line in Las Vegas, Nevada.<ref>[http://www.nysearch.org/news-info_012114.php Southwest Gas chooses Pipetel for Unpiggable pipeline inspection as part of its commitment to safety]. Northeast Gas Association. January 2014. Web. Accessed 9 March 2016.</ref>

* [[Central Hudson Gas & Electric]] used a similar crawler in 2015 to inspect a 3000’ section of a 16” natural gas line that included a roadway crossing.<ref>Welsh, Kathy. [http://hudsonvalleynewsnetwork.com/2015/10/08/central-hudson-tests-innovative-pipeline-inspection-robot/ Central Hudson Tests Innovative Pipeline Inspection Robot]. Hudson Valley News Network. October 8, 2015. Web. Accessed 15 March 2016.</ref>

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*** Real-time data monitoring allows daily reports and makes a preliminary report (containing only the most serious anomalies) possible.

*** The inspection crew can stop the tool’s forward progress to re-examine findings in order to gather additional data and confirm defect identity/severity.

*** The ability to monitor tool function ensures tool [[data integrity]] for the entirety of the inspection.

* The compact footprint of these tools allows them to be deployed at customer convenience rather than limited to pre-established endpoints (i.e., pig launcher/receiver).

** This makes tethered tools less likely to get stuck, and easier to retrieve if stuck/damaged.

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** The inspection crew can adapt tool travel to accommodate fixtures (e.g., tees, bends, tank roof supports) as well as findings (e.g., dents, corrosion pits) to prevent the tool from becoming damaged or stuck.

** The inspection crew can also manipulate the tool to maximize sensor reception in areas where the tool’s normal travel path would impact readings.

[[File:Applus ROV with INCOTEST.JPG|thumb|A [[Remotely operated underwater vehicle|remotely-operated vehicle]] (ROV) manufactured and operated by Applus to inspect pipelines on sea and subsea petroleum installations using a PEC module.]]

* Many inspection areas pose significant safety hazards to human occupants that can be eliminated or greatly reduced by robotic NDT tools:

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* [https://www.gpo.gov/fdsys/granule/CFR-2010-title49-vol3/CFR-2010-title49-vol3-sec192-921 US federal baseline pipeline assessment – 49 CFR 192.921]

* [https://www.gpo.gov/fdsys/granule/CFR-2010-title49-vol3/CFR-2010-title49-vol3-sec192-937 US federal pipeline integrity evaluation process – 49 CFR 192.937]

* [httphttps://www.ntsb.gov/safety/safety-studies/Documents/SS1501.pdf NTSB identification of HCAs]

* [http://www.pipelineoperators.org/ Pipeline Operators Forum]

* [[American Petroleum Institute]] (API) [http://www.api.org/publications-standards-and-statistics/standards/whatsnew/publication-updates/new-refining-publications/api_std_653 American Petroleum Institute (API) 653]

* [http://www.api.org/Publications-Standards-and-Statistics/Standards/WhatsNew/Publication-Updates/New-Pipeline-Publications/API_Std_1163 API 1163]

* [https://www.asme.org/products/codes-standards/b318-2014-gas-transmission-distribution-piping The American Society for Mechanical Engineers (ASME) B31.8]

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== External links ==

* [http://www.diakont.com/solutionsenergy_services/ili16/pipelinerobotic-inspectionin-services/line-inspection.html Diakont - pipeline ILI]

* [https://www.innerspec.com/integrated/applications/volumetric-inspection/composites-and-forgings/ Innerspec - Robotic Inspection Systems]

* [http://pipetelone.com/ Pipetel Technologies - pipeline ILI]

* [http://www.applusrtd.com/en/new/Applus_RTD_&_Delta_Subsea_unveil_pioneering_deepwater_NDT_Technology-1340242470561 Applus - subsea pipe inspection]

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* [http://invertrobotics.com/ Invert Robotics – tank shell inspection]

* [http://www.structint.com/competency/nondestructive-examination/technologies/sipec Structural Integrity Associates - pipeline ILI]

* [http://www.iliassociation.org/ Inline Inspection Association]

* [http://www.smartpigs.net/ Inline Inspection and Pipeline Pigging Resource]

* [https://www.nde-ed.org/AboutNDT/SelectedApplications/PipelineInspection/PipelineInspection.htm Introduction to Inline Inspection]

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* [http://www.silverwingndt.com/oil-gas-testing/storage-tanks/ndt-shell-inspection-equipment Silverwing – remote-control tank shell inspection vehicle]

* PHMSA

** [httphttps://www.phmsa.dot.gov/about-phmsa/offices/office-pipeline-safety Pipeline Safety homepage]

** [https://primis.phmsa.dot.gov/comm/FactSheets/FSMaterialWeldFailure.htm Weld Failure fact sheet]

* [https://www.asnt.org/MajorSiteSections/Certification American Society for Nondestructive Testing certification]

* [https://www.asme.org/ American Society of Mechanical Engineers]

* [http://www.astm.org/ American Society for Testing and Materials]

* [https://ndtcs.com/ NDT Consultancy Services Inc.]

[[Category:Robotics]]

[[Category:Nondestructive testing]]

[[Category:Technology]]