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** Pipe walls
** Girth welds
* [[
* [[Storage tank]]s
** Floor 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.
* [[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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* [http://www.diakont.com/energy_services/16/robotic-in-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://www.silverwingndt.com/oil-gas-testing/storage-tanks/ndt-shell-inspection-equipment Silverwing – remote-control tank shell inspection vehicle]
* PHMSA
** [
** [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]]
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