The present invention is used to compose the structure of a system that operates inside pipelines. It can be used in a robotic system in the form of a train to move tools inside small diameter tubes or ducts. It avoids the need for costly commercial connectors with limited variety of connections.

The proposed solution is to partition/separate the electronic or hydraulic components into pressure vessel modules, thereby making it necessary to provide an adequate means of interconnection between said modules by means of an elastomeric conduit. Each module has a heat exchanger system (sink) to remove the heat generated by the electronic equipment installed inside thereof. The product of the invention has a sufficient degree of freedom to move in ducts and underwater pipes, where the hydrostatic pressure is extremely high.

The present invention is used to compose the structure of a system that operates inside pipelines. It can be used in a robotic system in the form of a train to move tools inside small diameter tubes or ducts. It avoids the need for costly commercial connectors with limited variety of connections.

The proposed solution is to partition/separate the electronic or hydraulic components into pressure vessel modules, thereby making it necessary to provide an adequate means of interconnection between said modules by means of an elastomeric conduit. Each module has a heat exchanger system (sink) to remove the heat generated by the electronic equipment installed inside thereof. The product of the invention has a sufficient degree of freedom to move in ducts and underwater pipes, where the hydrostatic pressure is extremely high.

A logging system and method for operating a logging system are typically used in a wellbore. The logging system may include a logging instrument including a rechargeable energy storage and logging electronics, and a cable configured to trickle charge the rechargeable energy storage. The rechargeable energy storage may include an ultracapacitor. The rechargeable energy storage may be trickle charged through the cable from a remote power source.

A logging system and method for operating a logging system are typically used in a wellbore. The logging system may include a logging instrument including a rechargeable energy storage and logging electronics, and a cable configured to trickle charge the rechargeable energy storage. The rechargeable energy storage may include an ultracapacitor. The rechargeable energy storage may be trickle charged through the cable from a remote power source.

A method for determining gravity toolface azimuth that can include rotating a logging tool about a center axis; positioning an accelerometer sensor within the logging tool at a first radial distance from the center axis; positioning an angular gyroscope sensor within the logging tool at a second radial distance from the center axis; receiving, at a controller, accelerometer sensor data from the accelerometer sensor and angular gyroscope sensor data from the angular gyroscope sensor as the logging tool rotates; determining, via the controller, a radial acceleration component of the accelerometer sensor from the accelerometer sensor data; determining, via the controller, a gain and an offset of the angular gyroscope sensor based on the radial acceleration component; and determining, via the controller, the gravity toolface azimuth of the logging tool as a function of time based on the gain, the offset, and the angular gyroscope sensor data.

A wellbore logging device incorporating selected electronic sensors and a power source is sealingly and removably embeddable within an instrumentation recess formed in a new or existing downhole equipment component such as a downhole tool or other component of a bottomhole assembly (BHA) in a tubular string such as a drill string. The logging device may be a modular device comprising an electronics module incorporating the electronic components, and a power module incorporating one or more energy cells. The electronics module and power module are engageable to form the logging device for insertion into an instrumentation recess, and to enable energization of the sensors and data transfer between the modules. In alternative embodiments, the logging device is a unitary device incorporating both the electronic components and the energy cells.

A wellbore logging device incorporating selected electronic sensors and a power source is sealingly and removably embeddable within an instrumentation recess formed in a new or existing downhole equipment component such as a downhole tool or other component of a bottomhole assembly (BHA) in a tubular string such as a drill string. The logging device may be a modular device comprising an electronics module incorporating the electronic components, and a power module incorporating one or more energy cells. The electronics module and power module are engageable to form the logging device for insertion into an instrumentation recess, and to enable energization of the sensors and data transfer between the modules. In alternative embodiments, the logging device is a unitary device incorporating both the electronic components and the energy cells.

A method that includes deploying a casing with a multi-electrode configuration over a dielectric layer in a downhole environment. The method also includes collecting electromagnetic (EM) measurements using the multi-electrode configuration, and processing the EM measurements to obtain a characterization of fluids in an annulus between the casing and a borehole wall. A related system includes a casing deployed downhole, the casing having a multi-electrode configuration and a dielectric layer between the casing and the multi-electrode configuration. The system also includes a controller for directing collection of EM measurements using the multi-electrode configuration, and a processor that processes the EM measurements to obtain a characterization of fluids in an annulus between the casing and a borehole wall.

A method that includes deploying a casing with a multi-electrode configuration over a dielectric layer in a downhole environment. The method also includes collecting electromagnetic (EM) measurements using the multi-electrode configuration, and processing the EM measurements to obtain a characterization of fluids in an annulus between the casing and a borehole wall. A related system includes a casing deployed downhole, the casing having a multi-electrode configuration and a dielectric layer between the casing and the multi-electrode configuration. The system also includes a controller for directing collection of EM measurements using the multi-electrode configuration, and a processor that processes the EM measurements to obtain a characterization of fluids in an annulus between the casing and a borehole wall.

The invention discloses systems for improving performance and operational efficiency of wireline tractors. A cooling system improves power capabilities of electrical motors mounted in wheels, which are mounted on a linkage pivotably connected to an arm extended from a tractor tool body, in an in-line arm configuration. The linkage and arm mechanism significantly improve the tractor's ability to traverse wellbore obstructions. The hydraulic system of the tractor ensures adequate wellbore centralization.