A pipe rehabilitation system and/or robot can be used inside a pipe to measure characteristics of branch conduits, install plugs into branch conduits before the pipe is lined with a liner, remove portions of plugs and liners after lining to restore fluid communication between the pipe and branch conduits, and/or install fittings into the branch conduits to connect the liner to the branch conduits. A probe can measure characteristics of a branch conduit. A tool can install plugs and/or fittings into the branch conduits. A linkage can connect a tool to a robotic tractor so that the connected elements can navigate through a main pipe. A visualization system can aid in aligning a robot with a branch conduit. Height-adjustable braces can support robotic tools in a pipe. A plug can include integrated locating features and/or movable parts that enable expanding the plug to seal with the branch conduit.

A drilling apparatus has a work robot mounting a drilling blade and moving inside a main pipe and a photodetector for detecting the contour of an opening image formed on the inner surface of a pipe lining material by illumination light. The opening image is scanned, and a two-dimensional image corresponding to the opening image is generated based on the contour points P0 to P8 detected by the photodetector for display on a display unit. The amount of positional deviation between the center of the two-dimensional image on the display unit and the axial center C of the rotary shaft of the drilling blade is calculated, and the pipe lining material is drilled by moving the drilling blade by the amount of positional deviation in a direction in which the positional deviation is eliminated.

An access device is provided for access to a fluid tank, especially a fluid tank of a ship. The access device includes a drill, a thread-forming unit, a hollow body with an external thread and a connection plate. The hollow body is provided with a valve.

An access device is provided for access to a fluid tank, especially a fluid tank of a ship. The access device includes a drill, a thread-forming unit, a hollow body with an external thread and a connection plate. The hollow body is provided with a valve.

Flowline junction fittings are assembled to missiles of frac manifolds. The fittings have a body with a primary bore, at least four secondary bores, and a tertiary bore. The bores extend from union faces adapted for connection to flowline components by a flange union. The tertiary bore intersects with the primary bore at an angle of approximately 90. Goat head fittings are assembled to well heads. The goat heads have a body with a primary bore and at least four secondary bores. The bores extend from union faces adapted for connection to flowline components by a flange union. The intersections between the secondary bores and the primary bore have an interior angle of substantially less than 90.

Flowline junction fittings are assembled to missiles of frac manifolds. The fittings have a body with a primary bore, at least four secondary bores, and a tertiary bore. The bores extend from union faces adapted for connection to flowline components by a flange union. The tertiary bore intersects with the primary bore at an angle of approximately 90. Goat head fittings are assembled to well heads. The goat heads have a body with a primary bore and at least four secondary bores. The bores extend from union faces adapted for connection to flowline components by a flange union. The intersections between the secondary bores and the primary bore have an interior angle of substantially less than 90.

A contoured branch fitting for reducing stress in a header pipe caused by acoustic induced vibration that includes a maximum width, a maximum length, a thickness that is greater along the maximum length and a constant radius between the branch connection and the header connection.

A contoured branch fitting for reducing stress in a header pipe caused by acoustic induced vibration that includes a maximum width, a maximum length, a thickness that is greater along the maximum length and a constant radius between the branch connection and the header connection.

A contoured branch fitting for reducing stress in a header pipe caused by acoustic induced vibration that includes a maximum width, a maximum length, a thickness that is greater along the maximum length and a constant radius between the branch connection and the header connection.

A contoured branch fitting for reducing stress in a header pipe caused by acoustic induced vibration that includes a maximum width, a maximum length, a thickness that is greater along the maximum length and a constant radius between the branch connection and the header connection.