There is described a method of determining a position of a pipeline inspection gauge (PIG) in a fluid conduit. While the PIG is moving through the fluid conduit, one or more sensors positioned along the fluid conduit are used to detect one or more signals. Parameter data is extracted from the detected one or more signals. The parameter data includes one or more parameters of the detected one or more signals as a function of time and position along the fluid conduit. PIG movement data indicative of a position of the PIG in the fluid conduit as a function of time is generated using the parameter data.

Pipe inspection systems including a push-cable, jetter, and camera assembly are disclosed. A jetter nozzle may be configured to spin and/or propel the camera head within a pipe or other cavity. A cutter line may be attached to the camera head to clean obstructions. A sonde may be coupled to a camera head to generate magnetic field signals for use with a buried utility locator to locate a pipe or other cavity into which the camera head is deployed.

The present disclosure may relate to a detector and a detecting system. The detector may include a probe, a first connector connected to the probe, a second connector configured to connect to an external apparatus, an elastic member arranged between and connected to the first connector and the second connector, a transmission line and a flexible protector. An end of the transmission line may pass through the first connector and connect with the probe. The other end of the transmission line may connect with the second connector. An end of the flexible protector may be connected to the first connector. The other end of the flexible protector may be connected to the second connector. The length of the flexible protector may be greater than that of the elastic member in its natural state, and less than that of the transmission line between the first connector and the second connector.

A robot for exploring a conduit including a first frame and a second frame. The first frame and the second frame each including a bearing module provided with a plurality of articulated arms. Each articulated arm including a bearing portion that can be applied against a wall of the conduit. Each bearing module is further configured to alternately switch from a bearing portion engaged configuration into a bearing portion disengaged configuration. The articulated arms are disposed in a plane perpendicular to the longitudinal axis x of the robot, and the articulated arms are capable of at least partially moving between said engaged configuration and said disengaged configuration, via a rotational motion about an axis parallel to the longitudinal axis x.

Methods and systems are provided for treating the tail gas stream of a sulfur recovery plant. The methods including generating a tail gas stream from a sulfur recovery plant, treating the tail gas stream with a hydrogen sulfide absorption unit and a hydrogen selective membrane unit, generating a stream low in hydrogen sulfide and a stream rich in hydrogen. The hydrogen sulfide rich stream is recycled to the sulfur recovery unit. The hydrogen selective membrane unit includes a glassy polymer membrane selective for hydrogen over hydrogen sulfide and carbon dioxide.

A self-powered pipeline pig includes a housing defining a trailing end, a leading end and a longitudinal axis. The plurality of internal flow channels extend longitudinally through the housing between the trailing end and the leading end. A power generation device is disposed in a first one of the plurality of internal flow channels. The power generation device generates electric power from a pipeline fluid flowing through the first flow channel during a pigging operation. A battery is disposed on the self-powered pipeline pig to provide electric power during the pigging operation to operate one or more components installed on the self-powered pipeline pig. The power generation device is electrically coupled to the battery to recharge the battery using the generated electric power.

The invention relates to a method for checking, prior to welding, two components made of polymer material, the method comprising a step of determining respective values relating to the roughness of the components, a step of determining respective values relating to the cleanliness of the components, a step of determining respective values relating to the temperature of the components and automated means for halting progression to a subsequent method step should the predetermined conditions not be met.

A device for use within pipelines, such as an inline inspection tool, includes a renewable power system. The renewable power system includes at least one of a thermoelectric generator or a pressure-based power generator. The thermoelectric generator produces electricity by consuming thermal energy from the heat of the product in the pipeline such as oil or gas. The pressure-based power generator operates by using a rotary connection axis for a turbine which drives an alternator to generate electrical energy. The device may combine both type of generators with a unified power system including regulators, high density batteries, battery chargers, cooling system.

Various embodiments of an amphibious submersible vehicle for use in non-destructive testing of pipe interiors and walls are disclosed herein. In one aspect, the vehicle is operable for amphibious submersible operation such that pipes of various diameters can be inspected under full, partially full, and dry conditions. In another aspect, the vehicle is equipped with a plurality of propellers for travel when fully or partially submerged in water and a plurality of wheels for traveling when in contact with a pipe wall or for traveling over debris. In some embodiments, the vehicle is equipped with a plurality of sensors configured for imaging and navigation which enable the vehicle for pipe inspection and identification of problem areas.

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.