An electronic computing system preserves a pre-error state of a processing unit by receiving a first stream of inputs; buffering the first stream of inputs to generate a buffered stream of inputs identical to the first stream of inputs; conveying the first stream to a primary instance of a first program; conveying the buffered stream to a secondary instance of the first program; executing the primary instance on the first stream in real time; executing the secondary instance on the buffered stream with a predefined time delay with respect to execution of the primary instance on the first stream; detecting an error state resulting from execution of the primary instance; and in response to detecting the error state, pausing the secondary instance and preserving a current state of the secondary instance, wherein the current state of the secondary instance corresponds to a pre-error state of the primary instance.

A method for detecting and repairing external diseases of a buried drainage pipeline includes steps of: S1, controlling a robot to enter the pipeline to perform comprehensive detection of pipeline diseases; S2, analyzing detected pipeline diseases with a computer terminal based on detection results of the robot, and determining locations of external diseases of the pipeline; S3, controlling the robot to detect a depth of the external diseases of the pipeline relative to a ground surface; S4, determining a projection position of the external diseases of the pipeline on the ground surface according to detection results of the step S2, and drilling a hole from the ground surface; determining a drilling depth according to detection results of the step S3, and inserting a grouting pipe; and S5, grouting and repairing the external diseases of the pipeline through the grouting pipe.

A method for detecting and repairing external diseases of a buried drainage pipeline includes steps of: S1, controlling a robot to enter the pipeline to perform comprehensive detection of pipeline diseases; S2, analyzing detected pipeline diseases with a computer terminal based on detection results of the robot, and determining locations of external diseases of the pipeline; S3, controlling the robot to detect a depth of the external diseases of the pipeline relative to a ground surface; S4, determining a projection position of the external diseases of the pipeline on the ground surface according to detection results of the step S2, and drilling a hole from the ground surface; determining a drilling depth according to detection results of the step S3, and inserting a grouting pipe; and S5, grouting and repairing the external diseases of the pipeline through the grouting pipe.

Systems and methods for determining positioning of a scanner moving along a section of a pipe, may include: an encoder and a counter measuring distance traveled by the scanner along a plurality of scan lines along a length of the section of the pipe; measuring acceleration and angular velocity of the scanner around a portion of the circumference of the pipe between successive scan lines; computing an angle of rotation of the scanner around the portion of the circumference of the pipe between successive scan lines, and determining a distance traveled around the portion of the circumference of the pipe between first and second scan lines using the computed angle of rotation. The process may further include determining a position of the device using the distance traveled measurements from the counter and the fusion circuit.

Systems and methods for determining positioning of a scanner moving along a section of a pipe, may include: an encoder and a counter measuring distance traveled by the scanner along a plurality of scan lines along a length of the section of the pipe; measuring acceleration and angular velocity of the scanner around a portion of the circumference of the pipe between successive scan lines; computing an angle of rotation of the scanner around the portion of the circumference of the pipe between successive scan lines, and determining a distance traveled around the portion of the circumference of the pipe between first and second scan lines using the computed angle of rotation. The process may further include determining a position of the device using the distance traveled measurements from the counter and the fusion circuit.

A system and method for detecting passage of a pipeline pig, the system and method including a passive impulse detector [10] having a housing [13]; a non-intrusive connection [15] of the housing to an exterior wall [17] of a pipeline [P], at least one vibration sensor [11] housed by the housing; and signal processing [23] including at least one band pass filter [27] configured to receive data collected by the vibration sensor, the vibration sensor and band pass filter configured to monitor frequencies in a predetermined range indicating the impulse. The selected frequencies should be those more easily detectable above the baseline (signature or natural resonance) frequency of the section of pipeline being monitored. In some embodiments, the selected frequencies are lower frequencies. No portion of the passive pipeline pig signal intrudes into an interior of the pipeline.

A system includes an inspection robot having a plurality of input sensors, the plurality of input sensors distributed horizontally relative to an inspection surface and configured to provide inspection data of the inspection surface at selected horizontal positions; a controller, comprising: a position definition circuit structured to determine an inspection robot position of the inspection robot on the inspection surface; a data positioning circuit structured to interpret the inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position.

A system and method to detecting an inline tool traveling in a pipe. A tool magnet is affixed to the inline tool. A first magnetic sensor and a second magnetic sensor are longitudinally spaced from one another and disposed outside of the pipe, detecting a first magnetic field originating from the tool magnet with the first magnetic sensor and the second magnetic sensor as the inline tool travels through the pipe and proximate each of the first magnetic sensor and the second magnetic sensor. The system identifies the first magnetic field as originating from the tool magnet and detects a passage of the inline tool in the pipe based on identifying the first magnetic field as originating from the tool magnet.

A system and method to detecting an inline tool traveling in a pipe. A tool magnet is affixed to the inline tool. A first magnetic sensor and a second magnetic sensor are longitudinally spaced from one another and disposed outside of the pipe, detecting a first magnetic field originating from the tool magnet with the first magnetic sensor and the second magnetic sensor as the inline tool travels through the pipe and proximate each of the first magnetic sensor and the second magnetic sensor. The system identifies the first magnetic field as originating from the tool magnet and detects a passage of the inline tool in the pipe based on identifying the first magnetic field as originating from the tool magnet.

An automated system for performing multiple operations on one or more weld joints of a pipe string includes a main controller including a user interface; and a first robotic device that is in communication with the main controller and is configured to controllably travel inside of the pipe string and detect and uniquely identify each weld joint within the pipe string based on a vision-based weld detection module that is executed on a first onboard computer. The vision-based weld detection module provides at least one of: (1) images captured within the pipe string and (2) a live video feed within the pipe string that is displayed on the user interface for allowing a user to review and approve detection of the weld joint, whereupon once the user confirms the approval, the first robotic device automatically positions itself a predefined distance from the detected weld joint and automatically begins to perform at least one operation on the weld joint.