Modular components form a robotic assembly. the mod-components include modules and tools, each have a set of functions and capabilities, are rapidly configured-reconfigured to function cooperatively, creating a configurable robotic assemblage. Each mod-component incorporates a standardized connector mating with any other standardized connector in an interchangeable manner providing mechanical stability, power, and signals therebetween. Each mod-component incorporates a processor, data storage for mod-component identity, status, and programmable functionality, and for responding to commands. Storage is reprogrammed while the robot is operational, altering both commands and responses. After interconnection, inter-module power and communication are established and each modular component identifies itself and its functionality, thereby providing plug and play configuration.

A multidirectional wheel for traversing a surface is provided that includes a magnet and a plurality of rollers disposed around an outer periphery of each of the hubs of the wheels. The rollers are mounted for rotation in a second axial direction that is perpendicular to a first axial direction of the wheel. The rollers are supported by a plurality of magnetically-inducible brackets attached to the hub. The brackets are optimally sized and shaped to reduce the space between the magnetized materials of the wheel and the surface upon which the wheel travels.

A flushing system includes a recirculating unit having a pump, filter, and flow manifold. The manifold includes a first conduit delivering water to the filter utilizing the pump. A first valve divides the first conduit into first and second portions. A second conduit receives water from the filter. A second valve divides the second conduit into first and second portions. A first reverse conduit having a third valve couples the first portion of the first conduit with the second portion of the second conduit. A second reverse conduit having a fourth valve couples the second portion of the first conduit with the first portion of the second conduit. When the first and second valves are open and third and fourth valves are closed, water flows in a forward direction. When the first and second valves are closed and third and fourth valves are open, water flows in a reverse direction.

One embodiment provides an apparatus, including: a pipe inspection robot that traverses a pipe; a fetter comprising a water pump; and an intake hose that couples the pump of the jetter to a local water source proximate to the pipe inspection robot. Other aspects are described and claimed.

One embodiment provides an apparatus, including: a pipe inspection robot that traverses a pipe; a fetter comprising a water pump; and an intake hose that couples the pump of the jetter to a local water source proximate to the pipe inspection robot. Other aspects are described and claimed.

A method of prepping a cylindrical inner surface of a bore using a high-frequency forced pulsed waterjet apparatus entails generating a pressurized waterjet using a high-pressure water pump, generating a high-frequency signal using a high-frequency signal generator, applying the high-frequency signal to a transducer having a microtip to cause the microtip to vibrate to thereby generate the high-frequency forced pulsed waterjet, and rotating the rotatable ultrasonic nozzle inside the bore to prep the inner cylindrical surface of the bore using the high-frequency forced pulsed waterjets exiting from the angled exit orifices of the rotatable ultrasonic nozzle.

A cleaning device for cleaning pipes includes a body having a longitudinal axis and at least three folding arms each having a rear and forward ends. The rear end of each folding arm is pivotably connected to the body so as to pivot about a respective pivot axis. The forward end of each folding arm is arranged to be folded outwards in a direction away from the longitudinal axis of the body under the influence of a centrifugal force generated by rotation of the body about the longitudinal axis. A rotatable means comprising cutter devices arranged to rotate about an axis of rotation is arranged at the forward end of each folding arm. Each rotatable means is arranged to project beyond the forward end of the folding arm and to mill both in a direction parallel to, and in a direction perpendicular to, the longitudinal axis of the body.

A method is provided involving a gas turbine engine system. The method includes configuring a plug within a fluid passage in the gas turbine engine system, where the plug is between first and second portions of the fluid passage. Material is removed from an interior surface of the fluid passage in the first portion of the fluid passage to provide removed material, where the plug substantially prevents the removed material from entering the second portion of the fluid passage. The removed material is directed out of the fluid passage. The plug is removed from the fluid passage.

The present invention relates to a method and apparatus for cleaning an oil and gas well riser section or assembly on location offshore that includes a larger diameter central pipe and a plurality of smaller diameter pipes that are spaced radially away from the central larger diameter pipe. Even more particularly, the present invention relates to an improved method and apparatus for cleaning oil and gas well riser sections wherein a specially configured cap or pair of caps are fitted to the ends of the riser which enable pressure washing cleaning tools (or a camera) to be inserted into and through a selected one of the pipes including either a smaller diameter of the pipes or the central larger diameter pipe and wherein the cap continuously collects spent cleaning fluid and debris, allowing the cleaning process to be done on location without transporting the riser section back onshore. In one embodiment, a specially configured back out preventer can be used to prevent inadvertent backwards travel of the cleaning tool during cleaning.

The invention relates to a cleaning device for the dry cleaning of a tunnel, comprising a feeding device for feeding a flow of air to a surface being cleaned, wherein the feeding device has an exit opening, through which the flow of air emerges from the feeding device, and a removal device comprising at least one removal pipe with a free end with an opening for suctioning away direct or trash from the surface with the opening of the free end in a first direction. The feeding device is arranged such that the flow of air from the exit opening emerges from the feeding device in a second direction toward the opening of the free end of the removal pipe and impinges on the surface. The first direction is oriented at an angle between 45 and 80 to the second direction.