A method of retrieving a mobile platform from a tank at least partially filled with a non-conductive, energetic substance includes configuring the mobile platform to include at least a retrieval system including a buoyant body, an electrically conductive member, and a tether. The tether electrically isolates the buoyant body from the enclosure. The method further includes the steps of releasing the buoyant body to convey the tether toward a surface of the non-conductive, liquid energetic substance; conveying an electrically conductive cable to the electrically conductive member using the tether; electrically connecting a voltage neutralizing end of the electrically conductive cable to a voltage differential neutralizing body in a spark inhibiting ambient condition; electrically connecting a mobile platform end of the electrically conductive cable to the electrically conductive member of the mobile platform while the electrically conductive member is below the surface of the non-conductive, liquid energetic substance.

Methods of detecting pipeline weakening are described herein. The methods include creating a pressure wave in a fluid flowing in a pipeline using an input transducer located at a first position along the pipeline; measuring the pressure wave using an output transducer positioned at a second position along the pipeline that is spaced from the first position, and generating an output signal based on the pressure wave; analyzing the output signal to determine a stiffness of a sidewall of the pipeline positioned between the input transducer and output transducer; and determining if the sidewall includes a defect based on the stiffness of the sidewall, including analyzing a frequency response of the output signal to detect the defect.

A device for inspecting a pipe, includes a scraper carriage, substantially cylindrical about an axis coinciding with an axis of the pipe and which is inserted into the pipe and propelled by a liquid transported by the pipe, and a measurer carried by the carriage. The measurer includes a first crown, carrying a first set of ultrasound transducers, arranged on a first circle centered on the axis and of diameter substantially equal to an inside diameter of the pipe, alternating a transmitting ultrasound transducer and a receiving ultrasound transducer, arranged so that a wave transmitted by a transmitting ultrasound transducer is reflected, by a wall of the pipe facing it, towards a counterpart receiving ultrasound transducer.

A device and method used to log images of target objects with ultrasound transducers. The object may be a fluid-carrying tubular, such as a pipeline. The transducers operate as phased arrays, insonifying areas of the target object with a plane wave and then storing the reflected signals. The signals are sampled and summed for each pixel, by considering various paths taken by the wave from transmitting to receiving via that pixel. Refraction and reflection from surfaces are used to determine segments of the paths.

Systems and methods are provided for obtaining a flexural-attenuation measurement for cement evaluation that may be effective even for wells with relatively thick casings. A method includes emitting an acoustic signal at a casing in a well that excites the casing into generating an acoustic response signal containing acoustic waves, such as Lamb waves. The Lamb waves include flexural waves and extensional waves. The casing may be relatively large, having a thickness of at least 16 mm. The acoustic response signal may be detected and filtered to reduce a relative contribution of the extensional waves. This may correspondingly increase a relative contribution of the flexural waves. The filtered acoustic response signal may be used as a flexural-attenuation measurement for cement evaluation.

An inspection apparatus inspects a pressure vessel using laser ultrasound. The apparatus includes an oscillation device that oscillates an excitation laser for exciting the pressure vessel and a conduit to guide the excitation laser oscillated from the oscillation device to inside the pressure vessel. The conduit is inserted into the pressure vessel with one conduit end located inside the pressure vessel and an opposite end located outside the pressure vessel. The apparatus includes a reflector at one conduit end inside the pressure vessel to reflect the excitation laser guided by the conduit and a detector that detects ultrasonic waves generated in the pressure vessel by the excitation laser reflected by the reflector by oscillating a receiving laser from outside of the pressure vessel. At least the conduit, reflector, or detector moves to correct an optical path of the excitation laser or the receiving laser.

An ultrasonic testing device performs flaw detection on a stringer having an inner circumferential surface of a substantially rectangular shape closed in a transverse section. The ultrasonic testing device includes: a shoe configured to be in contact with a corner of the inner circumferential surface of the stringer; an ultrasonic array configured to be fixed to the shoe to define, together with the shoe and the corner a medium space in which a contact medium used for propagating an ultrasonic wave is enclosed, and configured to transmit an ultrasonic wave to the corner and receive a reflected ultrasonic wave; and a forcing unit configured to be in contact with a corner and push the shoe against the corner.

A crawler maps a structure by moving at least longitudinally or circumferentially on the structure. A probe scans the structure to generate scan data corresponding to the structure. A distance measuring unit measures a distance of the probe from a landmark extending circumferentially around the structure. An orientation sensor determines an orientation of the crawler on the structure. A processor generates a map of the scan data of the structure indexed by the distance and orientation.

An aquatic in-pipe inspection robot is provided and comprises: means for determining the position of the robot within a pipe and means for adjusting the position of the robot within the pipe, whereby contact with the pipe wall can be avoided; and sensor means for inspecting a pipe.

The present application provides a pipeline structural fault diagnosis apparatus and a diagnosis method. The pipeline structural fault diagnosis apparatus includes a signal generating apparatus configured to generate an acoustic wave signal by knocking a pipeline; a signal collecting apparatus configured to collect the acoustic wave signal; a signal storage apparatus configured to store the acoustic wave signal for a signal processing and analyzing apparatus to analyze and determine a fault type, a fault degree, and a fault position. The acoustic wave signal after being generated by the signal generating apparatus is collected by the signal collecting apparatus and stored in the signal storage apparatus. The signal processing and analyzing apparatus extracts the acoustic wave signal in the signal storage apparatus, and performs processing and analysis to determine the fault type, the fault degree, and the fault position of the pipeline structure.