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The robot presented in this paper was designed to find damages to the external sheath of offshore pipelines. The pipeline section subject to inspection is known as “riser” and connects the pipe running on the seabed to the production facility at the platform or “floating production, storage and offloading” ship (FPSO). When compared to the current tools used to perform this work, the main advantage...
This paper shows a new process of handling the pulverized coal injection (PCI) into blast furnaces in an energy efficient way, aiming to decrease the specific consumption of electricity and nitrogen. The process improvement included two new phases in the main coal vessels sequence. The return on investment was high as the specific electricity and nitrogen consumptions were reduced, and the lifetime...
This work describes the development of an algorithm that uses ultrasound to evaluate the degree of corrosion in pipeline walls. The developed algorithm was implemented in a dedicated digital circuit that can be embedded in ultrasonic pigs for pipeline corrosion inspection. The algorithm is based on the mathematic model known as matched filter. It also incorporates a peak detection method for the localization...
This paper presents a nonlinear sensor fusion algorithm for inertial navigation designed to reconstruct trajectories of a Pipeline Inspection Gauge. Outputs of a strapdown inertial measurement unit are combined with non inertial measurements provided by an incremental odometer and a set of cartographic landmarks. The navigation system is modeled as a nonlinear dynamic system and the extended Kalman...
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