scholarly journals Tracked Wall-Climbing Robot for Calibration of Large Vertical Metal Tanks

2019 ◽  
Vol 9 (13) ◽  
pp. 2671 ◽  
Author(s):  
Xianlei Chen ◽  
Yiping Wu ◽  
Huadong Hao ◽  
Haolei Shi ◽  
Haocai Huang
Keyword(s):  
Crude Oil ◽  
Field Tests ◽  
Reference Line ◽  
Climbing Robot ◽  
Time Saving ◽  
Line Method ◽  
Optical Reference ◽  
Magnetic Adhesion

Large vertical metal tanks are the primary vessels for the storage and turnover of crude oil, and the accuracy of their capacity calibrations are of great significance. The optical reference line method (ORLM) is used for capacity calibration and is time-consuming, labor-intensive, and hazardous, because of the elevated work. This paper aims to present a robot to overcome the problems above. We propose a tracked wall-climbing robot (TWCR) with permanent magnetic adhesion tracks, a collapsible scale, and an optional shovel-like rust remover that enable the TWCR to move stably on tank surfaces and perform the ORLM. Two sets of field tests (internal ORLM and external ORLM) indicate that capacity calibration by the TWCR is time saving, convenient, and safe, in addition to being accurate and reliable.

Oil in and under Ice Detection using Nuclear Magnetic Resonance

2017 ◽  
Vol 2017 (1) ◽  
pp. 1877-1889
Author(s):  
David Palandro ◽  
Tim Nedwed ◽  
Steve Altobelli ◽  
Eiichi Fukushima ◽  
Mark Conradi ◽  
...  
Keyword(s):  
Nuclear Magnetic Resonance ◽  
Magnetic Resonance ◽  
Crude Oil ◽  
Signal To Noise Ratio ◽  
Field Tests ◽  
Thick Layer ◽  
Research Area ◽  
Active Research ◽  
Ice Detection ◽  
Nuclear Magnetic

ABSTRACT (2017-387) The application of existing remote sensing sensors and technologies for the detection of oil in and under ice is an ongoing and active research area. Currently, the suite of sensors that have and are being tested include acoustic, radar, optical and fluorosensors. Another technology being tested is Nuclear Magnetic Resonance (NMR) in the earth’s magnetic field. NMR to detect oil in and under ice has undergone extensive testing since 2006 and results to date have been promising. Field tests performed using a prototype 1 × 1 m flat transmitting/receiving antenna coil have differentiated seawater and Crisco® oil, a crude-oil surrogate. Research has been focused on scaling-up the 1 m2 prototype to increase the signal-to-noise ratio (SNR) and allow the sensor to detect oil beneath ice that is up to 1 m thick. The coil currently being tested has a diameter of 6 m in a modified figure-8 pattern. This coil was being tested at Cold Regions Research and Engineering Laboratory (CRREL) in Hanover, New Hampshire, USA. The final phase of feasibility testing was completed in late 2016 with the use of a ruggedized NMR system flown under a helicopter over a pond. The ruggedized NMR system was able to detect a 1.0 cm thick layer of a crude oil surrogate under ~ 110 cm of simulated ice.

The Design of Permanent Magnetic Adhesion System for Wall-Climbing Robot

2013 ◽  
Vol 300-301 ◽  
pp. 531-536 ◽  
Author(s):  
Yong Chen ◽  
Chang Ming Wang
Keyword(s):  
Dynamic Force ◽  
Climbing Robot ◽  
Adhesion Forces ◽  
Robot System ◽  
Halbach Array ◽  
Adhesion System ◽  
Design Requirements ◽  
Parameter Approximation ◽  
Magnetic Adhesion ◽  
Good Agreement

In order to satisfy the requirements on payload ability and maneuverability of the wall-climbing robot, a novel permanent magnetic adhesion system based on the linear Halbach array is designed. The permanent magnetic adhesion system and the wheel locomotion mechanism are employed in the robot system. By static and dynamic force analysis of the robot, design requirements about adhesion system are derived. The optimal dimensions of the mechanism are obtained using numerical modeling and parameter approximation method of first order partial derivative of dependent variables. Finally, the adhesion mechanism has been constructed and the maximum and minimum adhesion forces are measured and compared with numerical simulation and a good agreement is found.

Laboratory and Field Tests on Titanium for Oil Field Pump and Valve Parts

CORROSION ◽  
1961 ◽  
Vol 17 (11) ◽  
pp. 16-30
Author(s):  
F. W. Jessen ◽  
Ricardo J. Molina
Keyword(s):  
Crude Oil ◽  
Laboratory Tests ◽  
Field Tests ◽  
Oil Wells ◽  
Oil Field ◽  
Lower Price ◽  
Oil Well ◽  
Competitive Disadvantage ◽  
Sour Crude ◽  
Gas Lift

Abstract Laboratory and field tests are reported for titanium parts for gas lift valves and down-hole oil well pumps. While titanium performed well in the laboratory tests using aerated fluids, and did well in field tests of gas lift wells, similar trials in wells pumping sour crude oil well showed titanium to be inferior to normally used materials. Authors conclude titanium is suitable for use in gas lift valves and could be competitive to presently used materials at a lower price. They conclude titanium is not suitable for use in oil well pumps, but might perform better if hardened. It also is at a competitive disadvantage to commonly used materials costwise. While titanium is cathodic to materials commonly used in oil wells, no marked corrosion was attributed to this property after exposure of coupon sets in a producing well. Titanium was found resistant to abrasion by sand-laden aerated oil well fluids in laboratory tests. 6.3.15, 8.4.3

scholarly journals Permanent Magnetic System Design for the Wall-Climbing Robot

2006 ◽  
Vol 3 (3) ◽  
pp. 151-159 ◽  
Author(s):  
W. Shen ◽  
J. Gu ◽  
Y. Shen
Keyword(s):  
Magnetic System ◽  
Dynamic Force ◽  
Climbing Robot ◽  
Force Analysis ◽  
Climbing Robots ◽  
Adhesion Mechanism ◽  
Magnetic Systems ◽  
Different Types ◽  
Design Requirements ◽  
Magnetic Adhesion

This paper presents the design and analysis of the permanent magnetic system for a wall-climbing robot with permanent magnetic tracks. Based on the behaviour of gecko lizards, the architecture of the robot was designed and built, including the structure of the adhesion mechanism, the mechanical architecture and the anti-toppling mechanism. The permanent magnetic adhesion mechanism and the tracked locomotion mechanism were employed in this kind of wall-climbing robot. Through static and dynamic force analysis of the robot under different situations, design requirements for the adhesion mechanism were derived. Two different types of structures were put forward for the permanent magnetic units and are further discussed in this paper. These two types of structures are also analysed in detail. In addition, a finite-element method was used to verify the results of magnetic units. Finally, two wall-climbing robots, equipped with different magnetic systems described previously, are explained and their applications are discussed in this paper.

scholarly journals Development of Augmented Reality System for Productivity Enhancement in Offshore Plant Construction

2021 ◽  
Vol 9 (2) ◽  
pp. 209
Author(s):  
Sungin Choi ◽  
Jung-Seo Park
Keyword(s):  
Augmented Reality ◽  
Field Tests ◽  
Feature Points ◽  
System Construction ◽  
Time Saving ◽  
Augmented Reality System ◽  
Natural Feature ◽  
Novel Approach ◽  
Saving Effect ◽  
Offshore Plants

As the scale of offshore plants has gradually increased, the amount of management points has significantly increased. Therefore, there are needs for innovative process control, quality management, and an installation support system to improve productivity and efficiency for timely construction. In this paper, we introduce a novel approach to deal with these issues using augmented reality (AR) technology. The core of successful AR implementation is up to scene matching through accurate pose (position and alignment) estimation using an AR camera. To achieve this, this paper first introduces an accurate marker registration technique that can be used in huge structures. In order to improve the precision of marker registration, we propose a method that utilizes the natural feature points and the marker corner points in the optimization step simultaneously. Subsequently, a method of precisely generating AR scenes by utilizing these registered markers is described. Finally, to validate the proposed method, the best practices and its effects are introduced. Based on the proposed AR system, construction workers are now able to quickly navigate to onboard destinations by themselves. In addition, they are able to intuitively install and inspect outfitting parts without paper drawings. Through field tests and surveys, we confirm that AR-based inspection has a significant time-saving effect compared to conventional drawing-based inspection.

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