Robotic In-Line Pipeline Inspection & Online Storage Tank Floor Inspection

Presented by

Steven Trevino, Business Development Manager at Diakont

© 2016 Diakont

About Diakont

Diakont is a technical services company that makes specialized inspection solutions for challenging environments such as:

Gas and oil pipelines

Unpiggable pipeline inspection robotics

Oil, refined product, and water storage tanks

Online tank floor inspection robotics

Nuclear power plant and facility inspection

Visual testing (VT) cameras

Radiation tolerant inspection robotics

Robotic ILI Overview

Robotic ILI services for unpiggable pipelines Unpiggable mainline piping

Crossings

Compressor and pump stations

Tank farm, terminal, delivery, wharf and other facility lines

R-ILI rather than digs for ICDA/ECDA

HCAs

Modular NDE sensor suites Corrosion and wall thickness measurement (EMAT)

ID anomaly and dent/deformation measurement ID anomaly remote visual inspection (VT)

Fleets of robotic ILI tools for pipelines 8” to 54”

Requirements: Safety

At least two barriers of process safety are maintained:

• Nitrogen blanket used on uncleaned, non-purged liquid lines

• Oxygen concentration monitored both at downstream end and at tool

• Explosion-proof tools

Easy Tool Launch/Retrieval

• Lightweight tools can be easily transported and hand-loaded

• Flexible launch location

• Minimal operator resources

Removed Valve Removed Spool

Technology: Visual Survey

• Verify pipeline geometry and fittings, to construction drawings or ILI PFL

• Check for deviations or foreign material that could potentially impede tool travel

Obstruction Bottom Tee Branch Pipe

NDT Module: EMAT

• UT using Electromagnetic Acoustic Transducers (EMAT)

• Direct Beam (0°) detects and measures:

− Detect metal loss ≥ 0.040”

− Depth measurement accuracy ± 0.020”

− OD and ID corrosion internal and external

− Wall thickness

− Laminations

− Pitting

• Angle Beam (30°) detects and measures:

─ Cracks

─ Pitting

─ Axial slotting

Non-Contact EMAT Sensor

EMAT vs Ultrasonic Testing

• Operating principle similar to piezo UT, but with non-contact wave generation

• Transmitting and receiving ultrasonic shear waves (SH), with linear polarization

• Ultrasonic waves reflect off features and material changes

Technology: Ultrasonic Testing

Long Seam Weld

Anomaly

Anomaly

Internal Metal Loss

Anomaly

C-Scan example

Technology: Ultrasonic Testing

C-Scan example

ILI Demo

Technology: Laser Profilometry

• New Laser mapping

• High level of accuracy

• Maps surface of pipe by taking 3600 readings around the circumference (once every 0.1 degrees)

• Able to detect anomalies

• Highly accurate readings of dents and ovality

LPM Demo

In-Line Inspection of 8”-12” Pipelines

NDT Module

3 Tracks – All raise up and press on top of the pipe

Umbilical Connection

Camera

Camera

In-Line Inspection of 8”-12” Pipelines

• Remotely controlled tools add inspection versatility

• Reverse direction, change parameters, or stop and review features of interest

• Navigate virtually any challenging piping • Diameter changes, steep inclines or

verticals, 1.5D bends, unbarred tees • Confirm/generate documentation • Inspect rather than hydrotest (or blind

replace)

Empowered NDE

Online Tank Floor Inspection System:

API 653 tank floor inspection service for filled tanks

Class 1 Div. 1 certification

100% NDE coverage, including annular ring critical area

Motorized brush and water jets for sludge displacement

Real-time automated tank floor mapping

3D imaging sonar for obstacle avoidance and umbilical management

Anti-static and voltage equalization

Fail-safe redundancy and emergency retrieval features

Online Tank Floor Inspection

Utilizes a combination of MFL for detection and a 96-element UT array for sizing

Temporary hatch fitted in place of manway blind following roof launch

Cable seals to block VOC emissions

Environmental basin fastened around manway during robot recovery

System Deployment

Hatch seal with vapor lock for umbilical cable

1) Inspection tool

2) Deployment module

3) Operation vehicle (outside berm)

1

2

3

Parked outside berm wall, in non-hazardous area

Robot operator and Level II NDE technician operating tool in real time

Satellite link to Diakont facility with Level III NDE technician

Results provided to client with viewing software, along with complete report

NDE Control Center

Real-Time Inspection Results

Water Tank Inspection

Status:

NDE and inspection algorithms fully developed and successfully tested.

Robotic system is fully developed and has successfully completed first inspection on water tank. Services available for non-hazardous tanks

Key Dates:

April 2017 – Commercial availability for light product tanks (gasoline to #2 fuel oil)

July 2017 (tentative) – Commercial availability for tanks with all distillates and crude

Availability Schedule

Contact:

Steven Trevino

strevino@diakont.us.com

Questions?

Nuclear NDT Solutions

Rad-Tolerant Video Systems Robotics & Manipulators

• 1000+ systems deployed worldwide • Reactor Vessel inspections • Fuel and insert serial number ID

verification • Inspection of irradiated fuel

cladding • Rad-tolerant CCTV monitoring

systems

• Remote welding systems for reactor repairs

• Foreign object retrieval robotics • Laser profilometry of reactor

sealing surfaces • Custom reactor repairs