1. Inspection solutions for short pipelines in plant facilities
ROSEN Headquarters / RTRC Switzerland

2. Self-propelled Systems (e.g. RoHelix & RSS) Measurement Systems
Contents
Motivation
Self-propelled Systems (e.g. RoHelix & RSS)
Measurement Systems
Summary
RSS: Robotic Survey System

3. Motivation Reasons for Pipeline Incidents Corrosion
Material failures, e.g. cracks
Third party damage

4. Motivation Example of serious accidents in plant facilities:
Brookdale Manitoba Canada – April 14, 2002 USD 13.0 Mil
Humber Estury Killingholme UK – April 16, 2001 USD 82.4 Mil
Ghislenghien Belgium – July 30, 2004
etc
Source Internet:

5. Self-propelled Systems (e.g. RoHelix & RSS) Measurement Systems
Contents
Motivation
Self-propelled Systems (e.g. RoHelix & RSS)
Measurement Systems
Summary
RSS: Robotic Survey System

6. Requirements for Pipe Inspection in Plant Facilities
Requirements for Pipe Inspection in Plant Facilities
Tool Requirements:
1.5D bend passing back to back
Single entry, bi-directional (BiDi)
Multi diameter
Vertical inspection capability
Self-propelled driven
Wireless or Wire line operation
Geometry unit and camera system
Modular high res. inspection units
Step Back to the general Idea for the ROBOTIC Inspection or RSS.
ROSEN will provide tool-box solutions, which can be adapted to the inspection task. The equipment is furnished withy an autonomous drive motion system.
The control can be Remote, an intelligent navigation (in this case sensors and control algorithm would be required) or can provide an adaptive robotic inspection, which would require a more complicated control, allowing an evaluation and decision by the system in real-time) 6

7. RSS – Concept Rear tractor unit & battery unit Front tractor unit
Camera system
Geometric unit
Navigation
Sensor unit
different inspection technologies
collapsible to smaller diameter
Battery unit
one or more units to extend the inspection range
RSS: Robotic Survey System

8. Same suspension unit for different assembling options
RSS – Tool Box Concept
Same suspension unit for different assembling options

9. RSS 16” – Status Battery & Tractor unit fully tested
Tractor successful tested in pipe section with different bends (min 1.5D)
Camera unit installed

10. the Tractor & Inspection Unit
RoHelix – Concept
Performance
full coverage with 3 MFL sensor units  rotation in circumferential direction
light weight of the unit
easy adaptation to different sizes
self-propelled system and measurement unit in one body
Modular inspection modules
(MFL, EMAT, UT …)
( General Concept of ROBOTIC consist of the triangle control, sensor and carrier)
RoHelix version of
the Tractor & Inspection Unit 10

11. RoHelix 40” – Status RoHelix 40” tool wire line version
RoHelix 40” – Status
RoHelix 40” tool wire line version
RoHelix 40” successful tested
External power supply
Live pictures from front & rear camera
External GUI for communication
Winch can pull the tool in a case of emergency
GUI: Graphical User Interface
Step Back to the general Idea for the ROBOTIC Inspection or RSS.
ROSEN will provide tool-box solutions, which can be adapted to the inspection task. The equipment is furnished withy an autonomous drive motion system.
The control can be Remote, an intelligent navigation (in this case sensors and control algorithm would be required) or can provide an adaptive robotic inspection, which would require a more complicated control, allowing an evaluation and decision by the system in real-time) 11

12. Plant & Facility Inspections
Tank Bottom Inspection Tool
Based on MFL Technology
On-Site Data Evaluation.
Robotic Pipe Scanner
Based on MFL Technology
On-Site Data Evaluation.
Passes Supports automatically.
Automatic Coiled Tube Inspections
Based on MFL Technology
On-Site Data Evaluation.

13. Self-propelled Systems (e.g. RoHelix & RSS) Measurement Systems
Contents
Motivation
Self-propelled Systems (e.g. RoHelix & RSS)
Measurement Systems
Summary
RSS: Robotic Survey System

14. SIC – Shallow Internal Corrosion
SIC – Shallow Internal Corrosion
SIC Sensors are based on Eddy Current technology for metal loss inspection on inner pipe wall.
Internal 14 14

15. UT – Ultrasonic Testing
UT – Ultrasonic Testing
Stand-Off echo
Wall Thickness
Coupling medium required
Run direction
A-Scan of measurement
S = Stand-Off
B,b = Back Wall WT
Multiple Back-Wall Echos
WT derived from time-of-flight 15

16. EMAT – Electro Magnetic Acoustic Transducer
EMAT – Electro Magnetic Acoustic Transducer
Current Pulse ~ I
Transmission Signal N S
Sender
Ultrasonic Sound Wave
Receiver
Sender
Receiver
Transmission Signal
Coating Disbondment
Detection
Crack
Echo Signal
Crack Detection
Sensitive Area
Internal 16

17. MFL – Magnetic Flux Leakage
Magnetic flux lines within pipeline
Magnetic flux lines within pipeline with external feature
MFL data example

18. Summary RoHelix concept for bigger diameter (> 30”)
Summary
RoHelix concept for bigger diameter (> 30”)
Inspection capability
- Up to1000 Meter inspection range
- External power supply
Communication thru fiber optics with the tool
RSS concept for smaller sizes (8” – 30”)
Combination of different measurement technologies
Combination of different mechanical configurations
ROSEN actively working on other solutions …
Step Back to the general Idea for the ROBOTIC Inspection or RSS.
ROSEN will provide tool-box solutions, which can be adapted to the inspection task. The equipment is furnished withy an autonomous drive motion system.
The control can be Remote, an intelligent navigation (in this case sensors and control algorithm would be required) or can provide an adaptive robotic inspection, which would require a more complicated control, allowing an evaluation and decision by the system in real-time) 18

19. For further information, please visit our website:
The ROSEN Group
"Thank you for joining
this presentation."
For further information, please visit our website:

20. RSS --> Robotic Survey System Specification
RSS 16” – Specification
RSS --> Robotic Survey System Specification
Target
Unit
Diameter
inch
Passing
Length
< 6 m
Weight
< 200 kg
Inspection Range 2 km
Operating Hours 10 h
Velocity
0,15
m/s
Pressure 25
bar
Max Temperature 65 °C
Min Temperature
-10
Bend Radius
1,5 D
Max. ID Step Changes 5 mm
Unbarred Tee Size
full
Vertical inspection
yes
( General Concept of ROBOTIC consist of the triangle control, sensor and carrier)
HiRes Inspection Units
- Ultrasonic testing (UT)
- Shallow Internal Corrosion (SIC) 20

21. RoHelix 40” – Mechanical Specification
RoHelix 40” – Mechanical Specification
RoHelix 40" Specification
Target
Unit
Diameter 40
inch
Passing ID 38
Length 1 m
Weight (1)
250 kg
Inspection Range (2) km
Operating Hours (2) na h
Velocity
150
m/h
Pressure
waterproof
bar
Max Temperature 65 °C
Min Temperature
-20
Bend Radius
1.5 D
Max. ID Step Changes 5 mm
Un- / barred Tee No
Vertical inspection
Yes
depends on amount of battery packs
Umbilical (external power supply)
Step Back to the general Idea for the ROBOTIC Inspection or RSS.
ROSEN will provide tool-box solutions, which can be adapted to the inspection task. The equipment is furnished withy an autonomous drive motion system.
The control can be Remote, an intelligent navigation (in this case sensors and control algorithm would be required) or can provide an adaptive robotic inspection, which would require a more complicated control, allowing an evaluation and decision by the system in real-time) 21

22. SIC – Shallow Internal Corrosion
SIC –Sensor