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Guided Wave Testing (GWT) is a relatively new development in non-destructive testing. Conventional Ultrasonic Testing (UT) methods are operated at high frequencies (MHz) and are capable of detecting very small (down to micrometre-scale) flaws within a range of millimetres from a transducer. GWT, however, is carried out at lower frequencies (kHz) and is capable of highlighting the position of volumetric structural detail and discontinuities, such as gross corrosion at a minimum of 9% of the cross-sectional area, tens of metres from a test location. Conventional ultrasonic testing relies on the transmission of bulk waves whereas GWT employs so-called ultrasonic guided waves (UGW). To simplify UGW inspections, several tests are conducted sequentially at a range of different excitation frequencies. The frequency bandwidth of each of these tests needs to be controlled to avoid complexities caused by the frequency dependent nature of the propagation of guided waves. This gives rise to the current GWT inspection procedure, where a number of different narrowband tests are conducted at several distinct frequencies. It is also found that different test circumstances (such as pipe coating or defect type) are inspected more easily with certain excitation frequencies than with others - and the optimum frequency can not always be predicted ahead of time. Thus, where time allows it is often beneficial to carry out a frequency sweep, whereby a large range of excitation frequencies are incrementally generated - for example, from 20 to 80kHz in 1kHz steps. This research proposes a novel approach to the existing pipeline inspection procedure by utilising the information contained within a broadband response. The overarching proposition given by this research is that the current collection procedure be entirely rewritten. This thesis will present ideas related to every area of the inspection procedure beginning with the tuning of excitation signals and concluding with recommendations on how tooling and excitation configuration can be modified to further optimise the technique for broadband excitation.

abstract: This thesis presents the design and testing of a soft robotic device for water utility pipeline inspection. The preliminary findings of this new approach to conventional methods of pipe inspection demonstrate that a soft inflatable robot can successfully traverse the interior space of a range of diameter pipes using pneumatic and without the need to adjust rigid, mechanical components. The robot utilizes inflatable soft actuators with an adjustable radius which, when pressurized, can provide a radial force, effectively anchoring the device in place. Additional soft inflatable actuators translate forces along the center axis of the device which creates forward locomotion when used in conjunction with the radial actuation. Furthermore, a bio-inspired control algorithm for locomotion allows the robot to maneuver through a pipe by mimicking the peristaltic gait of an inchworm. This thesis provides an examination and evaluation of the structure and behavior of the inflatable actuators through computational modeling of the material and design, as well as the experimental data of the forces and displacements generated by the actuators. The theoretical results are contrasted with/against experimental data utilizing a physical prototype of the soft robot. The design is anticipated to enable compliant robots to conform to the space offered to them and overcome occlusions from accumulated solids found in pipes. The intent of the device is to be used for inspecting existing pipelines owned and operated by Salt River Project, a Phoenix-area water and electricity utility provider. / Dissertation/Thesis / Masters Thesis Engineering 2019

The pipeline industry has conducted a vast amount of research on the subject of mechanical damage. Mechanical damage makes up a large portion of the total amount of pipeline failures that occur each year. The current methods rely on engineering judgment and experience rather than scientific theory. The method for the assessment of mechanical damage introduced in this study uses a material property called critical strain to predict the onset of cracking within the pipe wall. The critical strain is compared to the strain within a dent using a ductile failure damage indicator (DFDI). To investigate the use of the DFDI to indicate the onset of cracking within a dent, the study attempted to accomplish three tasks. The first was to investigate the use of various techniques to locate the critical strain from the stress-strain curve. Five samples taken from the pipe material was used to generate both engineering and true stress-strain curves. A sensitivity analysis was conducted to show the effects of different variables on the critical strain value. The DFDI compares the critical strain value to the calculated strain at the deepest depth location within a dent. The strain calculations use the curvature of the dent and thus require a dent profile. A high resolution laser scanner was used to extract dent profiles from a pipe. The second task of the study was to investigate the reliability of the laser scanner equipment used for this study. The results from the investigation showed that the laser scanner could be used to scan the inside of the pipe despite its design for external scanning. The results also showed that the scans should be 1 mm in length along the axis of the pipe at a resolution of 0.5 mm and 360 degrees around the pipe. The final task was to conduct the denting test. The test used a spherical indenter to dent the pipe at increments of 3% of the outside diameter. The results from the test showed that a visible crack did not form on the inside pipe surface as expected from the DFDI method. This does not mean a crack did not form. During the denting test distinct popping sounds were observed possibly indicating cracks forming within the pipe wall.

[pt] Neste trabalho, o Método dos Elementos Finitos é aplicado na análise eletromagnética de estruturas coaxiais circularmente simétricas excitadas pelo modo TEM. A representação do campo magnético é feita através da associação de funções base polinomiais de diferentes ordens a grades que possuem elementos triangulares ou retangulares. Este trabalho apresenta um estudo comparativo entre as diversas possibilidades de associações função base e elemento, considerando o tempo de processamento computacional e a precisão exigida na simulação. A técnica é aplicada na análise de dispositivos de acoplamento entre diferentes guias coaxiais usualmente empregados em antenas de banda larga. Para validar os resultados do algoritmo, os resultados obtidos nas diversas etapas são comparados com aqueles obtidos via Método de Casamento de Modos. Além disto, a técnica é empregada para avaliar a possibilidade de utilização de dispositivos de inspeção de tubulação que utiliza uma onda TEM de alta freqüência. A onda TEM é excitada no interior da tubulação de forma que variações em suas paredes, nas condições de contorno dos campos, produzam alterações nas características de propagação, que serão detectadas e associadas às anomalias de suas paredes internas. Estes dispositivos de inspeção são empregados na indústria de petróleo e gás. / [en] In this work, the Method of Finite Element is applied in the electromagnetic analysis of circularly symmetrical coaxial structures excited by TEM mode. The representation of the magnetic field is made through the association of polynomial basis functions of different orders associated in the grids made of triangular or rectangular elements. This work presents a comparative study between different possibilities of association between basis functions and element, considering the computational time and the accuracy yielded by the simulation. The technique is applied in the electromagnetic analysis of coupling devices used to connect different coaxial waveguides operating at microwave frequencies. To validate the algorithm developed in this work, the MEF results are compared with those obtained by employing Method of Mode Matching (MMM). Moreover, the technique is also employed to evaluate the possibility of use of TEM wave highfrequency for inspection of metallic pipelines. The TEM wave is excited inside cylindrical metallic pipes and anomalies in the metallic walls are associated to the changes in the propagation characteristics. These inspection devices are intensively used in the industry of oil and gas.

[pt] Este trabalho apresenta o desenvolvimento de um sensor inovador combinando três técnicas de inspeção utilizadas nos Pigs Instrumentados Geométrico e Magnético, para a detecção e caracterização de defeitos na geometria em tubulações de aço. O sensor GMD, Geométrico Magnético Discriminador, faz a leitura magnética do duto através da técnica de campo de fuga magnético, com a adição da leitura geométrica além da discriminação de defeitos internos de externos. A combinação dessas três tecnologias habilita a construção de uma ferramenta de inspeção de alta resolução compacta e capaz de identificar e quantificar, com apenas uma coroa de sensores, amassamentos, perdas de espessura e além da sua combinação. Este estudo se apresenta em um momento oportuno, já que a Integração de dados é o ponto fundamental da recente norma de gerenciamento de ricos em dutos, API 1160, na qual combinando os resultados das inspeções de geometria e corrosão, tem-se uma melhor avaliação de risco. Testes foram realizados utilizando um PIG Plano com corpos de prova contendo defeitos variados. Os resultados verificaram que o sensor GMD quantifica e discrimina amassamentos com perda de espessura. Aspectos técnicos do desenvolvimento como os detalhes construtivos do sensor, testes de avaliação a resultados de laboratório são apresentados. / [en] This thesis presents the development of an innovative sensor head for detection and characterization of geometric defects in steel pipes that combines three inspection techniques usually employed separately in Caliper and Magnetic Flux Leakage (MFL) PIGs. The novel Geometric Magnetic Discriminator (GMD) sensor performs high- resolution magnetic pipeline readings using MFL with the addition of internal pipe geometry evaluations and discrimination between internal and external defects. The combination of these technologies in a single sensor facilitates characterization of dents and corrosions, while at the same time optimizing the PIG set-up. According to the repair criteria in the standard API1160, combined defects such as a dent with metal loss, which in the past could only be detected through combined data of two different runs (MFL+ Caliper), must be repaired immediately. The GMD sensor was tested in a linear test rig, known as Flat Pig, and data were taken from different defect sets. Evaluation tests demonstrated that the GMD sensor sizes and discriminates a dent with metal loss. Technical aspects of the development, e.g.: the construction details of the sensor, evaluation tests and laboratory results are presented.

Made available in DSpace on 2014-12-17T14:57:53Z (GMT). No. of bitstreams: 1 JoaoMS.pdf: 1515806 bytes, checksum: fd1b665e0003e03823a56f9ce0f2eaaf (MD5) Previous issue date: 2009-09-11 / Petr?leo Brasileiro SA - PETROBRAS / The modern technology of materials and structural integrity of pipelines requests the use of inspection tools named inspection pigs to detect, localize and measure the length, width and depth dimensions of the thickness losses of walls of buried and underwater pipelines in service. These tools run them internally, performing and recording measurements, with performance that varies according to the pig s technology. It has been developed recently an instrumented pig technology, called feller pig. This work aims to indicate factors that influence the feller pig technology performance in the detection and in the accuracy of measurement of the length, width and depth dimensions of the thickness losses on the internal surface of an oil pipeline wall under normal conditions of oil pipe inspection with pig. In this work, is made a collection of factors and an analyses of the technology based on the available literature, as well as an experiment to observe the technology and the factors operating. In the experiment, a feeler pig is used in a pipeline built in carbon steel and in operation that flows petroleum, in witch are observed areas with internal thickness losses occurred naturally. Some of these areas and their dimensions taken by automated ultra-sound scanner are compared with the ones indicated by the feller pig. Based on the data collection, on the analysis and on the experiment, the influence of factors object of this research is discussed. It is concluded that, among these, there are factors related to pipe fabrication tolerances, to wear of pig components, to internal adhesive wear of pipeline, to other pipeline damages and to technology characteristics. Finally, actions are suggested to know better, improve and define the applicability of this technology / A moderna tecnologia de materiais e de integridade estrutural de dutos pressup?e o uso de ferramentas de inspe??o denominadas pigs de inspe??o para detectar, localizar e medir comprimento, largura e profundidade das perdas de espessura de parede de dutos em servi?o enterrados ou submersos. Essas ferramentas os percorrem internamente, realizando e registrando medi??es, com desempenho que varia de acordo com a tecnologia do pig. Recentemente foi desenvolvida uma tecnologia de pig de inspe??o, chamada de pig de perfilagem. O objetivo desta pesquisa ? indicar fatores que influenciam o desempenho da tecnologia de pig de perfilagem na detec??o e na exatid?o de medi??o de comprimento, largura e profundidade de perdas de espessura na superf?cie interna da parede de um oleoduto, em condi??es normais de inspe??o de oleodutos com pig. Neste trabalho, faz-se um levantamento de tais fatores e uma an?lise desta tecnologia, baseados na literatura dispon?vel, bem como um experimento para observar a tecnologia e fatores operando. No experimento, utiliza-se um pig de perfilagem em um duto constru?do em a?o carbono e em opera??o escoando petr?leo, no qual se constata ?reas com perdas de espessura internas ocorridas naturalmente. Algumas destas ?reas e suas dimens?es, medidas por varredura de ultra-som automatizado, s?o comparadas com as indicadas pelo pig de perfilagem. Com base no levantamento, na an?lise e no experimento, discute-se a influ?ncia de fatores objetos desta pesquisa. Conclui-se que, entre estes, ocorrem fatores relacionados ? toler?ncia de fabrica??o dos tubos, ao desgaste de componentes do pig, ao desgaste adesivo interno ao duto, a outros danos no duto e a caracter?sticas da tecnologia. Por fim, s?o sugeridas a??es para conhecer melhor, aprimorar e delimitar a aplicabilidade desta tecnologia

Made available in DSpace on 2014-12-17T14:58:20Z (GMT). No. of bitstreams: 1 ChristianoJMC_DISSERT.pdf: 5726380 bytes, checksum: 57b5c167cfa539dfe52a09cb70e8a00e (MD5) Previous issue date: 2013-01-14 / Universidade Federal do Rio Grande do Norte / To enhance the maintenance practices, Oil and Gas Pipelines are inspected from the inside by automated systems called PIG (Pipeline Inspection Gauge). The inspection and mapping of defects, as dents and holes, in the internal wall of these pipelines are increasingly put into service toward an overall Structural Integrity Policy. The residual life of these structures must be determined such that minimize its probability of failure. For this reason, the investigation on the detection limits of some basic topological features constituted by peaks or valleys disposed along a smooth surface is of great value for determining the sensitivity of the measurements of defects from some combinations of circumferential, axial and radial extent. In this investigation, it was analyzed an inductive profilometric sensor to scan three races, radius r1, r2, r3, in a circular surface of low carbon steel, equipped with eight consecutive defects simulated by bulges and holes by orbit, equally spaced at p/4 rad. A test rig and a methodology for testing in laboratory were developed to evaluate the sensor response and identify their dead zones and jumps due to fluctuations as a function of topological features and scanning velocity, four speeds different. The results are presented, analyzed and suggestions are made toward a new conception of sensor topologies, more sensible to detect these type of damage morphologies / Para melhorar as pr?ticas de manuten??o, oleodutos e gasodutos s?o inspecionados internamente por sistemas automatizados denominados PIG (Pipeline Inspection Gauge). Uma inspe??o e mapeamento de danos, como ressaltos e rebaixos, na parede interna desses dutos s?o cada vez mais inseridos em pr?tica para uma pol?tica de Integridade Estrutural. A vida residual dessas estruturas deve ser determinada a fim de minimizar as probabilidades de falha. Por esta raz?o, a investiga??o no limite de detec??o de algumas caracter?sticas topol?gicas b?sicas constitu?das por picos e vales dispostas ao longo de uma superf?cie lisa ? de grande valia para a determina??o da sensibilidade nas medi??es de defeitos de alguns n?veis de combina??es circunferencial, axial e radial. Nesta pesquisa, foi analisado um sensor perfilom?trico indutivo para inspecionar tr?s ?rbitas, de raios r1, r2 e r3 numa superf?cie circular de a?o baixo carbono, equipado com oito danos consecutivos simulados por rebaixos e ressaltos, por ?rbita, uniformemente espa?adas de p/4 rad. Uma bancada de ensaio e uma metodologia para teste em laborat?rio foram desenvolvidos para avaliar a resposta do sensor e identificar suas zonas cegas devido ? flutua??o dos saltos como uma fun??o das caracter?sticas topol?gicas e inspe??o de velocidades quatro velocidades distintas. Os resultados s?o apresentados, analisados e sugest?es s?o feitas na dire??o de uma nova concep??o de topologias de sensores, mais sens?veis para detectar esses tipos de morfologias de danos

Made available in DSpace on 2014-12-17T14:58:23Z (GMT). No. of bitstreams: 1 JarbasSM_DISSERT.pdf: 2192547 bytes, checksum: 650bc570adcbb8b8a6b8e1427b27389d (MD5) Previous issue date: 2013-08-05 / Ensure the integrity of the pipeline network is an extremely important factor in the oil and gas industry. The engineering of pipelines uses sophisticated robotic inspection tools in-line known as instrumented pigs. Several relevant factors difficult the inspection of pipelines, especially in offshore field which uses pipelines with multi-diameters, radii of curvature accentuated, wall thickness of the pipe above the conventional, multi-phase flow and so on. Within this context, appeared a new instrumented Pig, called Feeler PIG, for detection and sizing of thickness loss in pipelines with internal damage. This tool was developed to overcome several limitations that other conventional instrumented pigs have during the inspection. Several factors influence the measurement errors of the pig affecting the reliability of the results. This work shows different operating conditions and provides a test rig for feeler sensors of an inspection pig under different dynamic loads. The results of measurements of the damage type of shoulder and holes in a cyclic flat surface are evaluated, as well as a mathematical model for the sensor response and their errors from the actual behavior / Garantir a integridade da rede de dutos ? um fator de extrema import?ncia na ind?stria de petr?leo e g?s. A engenharia de dutos utiliza sofisticadas ferramentas robotizadas de inspe??o in-line (durante opera??o) conhecidas como pigs instrumentados. V?rios fatores relevantes dificultam a inspe??o de dutos, especialmente em campos offshore onde se utiliza dutos com multi-di?metros, raios de curvatura acentuados, espessura de parede do duto acima do convencional, escoamento multif?sico e etc. Dentro deste contexto, surgiu um novo Pig instrumentado, chamado de Pig perfilom?trico, para detec??o e dimensionamento de perda de espessura em dutos com danos interno. Esta ferramenta foi desenvolvida para superar diversas limita??es que outros pigs instrumentados convencionais t?m durante a inspe??o. Diversos fatores influenciam nos erros de medi??o do pig afetando a confiabilidade dos resultados obtidos. O presente trabalho aponta diferentes condi??es de opera??o e apresenta uma bancada para ensaiar sensores perfilometricos de pig de inspe??o sob diferentes solicita??es din?micas. Os resultados das medi??es dos danos do tipo ressaltos e rebaixos em uma superf?cie plana c?clica s?o avaliados, assim como, um modelo matem?tico para a resposta do sensor e seus erros em rela??o ao comportamento real

[pt] Este trabalho apresenta a análise do sistema de medição utilizado pelo pig instrumentado tipo palito usado para detecção e dimensionamento de perda de espessura em dutos provocada por corrosão interna. A aplicação de testes experimentais de vibração, perfilagem geométrica e análise por elementos finitos têm objetivo de avaliar o sistema de medição dos sensores palito do Pig Palito, assim como mostrar os resultados obtidos com esta nova tecnologia de dimensionamento de micro geometria. Os dutos submarinos (offshore) empregam tradicionalmente as mesmas tecnologias de inspeção usadas em dutos terrestres (onshore) e uma dessas tecnologias é o pig instrumentado. No entanto, é encontrada uma vasta quantidade de dutos offshore com diferentes tipos de obstáculos que inviabilizam o uso dos pigs instrumentados convencionais, como os Pigs Magnéticos M.F.L. (Magnetic Flux Leakage) e Ultrassônicos. Os fatores relevantes que dificultam a inspeção, especialmente em dutos offshore, são os multi-diâmetros, raios de curvatura acentuados, equipamentos instalados ao longo do duto, alta espessura de parede do duto, escoamento multifásico, etc. Atualmente, o uso de Pigs Ultrassônicos e Magnéticos são as técnica disponíveis no mercado para inspeção da corrosão. Contudo, esses pigs possuem suas próprias limitações. Dentro deste contexto, foi desenvolvido um novo pig instrumentado, chamado de Pig Palito, para detecção e dimensionamento de perda de espessura em dutos com corrosão interna. Esta ferramenta foi desenvolvida para superar diversas limitações que outros pigs instrumentados convencionais têm durante a inspeção. Os resultados obtidos pela instrumentação do sensor palito na análise experimental indicam que a vibração dos sensores pode interferir na medição de micro geometria gerando erros de interpretação. A possibilidade de detecção, minimização e/ou eliminação desta possível deficiência do sensor palito são factíveis e abordadas na presente dissertação. Os bons resultados das inspeções de campo com os Pigs Palito comprovam o sucesso e viabilidade técnica no emprego desta tecnologia. / [en] This work presents the analysis and study of the technology used by the instrumented pig called Feeler Pig, used for detection and measurement of loss of wall thickness in pipelines due to internal corrosion. Those study´s objective are the evaluation of dynamic measurement of Feeler Pig´s sensors, through the application of experimental vibration tests, geometric evaluation`s tests and finite elements analysis, so that are showed the results rewarded by this new micro geometric measurement technique. Submarine pipelines (offshore pipelines) inspection traditionally employs the same technologies used for onshore pipelines and one of such technologies is the instrumented pig. However, it is very common to find offshore pipelines with many kinds of obstacles that may prevent the use of conventional instrumented pigs, like MFL (Magnetic Flux Leakage) pigs and ultrasonic ones. The relevant factors that make the inspection difficult, particularly in offshore pipelines, are the different diameters along the pipeline, small radius bends, equipments installed in the pipeline (such as manifolds and valves), increased wall thickness, multi-phase fluids, etc. Currently available techniques in the market to inspect these pipelines are ultrasonic and magnetic pigs, which, nevertheless, have their own limitations. Focusing on this context, a new tool was developed to detect and measure the loss of wall thickness in pipelines due to internal corrosion. This tool, called Feeler Pig, was designed to be able to overcome some of the limitations of conventional inspection pigs. The results achieved by instrumentation of the feeler type sensor`s body, experimental analysis tests, proved that vibration modes of the sensor interferes in the measurement of micro geometric. The possibility of detection, mitigation and / or elimination of the deficiencies of sensor`s issues are viable and addressed in this work. These, coupled with the excellent results of Feeler Pigs field inspections prove the technical feasibility and success in using this technology.