The Development and Use of an Absolute Depth Size Specification in ILI-Based Crack Integrity Management of Pipelines

Author(s):  
Geoff Foreman ◽  
Steven Bott ◽  
Jeffrey Sutherland ◽  
Stephan Tappert

To provide a more insightful and accurate feature description from Crack In-line Inspection (ILI) reporting as per the Fitness For Service analysis in API 1176, individual crack dimensions must be established to a given accuracy. PII Pipeline Solutions established an absolute depth sizing specification conforming to the dig verification processes of API 1163. This change represented a significant shift from a traditional reporting format for depth sizing in “bands” of 1–2 mm, 2–3 mm and > 3 mm depths within crack ILI inspection reporting. When assessing features with characteristics stated in a sizing band, the pipeline integrity assessment approach required a conservative assumptions that all of the features in that band must be treated as if they are in the deepest band value. The implication then meant that the specification created only 3 sizes of crack depths 1–2 mm, 2–3 mm, > 3 mm (± 0.5mm tolerance at 90% certainty). In practical terms a large quantity of features in the significant band of 2–3 mm must be treated as potential dig candidates with a depth of at least 3 mm, making length characteristics as the only severity ranking basis for any priority dig selection. Previous attempts at establishing absolute depth sizing for crack inspection required a series of calibration digs. The large sample size over multiple inspection runs and pipeline sections allowed for a statistical specification algorithm is developed as part of the analysis process, therefore no additional reporting time, or excavation cost was involved. The new absolute sizing algorithm has provided operators with a means of prioritizing digs, based upon individual feature length and depths. Replacing the traditional depth bands with individual feature specific peak depths and thereby providing a major step forward in achieving a cost effective process of prioritizing crack mitigation in pipelines. Following the dig verification process in API 1163, significant populations of infield NDE results were utilized on a variety of pipeline sections of different diameters. Predicted absolute depth estimation accuracy was determined for specific feature types and thereby created a depth tolerance, with statistical certainty levels established that match those available and recognized with metal loss ILI. This paper describes the process and the means by which an absolute depth crack ILI specification was established using characteristics from a significant set of real features. It also describes benefits realized within pipeline integrity engineering of moving to such a new reporting protocol.

Author(s):  
Don Robertson ◽  
Wayne Russell ◽  
Nigel Alvares ◽  
Debra Carrobourg ◽  
Graeme King

A strategic combination of integrity software, relational databases, GIS, and GPS technologies reduced costs and increased quality of a comprehensive pipeline integrity assessment and repair program that Greenpipe Industries Ltd. completed recently on three crude oil pipelines—two 6-inch and one 8-inch—for Enbridge Pipelines (Saskatchewan) Inc. Greenpipe analyzed metal loss data from recent in-line inspection logs, calculated real-world coordinates of defects and reference welds, prioritized anomalies for repair taking environmental risks into account, and prepared detailed dig sheets and site maps using PipeCraft™, Greenpipe’s advanced GIS-based pipeline integrity-maintenance software package. GPS technology was used to navigate to dig sites and the accuracy of the GPS approach was compared with traditional chainage methods. Pipelines were purged and all defects were cut out and replaced by new pipe during a two-day shutdown on each pipeline. A comprehensive set of data, including high-accuracy GPS location of anomalies, reference welds, and replacement pipe welds, was collected at each dig site and entered into the PipeCraft relational database. After all repairs were completed, the client was provided with a GIS-based electronic final report, allowing point-and-click access to all data collected in the field, including in-line inspection logs, dig information sheets and as-built drawings. The new methodologies employed on this project resulted in a high quality, comprehensive and cost-effective integrity maintenance program.


Author(s):  
Yuliya Prozherina ◽  

3D printing of drugs is an innovative and cost-effective technology, which is a major step towards personalized medicine. This technology can be used for the development of controlled-release drugs; fixed-dose combination drugs, as well as for the creation of orodispersible dosage forms. The global 3D drug market is still largely at the research stage, but its rapid growth is expected in the coming decade [1].


Sensors ◽  
2019 ◽  
Vol 19 (24) ◽  
pp. 5357 ◽  
Author(s):  
Haseeb Ahmed ◽  
Ihsan Ullah ◽  
Uzair Khan ◽  
Muhammad Bilal Qureshi ◽  
Sajjad Manzoor ◽  
...  

Fusion of the Global Positioning System (GPS) and Inertial Navigation System (INS) for navigation of ground vehicles is an extensively researched topic for military and civilian applications. Micro-electro-mechanical-systems-based inertial measurement units (MEMS-IMU) are being widely used in numerous commercial applications due to their low cost; however, they are characterized by relatively poor accuracy when compared with more expensive counterparts. With a sudden boom in research and development of autonomous navigation technology for consumer vehicles, the need to enhance estimation accuracy and reliability has become critical, while aiming to deliver a cost-effective solution. Optimal fusion of commercially available, low-cost MEMS-IMU and the GPS may provide one such solution. Different variants of the Kalman filter have been proposed and implemented for integration of the GPS and the INS. This paper proposes a framework for the fusion of adaptive Kalman filters, based on Sage-Husa and strong tracking filtering algorithms, implemented on MEMS-IMU and the GPS for the case of a ground vehicle. The error models of the inertial sensors have also been implemented to achieve reliable and accurate estimations. Simulations have been carried out on actual navigation data from a test vehicle. Measurements were obtained using commercially available GPS receiver and MEMS-IMU. The solution was shown to enhance navigation accuracy when compared to conventional Kalman filter.


Fluids ◽  
2018 ◽  
Vol 3 (3) ◽  
pp. 57 ◽  
Author(s):  
Arzu Özbey ◽  
Mehrdad Karimzadehkhouei ◽  
Hossein Alijani ◽  
Ali Koşar

Inertial Microfluidics offer a high throughput, label-free, easy to design, and cost-effective solutions, and are a promising technique based on hydrodynamic forces (passive techniques) instead of external ones, which can be employed in the lab-on-a-chip and micro-total-analysis-systems for the focusing, manipulation, and separation of microparticles in chemical and biomedical applications. The current study focuses on the focusing behavior of the microparticles in an asymmetric curvilinear microchannel with curvature angle of 280°. For this purpose, the focusing behavior of the microparticles with three different diameters, representing cells with different sizes in the microchannel, was experimentally studied at flow rates from 400 to 2700 µL/min. In this regard, the width and position of the focusing band are carefully recorded for all of the particles in all of the flow rates. Moreover, the distance between the binary combinations of the microparticles is reported for each flow rate, along with the Reynolds number corresponding to the largest distances. Furthermore, the results of this study are compared with those of the microchannel with the same curvature angle but having a symmetric geometry. The microchannel proposed in this study can be used or further modified for cell separation applications.


Author(s):  
Gurumurthy Kagita ◽  
Gudimella G. S. Achary ◽  
Mahesh B. Addala ◽  
Balaji Srinivasan ◽  
Penchala S. K. Pottem ◽  
...  

Abstract Mechanical damage in subsea pipelines in the form of local dents / buckles due to excessive bending deformation may severely threaten their structural integrity. A dent / buckle has two significant effects on the pipeline integrity. Notably, residual stresses are set up as result of the plastic deformation and stress concentrations are created due to change in pipe geometry caused by the denting / buckling process. To assess the criticality of a dent / buckle, which often can be associated with strain induced flaws in the highly deformed metal, integrity assessment is required. The objective of this paper is to evaluate the severity of dent / buckle in a 48” subsea pipeline and to make the rerate, repair or replacement decision. This paper presents a Level 3 integrity assessment of a subsea pipeline dent / buckle with metal loss, reported in in-line inspection (ILI), in accordance with Fitness-For-Service Standard API 579-1/ASME FFS-1. In this paper, the deformation process that caused the damage (i.e. dent / buckle) with metal loss is numerically simulated using ILI data in order to determine the magnitude of permanent plastic strain developed and to evaluate the protection against potential failure modes. For numerical simulation, elastic-plastic finite element analyses (FEA) are performed considering the material as well as geometric non-linearity using general purpose finite element software ABAQUS/CAE 2017. Based on the numerical simulation results, the integrity assessment of dented / buckled subsea pipeline segment with metal loss has been performed to assess the fitness-for-service at the operating loads.


Author(s):  
J. Bruce Nestleroth ◽  
James Simek ◽  
Jed Ludlow

The ability to characterize metal loss and gouging associated with dents and the identification of corrosion type near the longitudinal seam are two of the remaining obstacles with in-line inspection (ILI) integrity assessment of metal loss defects. The difficulty with denting is that secondary features of corrosion and gouging present very different safety and serviceability scenarios; corrosion in a dent is often not very severe while metal loss caused by gouging can be quite severe. Selective seam weld corrosion (SSWC) along older low frequency electric resistance welding (ERW) seams also presents two different integrity scenarios; the ILI tool must differentiate the more serious SSWC condition from the less severe conventional corrosion which just happens to be near a low frequency ERW seam. Both of these cases involve identification difficulties that require improved classification of the anomalies by ILI to enhance pipeline safety. In this paper, two new classifiers are presented for magnetic flux leakage (MFL) tools since this rugged technology is commonly used by pipeline operators for integrity assessments. The new classifier that distinguishes dents with gouges from dents with corrosion or smooth dents uses a high and low magnetization level approach combined with a new method for analyzing the signals. In this classifier, detection of any gouge signal is paramount; the conservatism of the classifier ensures reliable identification of gouges can be achieved. In addition to the high and low field data, the classifier uses the number of distinct metal loss signatures at the dent, the estimated maximum metal loss depth, and the location of metal loss signatures relative to dent profile (e.g. Apex, Shoulder). The new classifier that distinguishes SSWC from corrosion near the longitudinal weld uses two orientations of the magnetic field, the traditional axial field and a helical magnetic field. In this classifier, detection of any long narrow metal loss is paramount; the conservatism of the classifier ensures that high identification of SSWC can be achieved. The relative amplitude of the corrosion signal for the two magnetization directions is an important characteristic, along with length and width measures of the corrosion features. These models were developed using ILI data from pipeline anomalies identified during actual inspections. Inspection measurements from excavations as well as pipe removed from service for lab analysis and pressure testing were used to confirm the results.


Author(s):  
Ove R. Samdal ◽  
Anders Kvinnesland ◽  
Kjell Edvard Apeland ◽  
Arthur Lind ◽  
Kjartan Vartdal

Statoil has since 1985 installed, commissioned and operated approximately 8000 km of pipelines in the North Sea area. Among these pipelines are several of the world’s largest offshore gas trunk lines with the onshore parts relatively short in length but often with complex landfalls, fjord and land crossings. Since 2002 Gassco has been the Operator for transporting Norwegian gas to continental Europe and the UK. Gassco is a fully state owned company. Statoil is now TSP (Technical Service Provider) for most of the trunk lines. Operating these pipelines represents several challenges, and the accumulated experience gained through successful operations of these pipelines has brought Statoil to the forefront within the pipeline industry. Through comprehensive research and development Statoil has improved pipeline technology within areas as inspection, maintenance and repair. Together with the development of risk based condition (integrity) assessment, inspection and monitoring planning tools and work processes, these technology achievements have significantly improved Statoil’s knowledge and understanding of the pipeline condition and associated risk levels. A significant reduction in operating cost has also been experienced. Together with its collaborating partners Statoil has among others improved internal inspection technology by improving the MFL technology to a level of extra high resolution (XHR-technology) making metal loss measurements more reliable and accurate. Multi diameter inspection tools (28”–42”) (MDPT) and optical laser tool (Optopig) have also been developed and put into operation. Sub sea pipeline survey by use of ROV has been significantly improved with regard to instrumentation and survey speed. A unique remote pipeline repair contingency system (PRS) with well defined response times (10–21 days), has also been developed. To get the full benefit of these developments a risk based pipeline condition (integrity) management system (PCMS/PIMS) has been developed with the development of DnV’s Orbit Pipeline as a key element. ORBIT Pipeline consists principally of data storage and administration and various risk based integrity assessment modules. This paper will discuss several topics related to these technology developments and development of risk based condition (integrity) assessment.


Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 337
Author(s):  
Máté Fazekas ◽  
Péter Gáspár ◽  
Balázs Németh

Localization is a key part of an autonomous system, such as a self-driving car. The main sensor for the task is the GNSS, however its limitations can be eliminated only by integrating other methods, for example wheel odometry, which requires a well-calibrated model. This paper proposes a novel wheel odometry model and its calibration. The parameters of the nonlinear dynamic system are estimated with Gauss–Newton regression. Due to only automotive-grade sensors are applied to reach a cost-effective system, the measurement uncertainty highly corrupts the estimation accuracy. The problem is handled with a unique Kalman-filter addition to the iterative loop. The experimental results illustrate that without the proposed improvements, in particular the dynamic wheel assumption and integrated filtering, the model cannot be calibrated precisely. With the well-calibrated odometry, the localization accuracy improves significantly and the system can be used as a cost-effective motion estimation sensor in autonomous functions.


2016 ◽  
Vol 13 (6) ◽  
pp. 172988141666337 ◽  
Author(s):  
Lei He ◽  
Qiulei Dong ◽  
Guanghui Wang

Predicting depth from a single image is an important problem for understanding the 3-D geometry of a scene. Recently, the nonparametric depth sampling (DepthTransfer) has shown great potential in solving this problem, and its two key components are a Scale Invariant Feature Transform (SIFT) flow–based depth warping between the input image and its retrieved similar images and a pixel-wise depth fusion from all warped depth maps. In addition to the inherent heavy computational load in the SIFT flow computation even under a coarse-to-fine scheme, the fusion reliability is also low due to the low discriminativeness of pixel-wise description nature. This article aims at solving these two problems. First, a novel sparse SIFT flow algorithm is proposed to reduce the complexity from subquadratic to sublinear. Then, a reweighting technique is introduced where the variance of the SIFT flow descriptor is computed at every pixel and used for reweighting the data term in the conditional Markov random fields. Our proposed depth transfer method is tested on the Make3D Range Image Data and NYU Depth Dataset V2. It is shown that, with comparable depth estimation accuracy, our method is 2–3 times faster than the DepthTransfer.


2020 ◽  
Author(s):  
Guoliang Liu

Full resolution depth is required in many realworld engineering applications. However, exist depth sensorsonly offer sparse depth sample points with limited resolutionand noise, e.g., LiDARs. We here propose a deep learningbased full resolution depth recovery method from monocularimages and corresponding sparse depth measurements of targetenvironment. The novelty of our idea is that the structure similarinformation between the RGB image and depth image is used torefine the dense depth estimation result. This important similarstructure information can be found using a correlation layerin the regression neural network. We show that the proposedmethod can achieve higher estimation accuracy compared tothe state of the art methods. The experiments conducted on theNYU Depth V2 prove the novelty of our idea.<br>


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