Search Results (15)

In-line inspection (ILI) is essential for maintaining the integrity of natural gas pipelines. In ILI, pipeline inspection gauges (PIGs) autonomously navigate through pipelines under real-time and resource-constrained conditions to measure pipeline irregularities. Elbow and T-junction detection and estimation (ETDE) play a critical role in enabling PIG navigation to avoid speed excursions which prevent effective data collection or even damage the PIG and pipelines. Existing approaches are often computationally intensive, incomplete, or late estimations, making them unsuitable for real-time operation in such environments. This paper proposes a real-time elbow and T-junction detection and estimation (RT-ETDE) framework that efficiently detects elbows and T-junctions and estimates their critical parameters for PIG navigation using 3D point clouds. Our framework relies on intelligent point cloud partition and feature extraction together with simple geometric solutions which greatly reduce computational complexity. Furthermore, several real-time adaptation techniques are introduced to ensure real-time operation. Experimental results on a prototype pipeline demonstrate that the RT-ETDE framework consistently detects elbows and T-junctions while achieving a 10 Hz frame rate on a real PIG processing unit, validating its suitability for next-generation pipeline inspection systems. Full article

Corrosion is considered a leading cause of failure in pipeline systems. Therefore, frequent inspection and monitoring are essential to maintain structural integrity. Feature matching based on in-line inspections (ILIs) aligns corrosion data across inspections, facilitating the observation of corrosion progression. Nonetheless, the uncertainties of inspection tools and corrosion processes present in ILI data influence feature matching accuracy. This study proposes a new extensible feature matching model based on consecutive ILIs and data clustering. By dynamically segmenting the data into spatially localized clusters, this framework enables feature matching of isolated pairs and merging defects, as well as facilitating more precise localized transformations. Moreover, a new clustering technique—directional epsilon neighborhood clustering (DENC)—is proposed. DENC utilizes spatial graph structures and directional proximity thresholds to address the directional variability in ILI data while effectively identifying outliers. The model is evaluated on six pipeline segments with varying ILI data complexities, achieving high recall and precision of 91.5% and 98.0%, respectively. In comparison to exclusively point matching models, this work demonstrates significant improvements in terms of accuracy, stability, and managing the spatial variability and interactions of adjacent defects. These advancements establish a new framework for automated feature matching and contribute to enhanced pipeline integrity management. Full article

The estimation of robot pose and pipe diameter is an essential task for reliable in-line inspection (ILI) operations and the accurate assessment of pipeline attributes. This paper addresses the problem of robot pose and pipe diameter estimation for natural gas pipelines based on 3D time-of-flight (ToF) sensors. To tackle this challenge, we model the problem as a non-linear least-squares optimization that fits 3D ToF sensor measurements in its local coordinates to an elliptic cylindrical model of the pipe inner surface. We identify and prove that the canonical ellipse-based estimation method (C-EPD), which uses a canonical residual function, suffers from bias in diameter estimation due to its asymmetry to depth errors. To overcome this limitation, we propose the robust and unbiased estimation of pose and diameter (RU-EPD) approach, which employs a novel error-based residual function. The proposed function is symmetric to depth errors, effectively reducing estimation bias. Extensive numerical simulations and prototype pipeline experiments demonstrate that RU-EPD outperforms C-EPD, achieving an at least six times lower estimation bias and a 2.5 times smaller estimation error range in pipe diameter and about a 2 times smaller estimation error range in pose estimation. Full article

Water transport pipelines in the mining industry face significant corrosion challenges due to extreme environmental conditions, such as arid climates, temperature fluctuations, and abrasive soils. This study evaluates the effectiveness of three advanced inspection technologies—Guided Wave Ultrasonic Testing (GWUT), Metal Magnetic Memory (MMM), and In-Line Inspection (ILI)—in maintaining pipeline integrity under such conditions. A structured methodology combining diagnostic assessment, technology research, and comparative evaluation was applied, using key performance indicators like detection capability, operational impact, and feasibility. The results show that GWUT effectively identifies surface anomalies and wall thinning over long pipeline sections but faces depth and diameter limitations. MMM excels at detecting early-stage stress and corrosion in inaccessible locations, benefiting from minimal preparation and strong market availability. ILI provides comprehensive internal and external assessments but requires piggable pipelines and operational adjustments, limiting its use in certain systems. A case study of critical aqueducts of mining site water supply illustrates real-world technology selection challenges. The findings underscore the importance of an integrated inspection approach, leveraging the complementary strengths of these technologies to ensure reliable pipeline integrity management. Future research should focus on quantitative performance metrics and cost-effectiveness analyses to optimize inspection strategies for mining infrastructure. Full article

The global reliance on oil and gas pipelines for energy transportation is increasing. As the pioneering review in the field of ultrasonic defect detection for oil and gas pipelines based on bibliometric methods, this study employs visual analysis to identify the most influential countries, academic institutions, and journals in this domain. Through cluster analysis, it determines the primary trends, research hotspots, and future directions in this critical field. Starting from the current global industrial ultrasonic in-line inspection (ILI) detection level, this paper provides a flowchart for selecting detection methods and a table for defect comparison, detailing the comparative performance limits of different detection devices. It offers a comprehensive perspective on the latest ultrasonic pipeline detection technology from laboratory experiments to industrial practice. Full article

Offshore oil and gas resources play a crucial role in supplementing the energy needs of human society. The crisscrossing subsea pipeline network, which serves as vital infrastructure for the storage and transportation of offshore oil and gas, requires regular inspection and maintenance to ensure safe operation and prevent ecological pollution. In-line inspection (ILI) techniques have been widely used in the detection and inspection of potential hazards within the pipeline network. This paper offers an overview of ILI techniques used in subsea pipelines, examining their advantages, limitations, applicable scenarios, and performance. It aims to provide valuable insights for the selection of ILI technologies in engineering and may be beneficial for those involved in pipeline integrity management and planning. Full article

This paper proposes a continuous state partially observable Markov decision process (POMDP) model for the corrosion maintenance of oil and gas pipelines. The maintenance operations include complex and extensive activities to detect the corrosion type, determine its severity, predict the deterioration rate, and plan future inspection (monitoring) schemes and maintenance policy. A POMDP model is formulated as a decision-making support tool to effectively handle partially observed corrosion defect levels. It formulates states as the pipeline’s degradation level using a probability distribution. Inline inspection (ILI) methods estimate the latest state of the pipeline, which also defines the initial state of the optimization process. The set of actions comprises corrosion mitigation operations. The errors associated with the ILI method are used to construct the observation function for the model. The sum of inspection, maintenance operations, and failure costs for a given state and action are formulated as rewards. Numerical experiments are made based on data collected from the literature. The results showed that different policies, whether derived from solvers (theoretical) or determined from practical experience, can be compared to identify the best maintenance alternative using the model. It was also observed that the choice of the solvers is important since they affect the discounted rewards and the run time to obtain them. The model approximates the parameters and uncertainty associated with the propagation of corrosion, proficiency of inspection methods, and implementation of maintenance policies. Overall, it can be applied to improve the maintenance decision-making process for the oil and gas pipeline as it incorporates the stochastic features of the operation. Full article

This paper presents a study of the feasibility of using in-line inspection (ILI) techniques with long-range communication-capable robotic systems deployed with advanced inspection sensors in natural gas distribution pipelines, which are rare in the literature. The study involved selecting appropriate antennas and determining the appropriate communication frequency for an ILI robot operating on Istanbul 12″ and 16″ steel pipelines. The paper identifies the frequency windows with low losses, presents received signal strength indicator (RSSI) and signal-to-noise ratio (SNR) information for various scenarios, and evaluates the impact of T-junctions, which are known to be the worst components in terms of communication. To utilize the pipeline as a waveguide, low-attenuation-frequency windows were determined, which improved communication by a factor of 500 compared to aerial communication. The results of laboratory tests on a 50 m pipeline and real-world tests on a 2.4 km pipeline indicate that long-distance communication and video transmission are possible at frequencies of around 917 MHz with low-gain antennas. The study also assessed the impact of the early diagnosis of anomalies without incidents on the environment, achievable with ILI robots using long-range wireless communication. Full article

The transportation of oil and gas through pipelines is an integral aspect of the global energy infrastructure. It is crucial to ensure the safety and integrity of these pipelines, and one way to do so is by utilizing an inspection tool called a smart pig. This paper reviews various smart pigs used in steel oil and gas pipelines and classifies them according to pipeline structure, anomaly-detection capability, working principles, and application areas. The advantages and limitations of each sensor technology that can be used with the smart pig for in-line inspection (ILI) are discussed. In this context, ultrasonic testing (UT), electromagnetic acoustic transducer (EMAT), eddy current (EC), magnetic flux leakage (MFL), and mechanical contact (MC) sensors are investigated. This paper also provides a comprehensive analysis of the development chronology of these sensors in the literature. Additionally, combinations of relevant sensor technologies are compared for their accuracy in sizing anomaly depth, length, and width. In addition to their importance in maintaining the safety and reliability of pipelines, the use of ILI can also have environmental benefits. This study aims to further our understanding of the relationship between ILI and the environment. Full article

An accurate estimation of pipe attributes, pose of pipeline inspection gauge (PIG), and downstream pipeline topology is essential for successful in-line inspection (ILI) of underground compressible gas pipelines. Taking a 3D point cloud of light detection and ranging (LiDAR) or time-of-flight (ToF) camera as the input, in this paper, we present the simultaneous pipe-attribute and PIG-pose estimation (SPPE) approach that estimates the optimal pipe-attribute and PIG-pose parameters to transform a 3D point cloud onto the inner pipe wall surface: major- and minor-axis lengths, roll, pitch, and yaw angles, and 2D deviation from the center of the pipe. Since the 3D point cloud has all spatial information of the inner pipe wall measurements, this estimation problem can be modeled by an optimal transformation matrix estimation problem from a PIG sensor frame to the global pipe frame. The basic idea of our SPPE approach is to decompose this transformation into two sub-transformations: The first transformation is formulated as a non-linear optimization problem whose solution is iteratively updated by the Levenberg–Marquardt algorithm (LMA). The second transformation utilizes the gravity vector to calculate the ovality angle between the geometric and navigation pipe frames. The extensive simulation results from our PIG simulator based on the robot operating system (ROS) platform demonstrate that the proposed SPPE can estimate the pipe attributes and PIG pose with excellent accuracy and is also applicable to real-time and post-processing non-destructive testing (NDT) applications thanks to its high computational efficiency. Full article

Underground pipelines have a space-dependent condition that arises from various soil properties surrounding the pipeline (e.g., moisture content, pH, aeration) and the efficiency of protection measures. Corrosion is one of the main threats for pipelines and is commonly monitored with in-line inspections (ILI) every 2 to 6 years. Preliminary characterizations of the surrounding soil allow pipeline operators to propose adequate protective measures to prevent any loss of containment (LOC) of the fluid being transported. This characterization usually requires detailed soil measurements, which could be unavailable or very costly. This paper implements categorical measurements of soil properties and defect depth measurements obtained from ILI to characterize the soil in the surroundings of a pipeline. This approach implements an independence test, a multiple correspondence analysis, and a clustering method with K-modes. The approach was applied to a real case study, showing that more severe defects are likely located in poorly drained soils with high acidity. Full article

Globally, more and more attention has been paid to the integrity of Girth Welds (GW) of oil and gas pipelines due to their failures with high consequences. A primary concern is that defects originate during field construction but over time may be subject to external loads due to earth movement. GW defects in newly built pipelines are also assumed to exist but would be much smaller in size, and more difficult to detect, which motivated the investigation into minimum defect detection capabilities of the inspection technologies. This study presents the evaluation results of UltraScan™ Circumferential Crack-Like Detection (USCCD) technology for oil pipeline GW inspection, based upon the pull test and in field data from Inline Inspection (ILI) of pipeline by PetroChina Pipeline Company (PPC) using GE PII (General Electric Company, Pipeline Integrity Inspection) 32” UltraScan™ CCD Tool. The performance of USCCD is given according to the ILI data, pull test results and dig NDE (Non-Destructive Examination). It can be concluded that crack-like defects with clear edges can be detected during ultrasonic propagation; however, the irregular shape of weld makes the inspection more difficult. It is still a challenge to identify the type of defects, and depth sizing can only be classified not quantified, which would require more excavations. However, this technology is feasible for the alternative technology of GW defect inspection. Full article

Corrosion is considered as one of the most predominant causes of pipeline failures in the oil and gas industry and normally cannot be easily detected at the inner surface of pipelines without service disruption. The real-time inspection of oil and gas pipelines is extremely vital to mitigate accidents and maintenance cost as well as to improve the oil and gas transport efficiency. In this paper, a new, non-contact optical sensor array method for real-time inspection and non-destructive evaluation (NDE) of pipelines is presented. The proposed optical method consists of light emitting diodes (LEDs) and light dependent resistors (LDRs) to send light and receive reflected light from the inner surface of pipelines. The uniqueness of the proposed method lies in its accurate detection as well as its localization of corrosion defects, based on the utilization of optical sensor array in the pipeline, and also the flexibility with which this system can be adopted for pipelines with different services, sizes, and materials, as well as the method’s economic viability. Experimental studies are conducted considering corrosion defects with different features and dimensions to confirm the robustness and accuracy of the method. The obtained data are processed with discrete wavelet transform (DWT) for noise cancelation and feature extraction. The estimated sizes of the corrosion defects for different physical parameters, such as inspection speed and lift-off distance, are investigated and, finally, some preliminary tests are conducted based on the implementation of the proposed method on an in-line developed smart pipeline inspection gauge (PIG) for in-line inspection (ILI) application, with resulting success. Full article

Real-time tracking of pipeline inspection gauges (PIGs) is an important aspect of ensuring the safety of oil and gas pipeline inline inspections (ILIs). Transmitting and receiving extremely low frequency (ELF) magnetic signals is one of the preferred methods of tracking. Due to the increase in physical parameters of the pipeline including transportation speed, wall thickness and burial depth, the ELF magnetic signals received are short transient (1-second duration) and very weak (10 pT), making the existing above-ground-marker (AGM) systems difficult to operate correctly. Based on the short transient very weak characteristics of ELF signals studied with a 2-D finite-element method (FEM) simulation, a data fusion model was derived to fuse the envelope decay rates of ELF signals by a least square (LS) criterion. Then, a fast-decision-tree (FDT) method is proposed to estimate the fused envelope decay rate to output the maximized orthogonal signal power for the signal detection through a determined topology and a fast calculation process, which was demonstrated to have excellent real-time detection performance. We show that simulation and experimental results validated the effectiveness of the proposed FDT method, and describe the high-sensitivity detection and real-time implementation of a high-speed PIG tracking system, including a transmitter, a receiver, and a pair of orthogonal search coil sensors. Full article

Above ground indirect detections and random excavations that have applied the past years for buried long distance oil and gas pipelines can only identify some damaged coating locations. Hence, large number of field joint coating (FJC) failures happen unconsciously until they lead to failures of the pipelines. Based on the analysis of magnetic flux leakage (MFL) in-line inspection (ILI) signals, combined with the statistical results of 414 excavations from two different pipeline sections, a new method to identify the failed FJC is established. Though it can only identify FJC failures when there are signs of corrosion on pipe body, it is much more efficient and cost-saving. The concluded identification rule still needs more validations and improvements to be more applicable and accuracy. Full article