Robotic non-destructive testing

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Robotic non-destructive testing (NDT) is a method of inspection used to assess the structural integrity of petroleum, natural gas, and water installations. Crawler-based robotic tools are commonly used for in-line inspection (ILI) applications in pipelines that cannot be inspected using traditional intelligent pigging tools (or unpiggable pipelines).

Contents

Robotic NDT tools can also be used for mandatory inspections in inhospitable areas (e.g., tank interiors, subsea petroleum installations) to minimize danger to human inspectors, as these tools are operated remotely by a trained technician or NDT analyst. These systems transmit data and commands via either a wire (typically called an umbilical cable or tether) or wirelessly (in the case of battery-powered tetherless crawlers).

Applications

Robotic NDT tools help pipeline operators and utility companies complete required structural integrity data sets for maintenance purposes in the following applications:

Pipeline conditions that may prevent or hinder a flow-driven pig inspection include:

Robotic NDT tools also offer safety advantages in inhospitable areas:

Robotic ILI crawler variants

Tethered tool overview

A tethered pipeline ILI crawler manufactured and operated by Diakont. Technicians use the socket on the front of this crawler to attach modules using different inspection technologies; this crawler is shown with an EMAT inspection module. Diakont RODIS.jpg
A tethered pipeline ILI crawler manufactured and operated by Diakont. Technicians use the socket on the front of this crawler to attach modules using different inspection technologies; this crawler is shown with an EMAT inspection module.

Tethered robotic inspection tools have an umbilical cable attached to them, which provides power and control commands to the tool while relaying sensor data back to the technician. Tethered crawlers have the following advantages over untethered crawlers:

Tethered crawlers have the following disadvantages against untethered crawlers:

Untethered ILI crawler overview

Pipetel Explorer untethered NDT pipeline crawler, manufactured and operated by Pipetel Technologies. Pipetel Explorer 30-36.jpg
Pipetel Explorer untethered NDT pipeline crawler, manufactured and operated by Pipetel Technologies.

Untethered robotic ILI crawlers are powered by onboard batteries; these tools transmit sensor data wirelessly to the tool operator or store the data for downloading upon tool retrieval. Untethered crawlers have the following advantages over tethered crawlers:

Untethered crawlers have the following disadvantages against tethered crawlers:

Inspection technologies

Robotic NDT tools employ suites of inspection sensors. This section describes common sensor types; most tools combine several types of sensor depending on factors such as robot size, design, and application.

Electromagnetic Acoustic Transducers (EMAT) – milled steel

Main article – Electromagnetic acoustic transducers

A transducer uses the direct beam method to discover anomalies in a pipe wall; the pink arrows represent the ultrasonic waves. DB EMAT.jpg
A transducer uses the direct beam method to discover anomalies in a pipe wall; the pink arrows represent the ultrasonic waves.

Electromagnetic acoustic transducers (EMAT) induce ultrasonic waves into uniformly-milled metal inspection objects (e.g., pipe walls, tank floors). Technicians can assess metal condition and detect anomalies based on the reflections of these waves – when the transducer passes over an anomaly, a new reflection appears between the initial pulse and the normal reflection. [1]

Direct beam EMAT, where the tool induces ultrasonic waves into the metal at a 0° angle (or perpendicular to the metal surface), is the most common inspection method. Direct beam inspections determine metal thickness as well as detect and measure the following defects:

A tool uses the angle beam method to discover a crack in a pipe wall; the solid arrow represents the original ultrasonic wave (created at an angle relative to the pipe radius) and the dotted arrow represents the wave reflected back to the tool from the crack. AB EMAT.jpg
A tool uses the angle beam method to discover a crack in a pipe wall; the solid arrow represents the original ultrasonic wave (created at an angle relative to the pipe radius) and the dotted arrow represents the wave reflected back to the tool from the crack.

Angle beam inspections, where the tool induces ultrasonic waves into the metal at an angle relative to the metal surface, can be performed concurrently with direct beam inspections to confirm anomaly detections. An angle beam transducer only registers echoes from anomalies or reflectors that fall into the beam path; unlike direct beam, it does not receive reflections from the opposite wall of normal steel. [1]

The combination of angle beam and direct beam methods may find additional anomalies and increase inspection accuracy. However, the angle beam method has a lower tolerance for surface debris than the direct beam method. Angle beam inspections discover crack-like anomalies parallel to the pipe axis and metal loss defects that are too small to detect via direct beam, including the following:

Besides its uses in unpiggable pipelines, the non-contact nature of EMAT tools makes this method ideal for dry applications where liquid couplant requirements may make traditional UT tools undesirable (e.g., natural gas lines).

EMAT – girth welds

Weld integrity is a crucial component of pipeline safety, especially girth welds (or the circumferential welds that join each section of pipe together). However, unlike the consistent molecular structure of milled steel, welds and their heat-affected zones (HAZs) have an anisotropic grain structure that attenuates ultrasonic signals and creates wave velocity variances that are difficult for ILI tools to analyze.

One angle-beam EMAT method employs a set of nine frequency-time (FT) scans on each side of the girth weld, where each frequency corresponds to a different input wave angle. [2] The following figure shows a diagram of the inspection area covered by this method, where the green area represents the propagation of shear waves in the weld and surrounding metal.

The principle of angle-beam EMAT use in pipeline girth weld assessment. GWS diagram.jpg
The principle of angle-beam EMAT use in pipeline girth weld assessment.
The frequency-time matrix for a lateral cylindrical hole in a pipe. GWS FTM scan.jpg
The frequency-time matrix for a lateral cylindrical hole in a pipe.

The tool merges each set of FT scans into a single frequency-time matrix scan to display weld conditions, with anomalies color-coded by severity. [2] This method of girth weld scanning is designed to detect the following weld defects:

Magnetic Flux Leakage (MFL)

Main article – Magnetic flux leakage

Magnetic flux leakage (MFL) tools use a sensor sandwiched between multiple powerful magnets to create and measure the flow of magnetic flux in the pipe wall. Structurally-sound steel has a uniform structure that allows regular flow of the magnetic flux, while anomalies and features interrupt the flow of flux in identifiable patterns; the sensor registers these flow interruptions and records them for later analysis. The following figure illustrates the principle of a typical MFL inspection tool; the left side of the diagram shows how an MFL tool works in structurally sound pipe, while the right side shows how the tool detects and measures a metal loss defect. [3]

The principle of a typical MFL pipeline inspection tool. MFL pipeline NDT diagram.gif
The principle of a typical MFL pipeline inspection tool.

MFL tools are used primarily to detect pitting corrosion, and some tool configurations can detect weld defects. One advantage of MFL tools over ultrasonic tools is the ability to maintain reasonable sensitivity through relatively thick surface coatings (e.g., paint, pipe liners). [4]

Video inspection

A high-resolution camera image of an internal corrosion pit in a pipe wall. Pipeline video inspection - pitting corrosion.png
A high-resolution camera image of an internal corrosion pit in a pipe wall.

Main article – video inspection

Robotic NDT tools employ cameras to provide technicians an optimal view of the inspection area. Some cameras provide specific views of the pipeline (e.g., straight forward, sensor contact area on the metal) to assist in controlling the tool, while other cameras are used to take high-resolution photographs of inspection findings.

Some tools exist solely to perform video inspection; many of these tools include a mechanism to aim the camera to completely optimize technicians’ field of vision, and the lack of other bulky ILI sensor packages makes these tools exceptionally maneuverable. Cameras on multipurpose ILI tools are usually placed in locations that maximize technicians’ ability to analyze findings as well as optimally control the tool.

Laser profilometry

Laser profilometry assessment of the pipe wall corrosion pit shown in the previous image. Laser profilometry - pitting corrosion.png
Laser profilometry assessment of the pipe wall corrosion pit shown in the previous image.

Main article – surface metrology

Laser profilometers project a shape onto the object surface. Technicians configure the laser (both angle of incidence and distance from the object) to ensure the shape is uniform on normal metal. Superficial anomalies (e.g., pitting corrosion, dents) distort the shape, allowing the inspection technicians to measure the anomalies using proprietary software programs. Photographs of these laser distortions provide visual evidence that improves the data analysis process and contributes to structural integrity efforts.

Pulsed-Eddy Current (PEC)

Main article – Pulsed-eddy current

Pulsed-eddy current (PEC) tools use a probe coil to send a pulsed magnetic field into a metal object. The varying magnetic field induces eddy currents on the metal surface. The tool processes the detected eddy current signal and compares it to a reference signal set before the tool run; the material properties are eliminated to give a reading for the average wall thickness within the area covered by the magnetic field. The tool logs the signal for later analysis. [5] The following diagram illustrates the principle of a typical PEC inspection tool.

PEC tool operating principle. PEC principle diagram.png
PEC tool operating principle.

PEC tools can inspect accurately with a larger gap between the transducer and the inspection object than other tools, making it ideal for inspecting metal through non-metal substances (e.g., pipe coatings, insulation, marine growth).

Case studies

United States federal law requires baseline inspections to establish pipeline as-built statistics and subsequent periodic inspections to monitor asset deterioration. Pipeline operators also are responsible to designate high-consequence areas (HCAs) in all pipelines, perform regular assessments to monitor pipeline conditions, and develop preventive actions and response plans. [6]

State regulations for inspecting pipelines vary based on the level of public safety concerns. For example, a 2010 natural gas pipeline explosion in a San Bruno residential neighborhood led the California Public Utilities Commission to require safety enhancement plans from California natural gas transmission operators. [7] The safety plan included numerous pipeline replacements and in-line inspections.

Tethered robotic ILI crawler application examples

The federal Pipeline and Hazardous Materials Safety Administration (PHMSA) does not permit use of tetherless crawlers in HCAs due to the risk of getting stuck. Excavating buried pipelines to retrieve stuck tools beneath freeway crossings, river crossings or dense urban areas would impact the community infrastructure too greatly. Natural gas and oil pipeline operators therefore rely on tethered robotic ILI crawlers to inspect unpiggable pipelines.

Williams used a tethered robotic ILI crawler to inspect an unpiggable section of the Transco Pipeline in New Jersey in 2015. [8] The pipeline system ran beneath the Hudson River; construction of a new condominium development nearby created a new HCA, requiring Williams to create an integrity management program per PHMSA regulations.

Alyeska Pipeline Service Company inspected Pump Station 3 on the Trans-Alaska Pipeline System after an oil leak was discovered in an underground oil pipeline at Pump Station 1 in 2011. [9] The spill resulted in a consent agreement between Alyeska and PHMSA requiring Alyeska to remove all liquid-transport piping from its system that could not be assessed using ILI tools or a similar suitable inspection technique. Because other ILI tools could not navigate the pipeline geometry common to each of the eleven pump stations along the pipeline, Alyeska received approval to use a tethered robotic ILI crawler manufactured by Diakont to complete an inspection project at Pump Station 3. This tool allowed Alyeska to only remove a few small aboveground fittings to permit crawler entry into the piping, saving the time and expense necessary to excavate hundreds of feet of pipe (some of which was also encased in concrete vaults) to inspect by hand.

Nuclear power plants in the United States are subject to unique integrity management mandates per the Nuclear Energy Institute (NEI) NEI 09-14, Guideline for the Management of Buried Piping Integrity.

Tetherless robotic ILI crawler application examples

Natural gas pipeline operators can use tetherless robotic ILI crawlers for smaller distribution pipelines that are not located beneath critical infrastructure elements (e.g., freeway crossings).

NDT method comparison

Robotic NDT tools have the following advantages over other NDT methods:

Robotic tools have the following disadvantages against other NDT methods:

Related Research Articles

<span class="mw-page-title-main">Pipeline</span> Pumping fluids or gas through pipes

A pipeline is a system of pipes for long-distance transportation of a liquid or gas, typically to a market area for consumption. The latest data from 2014 gives a total of slightly less than 2,175,000 miles (3,500,000 km) of pipeline in 120 countries around the world. The United States had 65%, Russia had 8%, and Canada had 3%, thus 76% of all pipeline were in these three countries.

<span class="mw-page-title-main">Nondestructive testing</span> Evaluating the properties of a material, component, or system without causing damage

Nondestructive testing (NDT) is any of a wide group of analysis techniques used in science and technology industry to evaluate the properties of a material, component or system without causing damage. The terms nondestructive examination (NDE), nondestructive inspection (NDI), and nondestructive evaluation (NDE) are also commonly used to describe this technology. Because NDT does not permanently alter the article being inspected, it is a highly valuable technique that can save both money and time in product evaluation, troubleshooting, and research. The six most frequently used NDT methods are eddy-current, magnetic-particle, liquid penetrant, radiographic, ultrasonic, and visual testing. NDT is commonly used in forensic engineering, mechanical engineering, petroleum engineering, electrical engineering, civil engineering, systems engineering, aeronautical engineering, medicine, and art. Innovations in the field of nondestructive testing have had a profound impact on medical imaging, including on echocardiography, medical ultrasonography, and digital radiography.

<span class="mw-page-title-main">Pigging</span> Practice of using pipeline inspection gauges or gadgets to perform various maintenance operations

In pipeline transportation, pigging is the practice of using pipeline inspection gauges or gadgets, devices generally referred to as pigs or scrapers, to perform various maintenance operations. This is done without stopping the flow of the product in the pipeline.

<span class="mw-page-title-main">Magnetic flux leakage</span> Non-destructive testing method

Magnetic flux leakage is a magnetic method of nondestructive testing to detect corrosion and pitting in steel structures, for instance: pipelines and storage tanks. The basic principle is that the magnetic field "leaks" from the steel at areas where there is corrosion or missing metal. To magnetize the steel, a powerful magnet is used. In an MFL tool, a magnetic detector is placed between the poles of the magnet to detect the leakage field. Analysts interpret the chart recording of the leakage field to identify damaged areas and to estimate the depth of metal loss.

<span class="mw-page-title-main">Pipe (fluid conveyance)</span> Tubular section or hollow cylinder

A pipe is a tubular section or hollow cylinder, usually but not necessarily of circular cross-section, used mainly to convey substances which can flow — liquids and gases (fluids), slurries, powders and masses of small solids. It can also be used for structural applications; hollow pipe is far stiffer per unit weight than solid members.

<span class="mw-page-title-main">Phased array ultrasonics</span> Testing method

Phased array ultrasonics (PA) is an advanced method of ultrasonic testing that has applications in medical imaging and industrial nondestructive testing. Common applications are to noninvasively examine the heart or to find flaws in manufactured materials such as welds. Single-element probes, known technically as monolithic probes, emit a beam in a fixed direction. To test or interrogate a large volume of material, a conventional probe must be physically scanned to sweep the beam through the area of interest. In contrast, the beam from a phased array probe can be focused and swept electronically without moving the probe. The beam is controllable because a phased array probe is made up of multiple small elements, each of which can be pulsed individually at a computer-calculated timing. The term phased refers to the timing, and the term array refers to the multiple elements. Phased array ultrasonic testing is based on principles of wave physics, which also have applications in fields such as optics and electromagnetic antennae.

<span class="mw-page-title-main">Industrial radiography</span> Type of non-destructive testing

Industrial radiography is a modality of non-destructive testing that uses ionizing radiation to inspect materials and components with the objective of locating and quantifying defects and degradation in material properties that would lead to the failure of engineering structures. It plays an important role in the science and technology needed to ensure product quality and reliability. In Australia, industrial radiographic non-destructive testing is colloquially referred to as "bombing" a component with a "bomb".

Tubular NDT is the application of various technologies to detect anomalies such as corrosion and manufacturing defects in metallic tubes. Tubing can be found in such equipment as boilers and heat exchangers. To carry out an examination in situ, a manhole cover is usually removed to allow a technician access to the tubes. Alternatively, a tube bundle may be removed from a heat-exchanger and transported by forklift to a maintenance area for easier access.

Corrosion engineering is an engineering specialty that applies scientific, technical, engineering skills, and knowledge of natural laws and physical resources to design and implement materials, structures, devices, systems, and procedures to manage corrosion. From a holistic perspective, corrosion is the phenomenon of metals returning to the state they are found in nature. The driving force that causes metals to corrode is a consequence of their temporary existence in metallic form. To produce metals starting from naturally occurring minerals and ores, it is necessary to provide a certain amount of energy, e.g. Iron ore in a blast furnace. It is therefore thermodynamically inevitable that these metals when exposed to various environments would revert to their state found in nature. Corrosion and corrosion engineering thus involves a study of chemical kinetics, thermodynamics, electrochemistry and materials science.

<span class="mw-page-title-main">Friction stud welding</span>

Friction stud welding is a solid phase welding technique involving a stud or appurtenance being rotated at high speed while being forced against a substrate, generating heat by friction. The metal surfaces reach a temperature at which they flow plastically under pressure, surface impurities are expelled and a forged weld is formed.

Hot plate welding, also called heated tool welding, is a thermal welding technique for joining thermoplastics. A heated tool is placed against or near the two surfaces to be joined in order to melt them. Then, the heat source is removed, and the surfaces are brought together under pressure. Hot plate welding has relatively long cycle times, ranging from 10 seconds to minutes, compared to vibration or ultrasonic welding. However, its simplicity and ability to produce strong joints in almost all thermoplastics make it widely used in mass production and for large structures, like large-diameter plastic pipes. Different inspection techniques are implemented in order to identify various discontinuities or cracks.

<span class="mw-page-title-main">Guided wave testing</span>

Guided wave testing (GWT) is a non-destructive evaluation method. The method employs acoustic waves that propagate along an elongated structure while guided by its boundaries. This allows the waves to travel a long distance with little loss in energy. Nowadays, GWT is widely used to inspect and screen many engineering structures, particularly for the inspection of metallic pipelines around the world. In some cases, hundreds of meters can be inspected from a single location. There are also some applications for inspecting rail tracks, rods and metal plate structures.

<span class="mw-page-title-main">Natural gas pipeline system in the United States</span>

The US natural gas pipeline system is a complex system of pipelines that carries natural gas nationwide and for import and export for use by millions of people daily for their consumer and commercial needs. Across the country, there are more than 210 pipeline systems that total more than 305,000 miles of interstate and intrastate pipelines.

Acoustic resonance technology (ART) is an acoustic inspection technology developed by Det Norske Veritas over the past 20 years. ART exploits the phenomenon of half-wave resonance, whereby a suitably excited resonant target exhibits longitudinal resonances at certain frequencies characteristic of the target's thickness. Knowing the speed of sound in the target material, the half-wave resonant frequencies can be used to calculate the target's thickness.

A volatile corrosion inhibitor (VCI) is a material that protects metals from corrosion. Corrosion inhibitors are chemical compounds that can decrease the corrosion rate of a material, typically a metal or an alloy. NACE International Standard TM0208 defines volatile corrosion inhibitor (VCI) as a chemical substance that acts to reduce corrosion by a combination of volatilization from a VCI material, vapor transport in the atmosphere of an enclosed environment, and condensation onto surface in the space, including absorption, dissolution, and hydrophobic effects on metal surfaces, where the rate of corrosion of metal surfaces is thereby inhibited. They also called vapor-phase inhibitors, vapor-phase corrosion inhibitors, and vapor-transported corrosion inhibitors.

Microwave imaging is a science which has been evolved from older detecting/locating techniques in order to evaluate hidden or embedded objects in a structure using electromagnetic (EM) waves in microwave regime. Engineering and application oriented microwave imaging for non-destructive testing is called microwave testing, see below.

Weld purging is the act of removing, from the vicinity of the joint; oxygen, water vapour and any other gases or vapours that might oxidize or contaminate a welding joint as it is being welded and immediately after welding.

A variety of non-destructive examination (NDE) techniques are available for inspecting plastic welds. Many of these techniques are similar to the ones used for inspecting metal welds. Traditional techniques include visual testing, radiography, and various ultrasonic techniques. Advanced ultrasonic techniques such as time of flight diffraction (TOFD) and phased-array ultrasonics (PAUT) are being increasingly studied and used for inspecting plastic pipeline welds. Research in the use of optical coherence tomography (OCT) and microwave reflectrometry has also been conducted.

References

  1. 1 2 Ultrasonic Testing. The Hashemite University NDT Center. Accessed 2 March 2016.
  2. 1 2 In-Line Inspection Technology to Detect, Locate, and Measure Pipeline Girth Weld Defects. California Energy Commission, 2015. Web. Accessed 1 March 2016.
  3. de Raad, J.A., and J.H.J. Stalenhoef. MFL and PEC Tools for Plant Inspection. December 1998. Web. Accessed 1 March 2016.
  4. Drury, J.C, and A. Marino. A Comparison of the Magnetic Flux Leakage and Ultrasonic Methods in the detection and measurement of corrosion pitting in ferrous plate and pipe. October 2000. Web. Accessed 1 March 2016.
  5. Robers, M.A. and R. Scottini. Pulsed Eddy Current in Corrosion Detection. June 2002. Web. Accessed 2 March 2016.
  6. Pipeline Safety: Pipeline Integrity Management in High Consequence Areas (Gas Transmission Pipelines). Research and Special Programs Administration, 2003. Web. Accessed 1 March 2016.
  7. Ng, Deana Michelle and Sharon L. Tomkins. Amended Pipeline Safety Enhancement Plan of Southern California Gas Company (U 904-G) and San Diego Gas & Electric Company (U 902-M) Pursuant to D.11-06-017, Requiring All California Natural Gas Transmission Operators to File a Natural Gas Transmission Pipeline Comprehensive Pressure Testing Implementation Plan. December 2, 2011. Web. Accessed 9 March 2016.
  8. Robotic Crawlers Inspect Unpiggable Gas Pipelines in Urban Area. North American Oil & Gas Pipelines. September 29, 2015. Web. Accessed 9 March 2016.
  9. DeMarban, Alex. Crawling robot patrols Alaska pipeline’s formerly ‘unpiggable’ lines. July 5, 2015. Web. Accessed 9 March 2016.
  10. Bremer, David. Robotic Pipe Inspection to Meet License Renewal Commitments. Nuclear Plant Journal. March–April 2013. Web. Accessed 9 March 2016.
  11. Pipe surveying solution. Nuclear Engineering International Magazine. April 27, 2015. Web. Accessed 10 March 2016.
  12. Pipetel’s Explorer Robotic Inspection Tool Used to Inspect SoCalGas Pipelines. PR Newswire. August 16, 2011. Web. Accessed 15 March 2015.
  13. Southwest Gas chooses Pipetel for Unpiggable pipeline inspection as part of its commitment to safety. Northeast Gas Association. January 2014. Web. Accessed 9 March 2016.
  14. Welsh, Kathy. Central Hudson Tests Innovative Pipeline Inspection Robot. Hudson Valley News Network. October 8, 2015. Web. Accessed 15 March 2016.

Codes and standards