Inspection solutions for short pipelines in plant facilities ROSEN Headquarters / RTRC Switzerland - 2010 -

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

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

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: http://abduh137.wordpress.com/2008/05/01/the-50-major-engineering-failures-1977-2007-part-4/

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

Requirements for Pipe Inspection in Plant Facilities 23.04.2017 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

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

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

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

the Tractor & Inspection Unit 23.04.2017 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

RoHelix 40” – Status RoHelix 40” tool wire line version 23.04.2017 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

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.

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

SIC – Shallow Internal Corrosion 23.04.2017 SIC – Shallow Internal Corrosion SIC Sensors are based on Eddy Current technology for metal loss inspection on inner pipe wall. Internal 14 14

UT – Ultrasonic Testing 23.04.2017 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

EMAT – Electro Magnetic Acoustic Transducer 23.04.2017 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

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

Summary RoHelix concept for bigger diameter (> 30”) 23.04.2017 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

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RSS --> Robotic Survey System Specification 23.04.2017 RSS 16” – Specification RSS --> Robotic Survey System Specification   Target Unit Diameter 16 - 18 inch Passing 14 - 20 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

RoHelix 40” – Mechanical Specification 23.04.2017 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

SIC – Shallow Internal Corrosion SIC –Sensor