Carnegie Mellon University

Shell Oil Comapny

Foster-miller, Inc.

Automatika, Inc.

Hagen Schempf

John Foreman Stewart

Steve John Kimminau

Edward Mutschler

Brian S Albrecht

Aarnoud Frederic Bijleveld

Hans J J Den Boer

Brian J Chemel

Scott Klaus Boehmke

William L Whittaker

Johannis Josephus Den Boer

William Abraham Crowley

Edward C Mutschler, Jr

Joshua N Guyot

Robert A Fuchs

Vitaly Goltsberg

A F Bijleveld

William Crowley

Jerry Lee Morris

A robot surveillance system includes a robot chassis, a drive subsystem for the chassis, a dock on the chassis, and a payout device associated with the chassis. A flying module is configured to be received in the dock and includes at least one rotor powered by a motor and a body portion including an imager. A tether is coupled to the payout device of the robot and to the flying module for allowing the flying module to climb out of the dock when powered to gain elevation for surveillance and imaging via the imager and for retracting the flying module to land on the robot and reside in the chassis dock after surveillance.

Robot surveillance system and method

The present invention provides a long-range, untethered, live, in-pipe inspection system that includes a self-propelled train having a plurality of modules; joint members for interconnecting adjacent modules, data collection components, and wireless communication components for transmitting collected data and receiving control messages. The module-train includes, generally, at least one, and preferably two drive modules, at least one power module and an electronics module. The train may additionally include at least one support module, which may be interposed between the power and electronics modules. In one embodiment of the invention, there are two drive modules, one at each terminal end of the train, two power modules, one adjacent to each drive module, two support modules, one adjacent to each power module, and one central electronics and computing module.

Gas main robotic inspection system

A multi-module pipe inspection and repair device. The device includes a base module, a camera module, a sensor module, an MFL module, a brush module, a patch set/test module, and a marker module. Each of the modules may be interconnected to construct one of an inspection device, a preparation device, a marking device, and a repair device.

Pipe inspection and repair system

A method and system are disclosed for moving equipment into and through a conduit that is preferably an oil and/or gas production well, wherein use is made of an uphole equipment storage and handling unit via which equipment modules can be moved into a launch conduit and connected to a shuttle device which is able to locomote itself as a wireless tractor via the launch conduit into and from the underlying conduit.

Method and system for moving equipment into and through an underground well

The present invention is a dynamically steerable mono belt apparatus and includes a first pivotable body element in communication with a second pivotable body element. A first pivot mechanism is attached to and positioned between the first pivotable body element and the second pivotable body element to allow the first pivotable body element to pivot in a first pivot plane of movement with respect to the second pivotable body element. The present invention also includes a continuous belt element formed as a loop and continuously rotatable in a first plane of rotation around the first pivotable body element, the first pivot mechanism and the second pivotable body element. The continuous belt element is flexible in the pivot plane of movement, such that when the first pivotable body element is pivoted, via the first pivot mechanism, in the pivot plane of movement, the continuous belt element is flexed.

Dynamically steerable mono belt apparatus

Method and system for moving equipment into and through a conduit

A method and system for measuring data in a fluid transportation conduit, such as a well for the production of oil and/or gas. The system employs one or more miniature sensing devices which comprise sensing equipment that is contained in a preferably spherical nut-shell which has an outer width which is smaller than the internal width of the conduit. One or more sensing devices are released sequentially in the conduit and are induced to move in longitudinal direction through the conduit to measure data at desired intervals of time, without requiring a complex infrastructure.

Method and system for measuring data in a fluid transportation conduit

A mobile vehicle having a substantially hexagonally-shaped frame member that is movable between a collapsed position to enable the vehicle to enter a vessel opening or an area having constrained access points and a more stable expanded position. Drive apparatuses are attached to the frame member for driving the vehicle on a surface. The vehicle is also equipped with a tether line that is used to supply control power to the vehicle drives and to deploy and retrieve the vehicle. Various collapsible tool members are operably attached to the vehicle for performing various tasks within an enclosed environment.

Collapsible mobile vehicle

A mobile vehicle having at least one endless driven member for driving the endless member on a surface capable of supporting a magnetic circuit. The vehicle is equipped with a magnetic system that is housed in a substantially hermetically sealed enclosure and comprises a magnet, a fixed magnetic circuit member, and a movable magnetic circuit member for establishing first and second magnetic circuits. A clutch is provided to selectively connect the movable magnetic circuit member to the motor to move the movable magnetic circuit member between a first position wherein the first magnetic circuit is established such that the endless driven member can magnetically engage the surface and a second position wherein the second magnetic circuit is established such that the endless member does not magnetically engage the surface. The enclosure is pressurized with a pressure medium at a predetermined pressure and temperature and is monitored by sensors within the enclosure. The pressure and temperature sensors interface with microprocessors which can trigger a shut down of the vehicle's components should anomalous pressure or temperature conditions occur within the enclosure. The vehicle also has permanent magnet tracks pivotally attached thereto to enable the vehicle to traverse between intersecting magnetic wall surfaces.

Reconfigurable mobile vehicle with magnetic tracks

A reconfigurable mobile vehicle having at least one endless driven member and a motor for driving the endless member on a surface capable of supporting a magnetic circuit. The vehicle is equipped with a magnetic system that comprises a magnet, a fixed magnetic circuit member, and a movable magnetic circuit member for establishing first and second magnetic circuits. A clutch is provided to selectively connect the movable magnetic circuit member to the motor to move the movable magnetic circuit member between a first position wherein the first magnetic circuit is established such that the endless driven member can magnetically engage the surface and a second position wherein the second magnetic circuit is established such that the endless member does not magnetically engage the surface. The vehicle is equipped with sensing apparatuses for analyzing the structural integrity of the surface upon which the vehicle is riding and is also equipped with acoustical positioning apparatus for assisting the operating personnel and computer in locating and controlling the vehicle's position within an enclosed environment. The vehicle is also equipped with a tether line that is used to facilitate the transfer of control power/data between the vehicle and the various operating components attached thereto and a control console located remote from the vehicle. The tether line is also used to deploy and retrieve the vehicle.

Growing community of inventors

Pittsburgh, PA, United States of America

Hagen Schempf