Natural Gas migrates away from leak

    Numerous leaks upstream and downstream of initial leak

    Natural Gas saturates the soil over a large area

    Detection equipment is not properly calibrated or the
    correct narrow-bore tubes and pumps do not match gas
    application; causing excessive dilution of the sample by air

    Detection is performed above ground not at leaking source

    Water table variable distorts above ground metering of gas

    Sense gas concentrations 10% Lower Explosive Limit
    (0.5%) gas, and detect leaks from low pressure service


    Robotic platforms can be configured to handle a magnitude of endeavors ranging from natural gas lines to water and sewer lines. Generation two will be geared
    towards high power transmission lines and coaxial cable lines. The platforms will provide the end user real time interfacing with live data and video
    feedbackduring mission or task.


    The pipeline robotic system came into existence to give a complete scope of the
    country’s aging infrastructure. To determine the remaining lifespan of the pipelines
    using innovative technologies.

    July 1, 1929 the United States Bureau of Mines estimated that 40,800 miles of
    natural gas trunk lines already existed in the United States. But out of these 40,800
    miles of natural gas trunk lines they did not met the API Standard 5LX "Specification
    for High Strength Line Pipe.

    The EPA estimated in August 2004 that the volume of combined sewer overflows
    discharged nationwide is 850 billion gallons per year. Sanitary sewer overflows,
    caused by blocked or broken pipes, result in the release of as much as 10 billion
    gallons of raw sewage yearly, according to EPA.

    The pipelines are ticking time bombs, and majority have never been inspected since
    their installation.

    Current inspection methods are hazardous, inaccurate, not cost effective, offer
    limited inspection (tethered), and cause service interruption.

    As pipelines age the stress concentration factors accelerates rapidly causing fatigue
    in pipe joints, elbows, and wrinkle bends.


      The robot system acts primary as a preventative maintenance tool, and secondary as a early warning indicator of existing infrastructure problems.

    To inspect the entire plumbing circuits (including valves, tees, couplers, reducers, and elbows) of gas, water, and sewer lines on a routine basis for all U.S cities
    and outlining areas.

    The robot will give the end user (utility company) the ability to function test the valves while the robot provides live video feed to the end user of the condition and
    operating thresholds of the valve from a visual perspective. Is the valve working within specifications?

    To provide engineers with data to determine which pipe segments need cleaned, repaired, or replaced. And to determine which pipe segment are in immediate
    need of corrective measures.  

    To locate leaking gas lines and determine the saturation level of contaminated soil around pipeline.

    Ultimately to provide data in reference to stress and fractures, detection of cracks, corrosion, abrasion, and other abnormalities inside pipeline

        Robotic Insertion Asset Platform

    Robotic Insertion Asset

    A battery of inspection cameras, imaging scopes, sensors including toxic
    chemicals and nerve agents

    Magnetic Flux Leakage (MFL) sensor or Permanent Magnetic Perturbation
    (PMP) sensor

    No service interruption, robotic is inserted at existing service port

    Robot is configured to travel vertically or horizontal including passing through
    elbows up to ninety degrees and traveling through valves.

    Wireless robotic system

    Re-charging system allows for unlimited travel

    Emergency retrieval circuit configured to robot

    Three dimensional mapping of compromised pipe sections

    End user can control robotic system remotely

    Innovative direct drive offers 100% power efficiency

    Able to operate in harsh

Supports CAN Specification 2.0B (Standard and Extended Data and Remote Frames)

    Two independent CAN cores with one host-controller interface

    Programmable data rate up to 1mbps

    Programmable baud rate prescaler (up to 1/256)

    Programmable internal 27-bit acceptance filtering for both CAN’s

    8-bit host-controller interface

    Application specific interface to the host-controller on request

    Configurable interrupt sources

    Special “self test” logic for test-cases inserted

    HDL design, complete synthesizable

    Link to commercial bus drivers

    The Dual CAN Controller synthesizes to approximate 8250 gates

     Product on the Market Today

    Inspection w/ standard camera configured with LED's

    System has limitations in poor conditions     ( water, mud)
    - excavation required to insert tool, service interruption on gas service

    - can not maneuver vertically or horizontal through elbows, connectors,
    reducers, and valves throughout system

    System has distance limitations along with no live feedback and control
    functions; the systems operate on program and allows no user interface
    control during operation or until retrieval

    Explosion due to lack of inspection technology: The pipeline failed
    due to corrosion that had not been detected during gas company’s
    periodic safety inspection. Natural gas released a fireball that
    scorched an area of 1,125 feet in diameter, and damaged 100 homes.
    Sept 14, 2008            Appomattox, VA

    Image below is another disaster that could have been avoided if
    a pipeline robotic system was implemented.  Leaking gas main
    caused by leaking water main rupture - street collapse


 Inspection & Repair Robotic Systems for Utilities Infrastructure

          - pipelines: crude oil, hydrogen, natural gas, sewer, and water
          - transmission lines: coaxial cable, fiber-optic, and electric

  Military and Government Agencies

         - reconnaissance
         - explosive ordinance disposal
         - tactical operations

  Robotic System for deep mining, marine, and sub terrain exploration