Hagen Schempf

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Visual inspection and nondestructive evaluation (NDE) of natural gas distribution mains is an important future maintenance cost-planning step for the nation’s gas utilities. These data need to be gathered at an affordable cost with the fewest excavations and maximum linear feet inspected for each deployment, with minimal to no disruption in service. Current(More)
Federal government agencies and an industrial industry consortium have funded Carnegie Mellon University (CMU) for the development of Explorer, a long range, untethered, modular inspection robot for the visual inspection of 6” and 8” natural gas distribution system pipelines. The robot can be launched into the pipeline under live conditions utilizing a(More)
Urban settings represent a challenging environment for teleoperated and autonomous robot systems. We present a new design for a highly terrainable robot system, detailing the major mechanical, electrical and control systems. The Pandora robot system is a tracked robot system with selfcontained computing, power and wireless communications systems. A sensor(More)
The Neptune system is a mobile robot system used to remotely inspect above-ground storage tanks (ASTs) while immersed in the petroleum product, in order to ascertain from the inside-out the state of corrosion of the floor and side-walls using video and ultrasonics, according to the guidelines laid out by the American Petroleum Institute (API). The robot(More)
The Marine Corps Warfighting Laboratory (MCWL) is currently funding the development of a mobile ground sensor for use at the small unit level that is operating in the urban environment, dubbed Dragon Runner. A preprototype evaluation unit was developed for MCWL and tested under simulated conditions in the former George AFB, Victorville, CA as part of(More)
US gas companies spend over $300 million annually detecting and repairing gas leaks in urban and suburban settings. The current approach is one of above-ground leak detection and pinpointing, followed by excavation, repair and restoration. The major cost incurred is typically that of digging and restoring the excavation site. The Gas Research Institute and(More)