Development of an Autonomous Robot for Gas Storage Spheres Inspection

Inspection for corrosion of gas storage spheres at the welding seam lines must be done periodically. Until now this inspection is being done manually and has a high cost associated to it and a high risk of inspection personel injuries. The Brazilian Petroleum Company, Petrobras, is seeking cost reduction and personel safety by the use of autonomous robot technology. This paper presents the development of a robot capable of autonomously follow a welding line and transporting corrosion measurement sensors. The robot uses a pair of sensors each composed of a laser source and a video camera that allows the estimation of the center of the welding line. The mechanical robot uses four magnetic wheels to adhere to the sphere's surface and was constructed in a way that always three wheels are in contact with the sphere's metallic surface which guarantees enough magnetic atraction to hold the robot in the sphere's surface all the time. Additionally, an independently actuated table for attaching the corrosion inspection sensors was included for small position corrections. Tests were conducted at the laboratory and in a real sphere showing the validity of the proposed approach and implementation.

Influence of different banana cultivars on volatile compounds during ripening in cold storage

The aroma responsible for the flavor of fruits is highly susceptible to low temperatures in storage. The present study investigated the volatile composition of the Nanicao and Prata banana cultivars by testing pulp and whole fruit under cold storage conditions. The volatile fractions were characterized using headspace solid phase micro-extraction (HS-SPME) and gas chromatography-mass spectrometry (GC-MS). The cold storage induced changes in the volatile profile relative to the profile of the control group. The result of principal component analysis revealed that cold storage more strongly affects the Nanicao than the Prata cultivar. Esters such as 2-pentanol acetate, 3-methyl-1-butanol acetate, 2-methylpropyl butanoate, 3-methylbutyl butanoate, 2-methylpropyl 3-methylbutanoate and butyl butanoate were drastically reduced in the cold group of the Nanicao cultivar. Our results suggest that the metabolism responsible for the production of volatile compounds is related to the ability to tolerate low temperatures. (C) 2012 Elsevier Ltd. All rights reserved.