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IPC2022
September 26-30, 2022, Calgary, Alberta, Canada
IPC2022-87054
ABSTRACT
NOMENCLATURE
Many pipeline operators perform run comparisons (or “run-
coms”) during assessment of their inline inspection data. C Paris Law coefficient
Analysts match corrosion pit depths reported in back-to-back d true flaw depth
tool runs and estimate corrosion growth rates, remaining lives, g flaw growth rate
and appropriate reinspection intervals. This approach is m Paris law exponent
generally deemed more accurate than using an assumed constant N number of cycles
growth rate for all reported features. However, the accuracy of p pressure cycle magnitude
each estimate is subject to the depth sizing error inherent in the P probability
measurements. The larger a dataset, the higher the likelihood of r ILI reported flaw depth
many calculated corrosion growth rates being misleading. This s ILI reported systemic bias
is due to there being a higher likelihood of extreme depth sizing t absolute time
errors. A first run undercall followed by a second run overcall α signal to noise parameter
compounds the depth sizing error and may result in an overly ε random noise term
conservative decision. A first run overcall followed by a second σ standard deviation on depth sizing error
run undercall and may result in a missed defect. Both scenarios τ normalized time
can lead to a misuse of resources.
This work is a statistical analysis of flaw growth that 1. INTRODUCTION
considers and accommodates for depth sizing errors. The result
is that the growth rate for each ILI reported flaw is considered Inline inspection (ILI) tools and their resultant reports are a
probabilistically. Advanced data ingestion algorithms allow key source of data for integrity programs. This is due largely to
analysts to align multiple ILI tool run data sets quickly and their ability to examine, in detail, the whole of a pipeline in one
conveniently, opening the door to advanced data analytics, run, without the costly and time-consuming requirements to
including work with non-linear flaw growth rates. This work expose any particular area of the pipeline. A single run can detect
looks at corrosion and SCC growth rates (approximated as and size flaws above the tool’s minimum depth detection
linear) and fatigue crack growth rates that follow established threshold. Two or more successive runs can be compared to look
Paris Law behavior (non-linear). at the apparent change in depth of a flaw over time. If
comparison of two subsequent readings makes it appear a flaw
Keywords: pipeline & facilities integrity, inspection data has become shallower over time, any engineer will deftly note
management, defect detection & assessment. there can be random noise in an ILI depth reading. Faced with
1 © 2022 by ASME
two subsequent readings that show apparent growth of a consider this additional error when multiple data sets are
neighboring flaw though, it’s much harder for that same engineer available. The growth can be rewritten as
not to take the apparent growth rate at face value even if the same
noise and bias mechanisms may still be present. In this work we 𝑔𝑛𝑜𝑚 =
Δ𝑑
+
Δ𝜀
=𝑔+
Δ𝜀
(3)
Δ𝑡 Δ𝑡 Δ𝑡
look into explicitly incorporating the uncertainty in ILI readings
into probabilistic estimates of growth.
where g is the (unknown) true growth rate. Δε is a difference of
two random variables, and hence itself a random variable: one ε1
2. METHODOLOGY
from the random noise distribution that characterizes the new
ILI 1; and one ε0 from the random noise distribution that
Each depth reading (r) in an ILI can be decomposed into
characterizes the reference ILI 0.
three different components: the true depth (d), the systemic bias
While the true growth rate is fixed (assuming linear behavior
(s), and the random noise term (ε):
over some time interval), and Δε itself is independent of time, the
noise term’s contribution to the nominal growth rate is weighted
𝑟 =𝑑+𝑠+𝜀 (1)
by the inverse of the time between the ILI runs. For given noise
characteristics then between two independent ILI runs, the noise
The true depth is the actual depth of the flaw on the pipe at the
term becomes more and more dominant in the nominal growth
time it was measured. The systemic bias is any offset in the data
rate estimation as the time between ILIs grows shorter and
that affects all flaws in a predictable way relative to other
shorter. Two ILI runs taken a year apart would have five times
available data. In its simplest form this might be a constant offset
the effective noise of the same two runs taken five years apart.
if for example the whole ILI was uniformly overcalled or
Two recent ILIs may better sample any fast-changing flaws
undercalled. Often the readings are iteratively refined by the ILI
where Δd is large, but any flaws with steady, lower growth will
vendor to include the effect of a systemic bias, and thereby
have depth reading changes and nominal growth rates that are
produce a new set of readings where the bias is theoretically zero.
more volatile and unreliable. This could lead to neglecting some
Finally, ε is the random noise, the error part of each individual
due to apparent small or negative growth, while falsely repairing
reading that cannot be predicted from other information. It is this
others that seemed to be fast-growing simply due to the amplified
random noise that will be most of interest in this work.
random noise.
In this work we consider flaw growth, not from simply two
In an ideal world, one could determine actual random noise
“back-to-back” inspections, but from multiple successive ILI
distributions of each tool noise either from 1) extensive vendor
tool runs. This opens the door to considering both linear and non-
testing providing such distributions; or 2) enough real-world digs
linear flaw growth. Linear growth models are applicable to both
on the pipeline in question to directly determine the true depth
corrosion and (simplified) stress corrosion cracking. Non-linear
vs the readings. Unfortunately, due to cost and the variability in
growth models are applicable to fatigue crack growth, and the
each pipeline even for the same tool, it’s currently unlikely that
more complex stress corrosion cracking models. All data
detailed distributions of ε will be available. Instead, a best
discussed is simulated and only for the purpose of
alternative is to assume the noise is normally distributed with
demonstration. In each case, a mathematically “idealized” data
zero mean and a standard deviation derived either from vendor
set was prepared and depth sizing errors included using either
specifications, or confidence metrics such as “within 10% depth,
probabilistic integration or Monte Carlo techniques, as discussed
80% of the time.” In the normal (Gaussian) distribution case, the
below.
noise difference term is then itself also a zero mean normal
distribution, this time with
Two Point Linear Growth
When individual flaws are matched between ILIs, as is done 𝜎Δ𝜖 = √𝜎02 + 𝜎12 (4)
automatically in advanced integrity management software, or
can be performed manually on a smaller scale, it is possible to Where σ0 and σ1 are the standard deviations of the random noise
compute a growth rate based on those two depth readings. This terms of the two ILI tool runs.
nominal growth rate is directly proportional to the nominal depth In the PRCI-331 [1] work on probabilistic noise in depth
change as readings, they introduce a signal to noise parameter
Δ𝑑 𝑔
𝑔𝑛𝑜𝑚 =
Δ𝑟
=
Δ𝑑+Δ𝑠+Δ𝜀
(2) 𝛼= = Δ𝑡 (5)
Δ𝑡 Δ𝑡 σ 𝜎
In this work we assume the systemic bias has been corrected for They fit distributions to the results of Monte Carlo simulation of
previously. This is necessary, in part, as the problem becomes random noise added to real signal change. Amongst their results,
under-constrained for the case of only two ILI tool runs and they concluded that for a small enough value of α < αmin = 0.25,
analysis can result in meaningless solutions. Future work may they could not make any statement about the true growth rate.
Looking at it from the perspective of this work, if any given
minimum signal to noise ratio is necessary for confidence, one
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can see the time between ILIs is directly dependent upon that
minimum and the true growth rate as Δt ≥ σαmin/g. For fixed
noise characteristics, the smaller the growth rate we wish to
detect with a given signal to noise ratio requires inversely longer
time between sampling ILI runs.
Depth Estimation
The first two terms are the starting true depth and actual rate of Due to the limited range of flaw depths, the analysis above
growth, while the last term is a random variable due to the isn’t perfectly accurate, particularly near the limits of depth
random noise in the two ILI readings. In the case once again detection. It is physically impossible for a flaw to have negative
where the reading noise is characterized by normal distributions, fractional depth; also, once a flaw goes through the wall, it
then the random error in the depth distribution is a normal cannot get any deeper. Hence all readings and true depths will be
distribution with between 0 and 1: 𝑟, 𝑑 ∈ [0.0,1.0]. Note this analysis assumes
depths are reported as percent of wall thickness, as is typical of
𝜎𝑑 = √(1 + 𝜏)2 𝜎12 + 𝜏 2 𝜎02 (8) ILI metal loss reports. In determining a growth rate distribution
or future predicted depth distribution, it is necessary to take all
As can be seen, the uncertainty starts out with the same width the possible depths into account and weight them by their
(σ1) as the most recent reading; then gets more uncertain with likelihood to occur. For a linear growth rate of g between two
time, asymptotically approaching being linear with time 𝜏. It is subsequent true depths d0 and d1 measured Δt apart, then the
key to note here that all the prediction uncertainty is in terms of probability of that growth rate occurring is the probability of all
the normalized time, not the actual time. A longer baseline time depth pairs separated by gΔt.
between ILI assessments also allows projection into the future an
equal factor longer with the same uncertainty in depth 𝑃𝐺 (𝑔) ∝ ∫𝑑 𝑃𝐷1 (𝑑0 + 𝑔Δ𝑡)𝑃𝐷0 (𝑑0 )𝑑𝑑0 (9)
1 ≥𝑑0
estimation. This is illustrated in Figure 1 and Figure 2. The
longer assessment interval improves the accuracy of the rate Each distribution 𝑃𝐷𝑖 contains the probability of whatever
calculation. It also substantially decreases the likelihood of a random noise having been added to a true depth to obtain the
negative nominal calculated growth rate that is physically reading recorded. In general, each probability distribution 𝑃𝐷𝑖
meaningless in the context of corrosion.
will shift along with the recorded depth r, and will be truncated
at 0.0 fractional wall depth, and 1.0 fractional wall depth such
that the probability density is zero outside this domain. This
initial simplification is used as a “proof of concept” type
demonstration. An alternative approach would be to truncate at
0.10 and 0.80 fractional wall depth to represent the typical limits
of ILI reporting.
With enough vendor specifications of the tool noise, or
comparisons of readings to true field depths, it may be possible
to characterize the unique distribution for each tool or tool run.
In general though, sufficient data is not available to do more than
3 © 2022 by ASME
hypothesize an appropriate distribution and adjust its parameters Multi-Point Linear Growth
to best fit that data which is available. In this work, we employ a
truncated normal distribution whose center is at the reading A linear fit requires a minimum of two points to determine
value, and whose width is related to the quoted accuracy of the the degrees of freedom. If these two data points were perfectly
tool. For example, a tool that is accurate “within 10%, 80% of accurate, they would suffice to fully describe the situation.
the time” would have a standard deviation for a normal However, given the relatively large amount of noise in ILI depth
distribution of σ = 0.078. Examples of some of the various readings, usage of more than the minimum number of readings
simulations are provided in Figure 3. may provide a better estimate of the actual growth profile. Given
the availability of integrity management software that
automatically aligns any number of ILIs pit-by-pit, it is now very
(a) True and fit depth profiles 1 year realizable to leverage depth readings throughout a period of time,
instead of just the most recent two. Particularly for operators who
have inspected their pipe at a higher frequency than normal (e.g.,
once a year instead of every five years), it seems a waste to throw
away three very useful datapoints that are all within the span of
time the same estimate would be made with five-year sampling.
With a probabilistic approach to uncertainty, one can easily
expand the analysis above to consider any number of ILI
readings 𝑁. If ti is the date of each reading, with 0 being the
Time earliest reading considered, then the growth rate probability can
be written as
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(a)
Time (years)
Time (years)
(c)
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Where N is the number of pressure cycles, K the stress intensity In this case, the depth sizing errors are buried in the equation and
factor acting on the crack, and C and m the Paris Law parameters. cannot be isolated as easily as they were for the linear analysis.
Assuming a relatively constant pressure cycling severity (dp/dN There is potential for poor future predictions, given the depth
and dN/dt), we can infer a nominal growth rate by separating the sizing errors and exponential nature of the mathematics in
depth and time components from the equation and then combination.
integrating. This leads to the generic
(a)
∆(𝑟 1−𝑚/2 ) ∆[(𝑑+𝜀)1−𝑚/2 ]
𝑔𝑛𝑜𝑚 = = (12)
∆𝑡 ∆𝑡
Note that this integration requires that the Paris exponent is not
equal to two. The nominal growth rate reflects the (unknown)
Paris Law coefficient and effective pressure cycling severity
embedded in the calculated constant. This growth cannot be
interpreted as a “depth per time” type rate, due to the
mathematical non-linearity. Note also that depths used in crack
analyses are absolute depths rather than relative wall thickness.
ILI vendors typically report depth sizing errors as “within 1 mm,
80% of the time”, or similar.
The analysis is exacerbated by an unknown Paris Law
exponent. Two depth readings are insufficient to determine this
value. A common approach would be to assume a Paris Law
exponent of three. In this case:
Depth Estimation
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Probability Integration and three different depth sizing errors. Note that these figures are
sample results, and some analyses resulted in extreme random
Similar to the analysis provided for linear flaw growth, it is depth errors and therefore poorer predictions.
also possible to perform a probability integration. The
probabilities must be adjusted to reflect the non-linear nature of (a)
the growth. For a non-linear growth rate of g between two
subsequent true depths d0 and d1 measured Δt apart, then the
probability of that growth rate occurring is the probability of all
depth pairs separated by gΔt.
1
𝑚 𝑚
𝑃𝐺 (𝑔) ∝ ∫ 𝑃𝐷1 [(𝑑01− 2 + 𝑔Δ𝑡)1− 2 ] 𝑃𝐷0 (𝑑0 )𝑑𝑑0
(16)
(b)
Each distribution 𝑃𝐷𝑖 contains the probability of whatever
random noise having been added to a true depth to obtain the
reading recorded.
This methodology allows for an estimate of the remaining
life of a given flaw due to fatigue crack growth. A discussed
earlier, the inspection interval is important to the results. Shorter
inspection intervals are more likely to have true crack growth
less than the depth sizing errors of the ILI tool. In these cases,
the random noise may dominate the growth rate estimate and
result in many negative apparent growth rates. The resulting
(c)
remaining life estimates become meaningless. Longer inspection
intervals are required to avoid this issue.
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(a) Note that the rate constant “gnom” is different to the one
previously reported, which was derived from the integrated form
of the equation.
Linear regression of the three (or more) ILI reported crack
depths allows an estimate of both the generic rate constant
(which includes the Paris Law coefficient and cycling severity)
and the Paris Law exponent. Note that this methodology requires
the simplification that the crack growth rate as “depth per time”
is approximately linear between each pair of depth readings.
Experienced analysts will also recognize that linearization
of the equation to allow linear regression will introduce further
errors. The first issue to consider is that any pair of depths in
which the second reading is shallower than the first reading will
result in a negative value (hypothetical crack healing) which
cannot be logged. This issue is of more concern with shorter
(b)
inspection intervals and larger depth sizing errors. These pairs
must be removed from the analysis, or otherwise corrected,
skewing the results towards more logical depth pairings. The
second issue is that linearization of the equation skews the effect
of the depth sizing errors. Despite the expected difficulties,
regression of the idealized data using this technique resulted in
parameter estimates within 2%.
An attempt was made to estimate a Paris exponent from
simulated data with depth sizing errors. A Monte Carlo approach
was used with three simulated depth readings. The first is based
on a depth sizing error of “within 1 mm, 80% of the time”, and
the second and third with depth sizing errors of 0.5 mm and
0.25 mm, respectively. Only a fraction of the depth permutations
allowed for rate estimates. The results appear skewed due to the
(c) issues described.
Figure 9 shows a portion of the sample data. It is interesting
to note that the Paris exponent estimates vary -20 < m < 7 and
the rate constants vary by five orders of magnitude. These
estimates appear non-sensical. The change in sign reflects an
apparent deceleration of the crack growth that is physically
unlikely, unless pressure cycling severity decreases. Note that the
apparent errors in the Paris exponent and rate constants are the
result of a regression optimization, and largely offset each other
mathematically. They are all “correct” for the given data sets.
However, it demonstrates the extreme sensitivity of the
mathematics to minor perturbations in the data. The data trends
tighten up substantially with decreasing depth sizing error.
Many analysts would argue that non-linear analysis
techniques involving parameter estimation followed by iteration
FIGURE 8: EXAMPLES OF MULTIPLE DATA POINT
REGRESSION (PARIS M =3), ASSUMING (A) 1 MM DEPTH
and optimization would provide more precise values. However,
SIZING ERROR, (B) 0.5 MM SIZING ERROR, AND (C) 0.25 MM the difficulties of regression to only three data points appears to
ERROR. remain. Preliminary studies suggest these techniques are
possible, but results remain sensitive to the depth sizing errors.
Work in this area is continuing.
As before, the growth constant includes the Paris Law coefficient Although the estimation of the Paris Law exponent
and pressure cycling severity terms. Taking a logarithm of both encountered complexities with just three data points, it was
sides: attempted with up to eight data points. As discussed above,
increasing the number of data points moderates the effect of
𝑙𝑜𝑔 (
𝑟1 − 𝑟0
)=
𝑚
∙ 𝑙𝑜𝑔 (
𝑟1 + 𝑟0
) + log (𝑔𝑛𝑜𝑚 ) (18) extreme depth sizing errors. It also moderates the issues
∆𝑡 2 2 associated with linearization of the data.
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value of m = 3, but the regression was allowed to calculate an
appropriate value using the logarithm technique. This required
(a) including errors traps in the analysis algorithm to avoid the
numerical issues discussed above.
The figures show that accurate regression and remaining life
estimates are possible with additional data points, though there
is there is still some potential for non-conservatism. Again, these
figures are sample results, and some analyses resulted in extreme
random depth errors and therefore poorer predictions. Note that
all these simulations provide substantially better estimates than
the depth pairings shown in Figure 6.
3. CONCLUSION
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REFERENCES
(a)
1. PR-331-063525-S01, “Development of Detailed
Procedures for Comparing Successive ILI Runs to
Establish Corrosion Growth Rates”, Pipeline Research
Council International, July 2009.
2. Anderson, T. L., “Fracture Mechanics Fundamental and
Applications, Fourth Edition”, CRC Press, Taylor &
Francis Group 2017.
(b)
(c)
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