I notice that there doesn't appear to be any sketch of a typical pig launcher or pig receiver on any of those, so I will try to put up such a sketch on my virtualpipeline webspace page today (click on link that follows), along with a doc that describes the requirements for designing pipelines for passage of intelligent pigs. Look for those a bit later on today.
The August 2006 edition of the IChemE Loss Prevention Bulletin has a good article describing three pigging incidents and the corrective actions to prevent recurrence.