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2. Assessment of Existing Pipe Inspection Robots - IJMEM

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MSC Lab - Intelligent Control of Robot Manipulators

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DEFECT IDENTIFICATION USING DUCT CRAWLING MACHINEA PROJECT REPORTSUBMITED BYPATEL RAVI A [12ME507]PATEL MAULIK G
[12ME545]PATEL VARIJ K [12ME
PRAJAPATI HARSHIT H [12ME557]IN FULFILLMENT FOR THE AWARD OF DEGREEOFBACHELOR OF ENGINEERINGINMECHANICAL ENGINEERINGSILVER
OAK COLLEGE OF ENGINEERING
AND TECHNOLOGY, GOTA, AHMEDABAD -382481GUJARAT TECHNOLOGICAL UNIVERSITY, AHMEDABAD

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ENGINEERING AND TECHNOLOGYMECHANICAL DEPARTMENT OCTOBER, 2015 CERTIFICATE certify that the dissertation entitled "DEFECT IDENTIFICATION
USING DUCT CRAWLING MACHINE" has been carried out by
PATEL RAVI A, PATEL MAULIK G, PATEL VARIJ K, PRAJAPATI HARSHIT H under my guidance in fulfillment of the degree of Bachelor of Engineering in
MECHANICAL ENGINEERING (7th SEMESTER) of Gujarat Technological University, Ahmedabad during the academic year 2015-2016.GUIDE: Mrs. Roshni Raj
Kapadia.EXTERNAL EXAMINER:
w:t> that we are the sole authors of this UDP project report
and that neither any part of this UDP project report nor the whole of the UDP Project report has been submitted for a degree by other student(s) to
any other University or Institution.We certify that, to the best of our knowledge, the current UDP Project report does not infringe upon anyone's
copyright nor violate any proprietary rights and that any ideas, techniques, quotations or any other material from the work of other people included
in our UDP Project report, published or otherwise, are fully acknowledged in accordance with the standard referencing practices. Furthermore, to the
extent that we have included copyrighted material that surpasses the boundary of fair dealing within the meaning of the Indian Copyright (Amendment
Act 2012, we certify that we have obtained a written permission from the copyright owner(s) to include such material(s) in the current UDP Project
report and have included copies of such copyright clearances to our appendix.We have checked the write up of the present UDP Project report using
anti-plagiarism database and it is in the allowable limit. In case of any complaints pertaining to plagiarism, we certify that we shall be solely
responsible for the same and we understand that as per norms, University can even revoke BE degree conferred upon the student(s) submitting this UDP
Project report, in case it is found to be plagiarized.Team:Enrolment numberNameSignature120770119507PATEL RAVI A. 120770119545PATEL MAULIK G
PATEL VARIJ K.120770119557PRAJAPAI HARSHIT H.PLACE: SILVER OAK COLLEGE OF ENGINEERING AND TECHNOLOGYDATE:NAME OF GUIDE: MRS.
ROSHNI RAJ
KAPADIASIGNATURE OF GUIDE:
an individual yet it is a consistent motivation and help of the general population you work around. We are generously grateful to Mrs. Roshni Raj
Kapadia whose consolation, direction and backing from the starting to this level empowered us for creating and comprehension of the Project work. We
profoundly recognize backing of our regarded Head of Mechanical Department Mr. Mit Shah gave us the steady and humble direction all through the
venture work. We owe our most profound appreciation to Dr. Saurin Shah, Principal, SOCET who turned into our consistent wellspring of motivation all
through the work. PATEL RAVI A [12ME507]PATEL MAULIK G [12ME545]PATEL VARIJ K [12ME547]PRAJAPATI HARSHIT H [12ME557].abstractBasically robots
are
planned in such way that they expel human mediation from work concentrated and dangerous workplace. Sometimes they are additionally used to
investigate blocked off work places which are for the most part difficult to access by people. The assessment of conduit comes in same class on the
grounds that they convey poisonous chemicals, liquids and more often than not has little inward measurement or curves which get to be difficult to
reach to human. The complex inner geometry and peril content imperatives of duct interest robots for review of such conduit to check Corrosion level
of duct, recuperation of usable parts from duct inside, testing of slime and scale development on duct interior surface and so forth. Several plans
of imperfection utilizing duct crawling machine have been proposed in the writing to tackle the issues related with examination of these entangled
inside geometries. Planning of an in-conduit investigation robot is a troublesome errand and thus the planner must deal with the outline issues like
Mobility, Steer capacity, turning span, Size and shape versatility, Online versatility, Flexibility, Stability, Autonomous operation and impediment

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evasion, Efficiency at uneven surface, Safe operation, Material determination, Type of assignment to be performed inside the duct, Number of
kinematic sets, Operation in dynamic duct line, Retrieval of robot, User benevolent route and control framework, Range of operation, Quantitative
examination of deformities inside the duct. Based on over, this examination work presents examinations concerning outline issues relating
advancement of In-conduit investigation mechanical autonomy and proposes another model of an In-duct review robot to conquer some basic configurelist
of figuresFigure No.Page No. Description117Duct line which needs cleaning from inside 218People installing pipes320Installation of pipe421Water duct
line 1522Water duct line 2623Hydrogen duct line724Inner side of water duct line825Over head water duct line929Cleaner manually cleaning sewer
Driving wheel1131Inchworm principle1233Hovercraft type1334Walking 1435Snake worm type1536Wheel crawler mechanism1637Working mechanism 1739Main link
Link 11940Link 22041Link 32141 Link 42242 Link mover2342 Spring 2443 Wheel2543 Worm2644 Worm wheellist
FormSPAMMSSensor Based Autonomous Pipeline Mentoring and Maintenance systemRFIDRadio Recurrence Distinguishing ProofMcRAITMulti-channel
Redundant
Array of RFID Tagslist of contentSERIAL NO.SUB-SERIAL NO.CONTENTPAGE NO.ITITLE PAGE1IICERTIFICATE2IIUNDERTAKING OF
ORIGINALITY3IIICOMPLITATION
CERTIFICATE4IVACKNOWLEDGEMENT5VABSTRACT6VILIST OF FIGURES7VIILIST OF ABBREVATIONS 8VIILIST OF
CONTENTS91INTRODUCTION112MOTIVATION AND OBJECTIVES
PROBLEMS IN DUCT LINES183.1OIL LINES 203.2ETHANOL LINES223.3HYDROGEN LINES243.5WATER LINES254NAVIGATION WITHIN DUCT LINES 5285
CLASSIFICATION OF
CRAWLER305.1IDENTIFYING BIGGEST CHALLENGES315.2DRIVING WHEELS325.3INCHWORM PRINCIPLE33SERIAL NO.SUB-SERIAL NO.CONTENTPAGE
NO.5.4HOVER CRAFT
WALKING 355.6 SNAKE WORM366SELECTION OF CRAWLER 377 MECHANISM387.1MAIN LINK407.2LINK 1417.3LINK 2417.4LINK 3427.5LINK 4427.6LINK
MOVER437.7SPRING
WHEEL447.9WORM447.10WORM WHEEL458APPLICATION, ADVANTAGE & DISADVANTAGES OF CRAWLER469CONCLUSION4810REFERENCES501.
introductionRobotics is one of the
quickest developing building fields, in a matter of seconds they are utilized for wide mixed bag of works, particularly in assembling commercial
ventures.e.g. Spot welding, Stacking and emptying of hardware and work piece, < Painting and so forth. <Primarily robots are outlined
in such way that they decrease human mediation from work escalated and dangerous workplace; some of the time it is likewise used to find distant work
place which is for the most part difficult to access by people. The complex interior geometry and risk content limitations of ducts require robots
for review reason. With these imperatives, investigation of ducts turns out to be so more essential that, enduring it may prompt a few genuine modern
mischances which sully environment and loss of human lives moreover. For assessment of such ducts, robot necessity is should particularly keeping in
mind the end goal to check erosion level of conduit, recuperation of usable parts from duct inside, for examining of slime and scale arrangement on
duct interior surface and so forth. Designing of another in-duct review robot is completed in this exploration work. It includes kinematic and
dynamic examination of drive sort robot. Kinematic estimations are performed to discover the direction of rotor movement and to likewise to break
down the movement of robot in straight and bended duct line. From the dynamic mathematical statement of robot the impact of frictional power, drag
drive and mass of the robot are break down on the robot to locate the required least engine torque for moving in even, slanted and vertical duct

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lines. In the wake of performing configuration steps, strong model is readied in SOLIDWORKS of the proposed robot. Motion test study are performed
with the assistance of this strong model. In-Duct Inspection Robots are broadly utilized as a part of petrochemical, water supply and liquid
transportation commercial ventures. Numerous specialists have been done work to grow new in-duct robots to upgrade different parts of in-conduit
examination robot like vision, control and movement or robot. Examination work of these specialists are checked on to discover the configuration
reasoning, abilities and constraint of diverse sorts of robot on the bases of survey it has been found that the in-duct robot can be ordered into
three primary classes and eight sub classifications. 1] Wheel sort:
sort
wheels' sort robot:
wheels are specifically joined with engine to get coveted motion. They have basic structure, and better speed control with little auto like structure
while in divider squeezed robot, the wheels are mounted on the flexible arms which give versatility and required frictional power to the robot
Screw sort robots have two modules a stator and a rotor. Rotor made out of three tilted wheels at a particular edge. Rotor is straightforwardly
associated with engine and it changes over the pivot of engine into interpretation of robot. Stator of screw drive sort robot comprise three
straight wheels which give the soundness to the robot and keep the robot from response power, comes because of turn of rotor. Caterpillar sort robot
has two classes viz. caterpillar sort robot basic and caterpillar robot divider squeezed sort structure. Caterpillar robot basic structure has belt
bound wheels which are associated with actuators. Belt limited wheels give more grating to the robot and makes it ready to proceed onward un-even
surface too. W all squeezed robots are configuration to climb vertical and slanted duct lines of unpleasant insides. W ithout wheel sort robots can
be arranged into three classifications i.e. inchworm sort robot which have inch worm sort movement in conduit line with the assistance of two bracing
and one flexible module. Snake sort robot have number of explained dynamic modules and Leg sort robot has the capacity climb vertical and even
conduit line 2. motivation and objectivesProactive checking and incessant examinations are basic to keep up duct line's wellbeing as gas, oil, water
and sewer conduit lines have turned into a crucial piece of life. Consequently, the ceaseless proactive observing and upkeep framework for these duct
lines is fundamental, on the other hand, arrangement checking, and support of them ought to remain practical, versatile, and effectively adaptable
A number of advances, which are proposed and accessible to screen, control, and keep up differing sorts of duct lines, have still stayed in
unsuitable those prerequisites because of their impediments. In this exposition, we go for outlining a financially savvy conduit line upkeep and
observing framework. Such a framework would permit incessant review, early identification of issues, controllable blunder restriction, and arranged
recuperation measures. To perform those objectives, we trust that an observing framework for duct lines ought to consolidate sensor innovations
which are appropriate for occasion confinement, and mechanical methods, which permits proactive and restorative checking. Moreover, we contend that a
more productive procedure for finding articles and occurrences ought to be coordinated in such frameworks. Such a system ought to utilize constructed
in protests that are weak, simple to include, and thickly sent. Based on the speculation, we have added to a novel strategy, called SPAMMS (Sensor
based Autonomous Pipeline Monitoring and Maintenance System), which consolidates sensor and mechanical strategies with radio-recurrence
distinguishing proof (RFID) innovation for proficient occasion restriction and proactive and restorative observing of an expansive range of duct line
sorts. Besides giving proficient limitation of articles and episodes, our system has accomplished the effective confinement with minimal effort and
controllable slips. Be that as it may, the SPAMMS framework can be altogether enhanced by productive restriction procedure and upgraded real parts
Fixed Sensor, Mobile Sensor, and Robot Agent. Thus, in this exposition, we firstly propose a RFID-based limitation system, pertinent to any sort of

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duct line system. It permits controllable confinement mistakes as in the edge it achieves are controlled by a small amount of the separation
isolating two progressive limitation objects. For the altered sensor upgrade, we also propose another structure for feeble stockpiling utilizing a
multiple ducted redundant array of RFID tags (McRAIT) to expand vileness by sensors and specialists, stockpiling limit and adaptation to non-critical
failure of labels and correspondence. It likewise accelerates the correspondence with sensors and operators. For the portable sensor improvement. W e
thirdly propose the configuration of a versatile portable sensor that has the capacity incorporate a number detecting capacities, a configurable
transmission capacity, and correspondence convention with McRAIT. Adaptability permits the sensor to adapt to duct line nature, RFID frameworks
engendering components, and detecting capacities. Configurability permits the sensor to adapt to suitable proliferation model. Since the time spent
in the conduit line system is generally short, the sensor we create permits larger amount of handling contrasted with the accessible sensor
arrangements. For the robot operators upgrade. W e in conclusion propose outline of a model of a self-ruling, topology-mindful robot specialists with
distinctive detecting capacities and actuators to perform itemized investigation and respond to the recognized episodes for remedial observing. It
uses tilted and fragmented caterpillars to permit the robot operators to overcome movement peculiarity issues that may happen in the conduit line
twists (e.g., T-, or Y-twists). W e call this improved framework the SPRAM System (Sensor-based Autonomous duct line Monitoring Robotic System) all
through this paper. With the upgrades, we will demonstrate the expense viability and adaptability of utilizing an observing in view of portable
sensors, mechanical operators, and numerous directed excess cluster of RFID labels for proactive and restorative checking of conduit lines conveying
diverse materials, for example: gas, water, sewages.3. problems in ductlinesTherefore, upkeep of conduit lines is crucial with a specific end goal
to keep them useful, and in addition the continuation cost for these exercises are being expanded. Even with the aforementioned issues in conduit
line, individuals still lean toward them. The reason being, conduit lines are utilized as a part of transporting substances through a simple duct
More often than not fluid and gasses are sent through conduits. Fig. 1 Duct lines which needs cleansing from insidesPneumatic tubes that vehicle
strong cases utilizing compacted air are additionally being utilized. Like gasses and fluids, any artificially stable substance can be sent through a
duct line. Hence sewage, slurry, water, and even brew conduit lines exist. With this information we can characterize duct lines concerning the
substance that it conveys. A few illustrations of diverse sorts of conduit lines, which are presently in broad use, are depicted this.Fig. 2: People
installing the duct lines3.1 oil ductlines Dmitri Mendeleev, in 1893, recommended duct lines for transporting Petroleum; most nations have
these conduit lines. These ducts began to get broadly utilized far and wide. In the year 2007, the aggregate length of oil and gas conduit lines
world was very nearly two million km, and in the United States had 793,285 km oil/gas duct lines. Duct lines are for the most part the most
efficient approach to transport extensive amounts of oil or characteristic gas over area. Contrasted with railroad, they have lower expense per unit
with higher limit. The material utilized as a part of assembling Oil conduits are from steel or plastic tubes with internal distance across normally
fluctuating from 4 to 48 inches. Most conduit lines are covered underground at a common profundity of around 3 to 6 feet. The
movement by pump stations along the conduit line, and more often than not streams at a pace of around 1 to 6 m/s. Multi-item duct lines
utilized to transport two or more diverse items in grouping on the same duct line. For the most part in multi-item conduit lines there is no physical
partition between the diverse items. Some blending of adjoining items happens, delivering interface. This interface is expelled from the conduit
line at getting offices and isolated to anticipate pollution. Two of surely understand oil-duct line assessment robots
SCRAPERS, They are delineated in fig Oil contains shifting measures of wax, or paraffin. In colder atmospheres wax amassing may happen inside of a
duct line. Frequently these duct lines are examined and cleaned utilizing conduit line assessment gages There are shifts gages accessible like

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otherwise called SCRAPERS. These gadgets are dispatched from PIG-launcher stations and go through the duct line to be gotten at some other station
down-stream; Cleaning wax stores and material that may have aggregated along the line fig. 3 Installation of ducts3.2 ethanol ductlinesThese duct
lines are majorly utilized as a part of Brazil and United States. There are a few ethanol duct line ventures in Brazil and the United States. Main
issues identified with the shipment of ethanol by conduit line are its high oxygen content, which makes it destructive, and ingestion of water and Im
purities in duct lines. Experiment led on ethanol in mid 1980's. Prior to the test was led; PIGS were utilized as a part of the conduit line. After
the test a couple of recommendations were made like; much of the time dewatering of mainlines utilizing PIGS and circles, and utilizing shut floater
stockpiling tank to avoid water ingestion. Samples of surely understood ethanol duct lines are portrayed in figureFig. 4: water
Water duct line 23.3 hydrogen ductlinesThe most practical approach to move vaporous hydrogen over a long separation is by means of duct line
Hydrogen duct line is utilized for transportation of hydrogen through a duct as a hydrogen's feature base. Hydrogen conduit line is utilized to
interface the purpose of hydrogen creation or conveyance of hydrogen with the purpose of interest, with transport costs like packed characteristic
gas (CNG). Most hydrogen is delivered at the spot of interest with each 50 to 100 miles a modern creation office. The 1938
hydrogen conduit line is still in operation. Starting 2004 there are 900 miles of low weight hydrogen conduit lines in the USA and
Europe. In Hydrogen transportation, conduit line conveyance weight can go up to 700-1,000 psi. A few samples of hydrogen duct lines are portrayed
figure.Fig. 6: Hydrogen duct lines3.4 water ductlinesfig. 7: Inner side of water duct linesThis is a standout amongst the most utilized duct
all around the globe and an old strategy too. The primary individuals to transport water were the Romans to transport huge reservoir conduits water
from higher elevations by building the water ducts in graduated sections that permitted gravity to just push the surging water along until it came to
its planned destination. As we saw that conduit lines are helpful for transporting water for drinking or watering system over long separations when
it needs to move over slopes, or where waterways or ducts are poor decisions because of contemplations of vanishing, contamination, or natural effect
Plumbing got from the Latin plum bum for lead, is the gifted exchange of working with conduits, tubing and ducts apparatuses for drinking water
frameworks and the seepage of waste. Ducts is a ducting framework constitutes the type of liquid transportation that is utilized to give consumable
water to their homes and business furthermore uproot waste as sewage. The plumbing industry is a fundamental and generous piece of each created
economy, because of the requirement for clean water and legitimate gathering and transport of squanders. O A building's waste-transfer framework has
two sections:
driving out of different ducts apparatuses to the building duct (inside) and afterward the building sewer (outside). Fig. 8: Overhead water
linesO The building sewer is then associated with a metropolitan clean sewage transfer framework. Where association with a city sewage framework is
impractical, a neighborhood, private, code-sanction septic framework is required. O Plumbing seepage and venting frameworks keep up nonpartisan
pneumatic stress in the ducts, permitting stream of water and sewage down ducts and through waste conduits by gravity. O As such, it is basic that a
descending incline be kept up all through. In moderately uncommon circumstances, a descending slant out of a building to the sewer can't be made, and
an exceptional accumulation pit and crushing lift 'sewage ejector' pump are needed.4. navigation within ductlinesAs specified above, duct lines must
be all around kept up for maintaining their usefulness, in spite of the fact that their material and structure designing have astoundingly enhanced
for the toughness. In addition, expense of the upkeep has been expanded colossally because of expanded length of duct lines. What's more, a large
portion of sewer duct lines are covered or covered up into dividers for their security and concealing their present in the encompassing. Along these
lines, the duct line openness to human for support exercises is extremely restricted on the grounds that a significant number of them are too little

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to work for human. Despite the fact that there are couple of enormous once, individuals would prefer not to work inside as a result of grimy and also
dangerous. For instance, sewerage water can be flooded when sewer duct lines are obstructed by sludgy or messy things. For this situation, blockages
must be expelled from the duct. Generally all territories can be ruined by filthy water because of surge. There are a few approaches to uproot these
things. Initially, blocked ducts can be infiltrated with a long stick or wire however it is extremely hard to do as such when duct lines are twisted
Second, blockages can be extinguished utilizing pneumatic stress, yet it doesn't work when conduit have outlets or clatters between the blockage and
beginning stage of gaseous tension. Third is an exhuming of the zone which is suspected for obstructing (a few samples are appeared in Fig. Fig
Cleaner manually cleaning the sewerThe trouble here is a finding stopped up region and it likewise requires long investment and huge expense
Presently we can consider a duct line robot at this circumstance. On the off chance that a duct line robot can travel, discover and uproot these
things in duct lines, we can essentially lessen the recuperation cost and also time. We can maintain a strategic distance from labor for these
occupations. In this way, a duct line robot can be an unequivocally recommendable answer for duct line support and maintenance.5. classification of
crawler5.1. Identifying the biggest challenges: The main challenges faced are: The little least distance across of the duct. This makes it more
difficult to monetarily accessible parts for the robot. The huge proportion between the greatest and the littlest funnel breadth. Going up
slant requires some kind of preloading component to give salient
arrangements/ideas to the given task, the accompanying strategies were utilized: Examine existing robots and related literature (including some
patent examination). Brainstorming. 5.2 driving wheelsFig. 10: driving wheelEnergy efficiency (moving contact is entirely low).
any means hampered by little knocks and obstructions (this relies on upon the wheels measure and the wheels material). Not all wheels must
impelled, so the required number of actuators is little.5.2 inchworm principle Fig. 11: inchworm principleThe inchworm rule depends on an
of grippers and straight actuators. At the point when utilizing for instance 2 grippers and 1 direct actuator, the development goes as
gripper 1 clips and gripper 2 discharges, the direct actuator amplifies, gripper 2 clasps furthermore, gripper 1
contracts and it starts from the very beginning once more. Actuators are required for both expansion and holding, every one of these actuators take
Up space and utilize vitality. Potentially ready to go up steep inclines without slipping. Contact with divider is lost and restored amid every
stride'. The vitality used to Clasp can't be recouped, so there is some vitality misfortune here. There is no moving contact in the middle of divider
and robot, so possibly no misfortune through rubbing. This will require an exceptionally complex system.5.4 hovercraft Fig
Hover craft typePossibly low erosion with funnel divider, so no vitality lost through contact. Difficult to make the pad to all duct sizes. It is
difficult to overcome tallness differences. Propeller is a moderately inefficient drive system.5.5 walkingFig. 34: WalkingThere is no moving
in the middle of divider and robot, so conceivably no misfortune through grinding. Payload is constrained, in light of the fact that strolling
requires very much a muddled drive framework The mass is constrained to what the legs can convey. Most likely low vitality efficiency, on account of
vast number of actuators required to produce a mobile walk5.6 snake wormFig. 14: Snake wormIt can travel through numerous different funnel widths
hindrances, in light of the fact that this Idea comprises of numerous modules and it can move utilizing one of the various strides. A expansive
number of joints and actuators is vital. It will be difficult to and Furthermore, to such a variety of actuators in a robot that it's through a 57 mm
duct. Probably low vitality efficiency, in light of the fact that it requires numerous actuators and they Continually alter course to create the
robot's step.6. selection of crawler
normally utilized setup for as a part of duct assessment robots. The attention is primarily on ideas that can preload themselves in the duct

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Preloading for this situation implies that the robot can manage the ordinary constrain that the wheels apply on the funnel divider, autonomous of the
robot's mass. Keeping in mind the end goal to finish this, three wheels for every drive unit are sufficient when appropriately put. There is
countless configurations, however just two essential ideas were chosen for this venture:
the funnel's pivot.
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inspecting complex shaped duct structures. In Proceedings of the 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.http
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