remote operated vehicle (rov) for underwater ultrasonic non destructive testing

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P roject G uide : D r . P rabhu R ajagopal S tudents : -T anuj J hunjhunwala (ME09B097) - s hehzaman k hatib (ME09B130). Remote Operated Vehicle (ROV) for Underwater Ultrasonic Non Destructive Testing. Dual Degree Project (2013-2014). Contents. Motivation Goals Proposed Concept - PowerPoint PPT Presentation

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Underwater Structural Health Monitoring Machine

Remote Operated Vehicle (ROV) for Underwater Ultrasonic Non Destructive TestingDual Degree Project (2013-2014)Project Guide: Dr. Prabhu Rajagopal

Students:-Tanuj Jhunjhunwala (ME09B097)-shehzaman khatib (ME09B130)ContentsMotivationGoalsProposed ConceptDesignTimelineBudgetFurther Research Project

1. MotivationRover required for inspecting offshore pipesCurrently diver based expensiveDeep water capability

Diver taking pipeline CP readingSource:- www.jcsubsea.comUnderwater ROVSource:- www.bluebird-electric.net2. GoalsCapable of navigating underwaterManually (wired) operatedCamera vision for live streaming to operatorGripper to clamp pipesNDT using Ultrasonic sensors on clamps

3. Proposed Concept

Source:- Norsk Elektro Optikk AS (www.neo.in)4. Design4.1 Design ConsiderationsMotors for propulsion (no ballast)Thrust requirement (assuming velocity=0.33m/s) = 1kgfHull Cylindrically ShapedEllipsoidal Profile of Hull cap (least drag)Dual hull, multiple thrusters designBottom heavy Elimination of Roll MotionPositively BuoyantWaterproofingO-ringSealants - Araldite

4. Design4.2 Decision Matrix Hull and Thruster ConfigurationDifferent designattributesSingle HullDual HullSingle thrusterMultiple thrusterAzimuthal ThrusterMultiple thrusterPower consumptionLessHighMediumMediumHighSpace availableLessLessLessHighHighEase of fabricationMediumMediumLessLessHighEase of ControlLessMediumMediumMediumHighManeuverabilityLessHighMediumMediumHighAccess to inside componentsLessHighHighHighMediumStabilityLessLessMediumMediumHighDesiredModerateNot desired4. Design4.3 Gripper DesignDual gripper (DC motor controlled/Pneumatic actuator)4 bar mechanismSensors to be attached on the inner side of the gripper

4. Design4.4 Electronics and VisionStability PID based stability control using multiple sensors and microprocessor(will be internal to the system)Motor Drivers Drive all the required thrustersVision system for manual control medium resolution camera with external light sourceWater proof wires Cables to be well insulatedPortability Control the entire ROV with a single laptop(minimal software) and prevailing UT testing systems

4. Design4.5 Prototype I [Dual Hull, 4 thrusters]

Bilge pump motors for propulsion

PVC Cylindrical HullFor SurgeFor HeaveNeutrally BuoyantWaterproofing (O-ring; Araldite)4. Design - 4.5 Prototype I (Video)

4. Design4.6 Analysis of Prototype IThe overall weight without gripper was 12 kgsThe major contributor were the thrusters 5.5 kgsThe motor response was as expectedSharp maneuvers were possibleNo leakage problemBalancing it required a hit and trial approach

4. Design4.7 Thrusters for Prototype 2Suggestion to buy new thrusters used in AUVsOnly few companies in the world make thoseSeabotix thruster BTD 150 is of our requirement Voltage:- 12 VDCWeight:- 720 gmsThrust: 2.9 kgf (required 1 kgf)Cost per thruster: $700

5. Timeline of proposed projectAugSeptOctNovDecJanFebMar Prototype 1-Design & fabricationGripper design, prototyping & testingPrototype 2 DesignFabrication & TestingROV testingArranging sponsorshipOrdering Thrusters6. Budget6.1 Mechanical

Note:- If we go through IC&SR customs duty can be avoidedComponentQuantityCost(INR)Thrusters5 (1 USD = 62 INR)2,20,000Shipping and customs$200+$10018,000Gripper315,000Hull210,000Manufacturing(machining, welding)15,000Miscellaneous and Buffer 12,000Total-2,90,0006. Budget6.2 Electronics and VisionComponentQuantityCost(INR)Microcontroller Arduino Mega27,500Accelerometer22,500IMU Sensor170,000Digital Compass15,000Motor Driver514,000Water Proof Wires66,000Printer Circuit Board25,000Camera215,000Miscellaneous Components -5,000Total-1,30,0006. Budget6.3 Overall BudgetMechanical2,90,000Electrical1,30,000Conferences/ Paper Presentations50,000Overall Buffer30,000Total5,00,0007. Further Research ProjectThis will lay down the framework for building underwater NDE machines in IITM and can be developed in later years to:Integrate more NDE techniques - such as guided waves in underwater pipes

Stimulate research in stability and control techniques for underwater vehicles

Build autonomous NDE machines for underwater pipesThank You

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