remote operated vehicle (rov) for underwater ultrasonic non destructive testing dual degree project...

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  • REMOTE OPERATED VEHICLE (ROV) FOR UNDERWATER ULTRASONIC NON DESTRUCTIVE TESTING Dual Degree Project (2013-2014) Project Guide: Dr. Prabhu Rajagopal Students: -Tanuj Jhunjhunwala (ME09B097) -Shehzaman Khatib (ME09B130)
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  • Contents 1. Motivation 2. Goals 3. Proposed Concept 4. Design 5. Timeline 6. Budget 7. Further Research Project
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  • 1. Motivation Rover required for inspecting offshore pipes Currently diver based expensive Deep water capability Diver taking pipeline CP reading Source:- Underwater ROV Source:-
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  • 2. Goals Capable of navigating underwater Manually (wired) operated Camera vision for live streaming to operator Gripper to clamp pipes NDT using Ultrasonic sensors on clamps
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  • ROV (wired) is controlled by operator ROV navigates underwater to reach pipe using thrusters Camera on the ROV provide visual feedback to operator Gripper on rover clamps the pipe (to be inspected) Performs Ultrasonic NDT Send back sensor data to the operator Analyses and detection of defects 3. Proposed Concept Source:- Norsk Elektro Optikk AS (
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  • 4. Design 4.1 Design Considerations Motors for propulsion (no ballast) Thrust requirement (assuming velocity=0.33m/s) = 1kgf Hull Cylindrically Shaped Ellipsoidal Profile of Hull cap (least drag) Dual hull, multiple thrusters design Bottom heavy Elimination of Roll Motion Positively Buoyant Waterproofing O-ring Sealants - Araldite
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  • 4. Design 4.2 Decision Matrix Hull and Thruster Configuration Different design attributes Single HullDual Hull Single thruster Multiple thruster Azimuthal Thruster Multiple thruster Power consumption LessHighMedium High Space available Less High Ease of fabrication Medium Less High Ease of Control LessMedium High Maneuverability LessHighMedium High Access to inside components LessHigh Medium Stability Less Medium High DesiredModerateNot desired
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  • 4. Design 4.3 Gripper Design Dual gripper (DC motor controlled/Pneumatic actuator) 4 bar mechanism Sensors to be attached on the inner side of the gripper
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  • 4. Design 4.4 Electronics and Vision Stability PID based stability control using multiple sensors and microprocessor(will be internal to the system) Motor Drivers Drive all the required thrusters Vision system for manual control medium resolution camera with external light source Water proof wires Cables to be well insulated Portability Control the entire ROV with a single laptop(minimal software) and prevailing UT testing systems
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  • 4. Design 4.5 Prototype I [Dual Hull, 4 thrusters] Bilge pump motors for propulsion PVC Cylindrical Hull For Surge For Heave Neutrally Buoyant Waterproofing (O-ring; Araldite)
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  • 4. Design - 4.5 Prototype I (Video)
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  • 4. Design 4.6 Analysis of Prototype I The overall weight without gripper was 12 kgs The major contributor were the thrusters 5.5 kgs The motor response was as expected Sharp maneuvers were possible No leakage problem Balancing it required a hit and trial approach
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  • 4. Design 4.7 Thrusters for Prototype 2 Suggestion to buy new thrusters used in AUVs Only few companies in the world make those Seabotix thruster BTD 150 is of our requirement Voltage:- 12 VDC Weight:- 720 gms Thrust: 2.9 kgf (required 1 kgf) Cost per thruster: $700
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  • 5. Timeline of proposed project
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  • 6. Budget 6.1 Mechanical Note:- If we go through IC&SR customs duty can be avoided
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  • 6. Budget 6.2 Electronics and Vision
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  • 6. Budget 6.3 Overall Budget Mechanical2,90,000 Electrical1,30,000 Conferences/ Paper Presentations 50,000 Overall Buffer30,000 Total5,00,000
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  • 7. Further Research Project This 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 pipes
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  • Thank You