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MOBILE ROBOT FOR INSPECTIONS OF GAS PIPELINE

HAMIDON, HADI AlMAN (2011) MOBILE ROBOT FOR INSPECTIONS OF GAS PIPELINE. Universiti Teknologi Petronas. (Unpublished)

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Abstract

This report initially introduces the author perception on fully autonomous robotics. He relates how many science fiction movies in the past predicted today' s technology and relate it to the future of robotics. Then this report discusses about robotics in the pipeline domain. Many pipe line robots like Tractor L500, KARO, KANTARO and a few more are discussed and classified in categories in the literature review. The categories are none, semi and fully autonomous robots. Fully autonomous robots are discussed in more detailed. Most of the fully autonomous robots have complex navigating mechanism and multiple sensors for motion control and yet none of the models implemented guarantee the reliability of the system. So ARIS is born to make this category of robot more reliable. Before entering the discussion on the proto type, this report states the method and approach that the author do the project. The mechanical, design, and control system specification that were set before building the prototype and control system are also stated in the section. Next this report introduces the first prototype (DDO.l ). This prototype is design base on the wheeled type. After many hours of testing, design flaws are discovered when few mechanical and control problems occur and can't be solve. This leads to a big move by the author to redo the chassis design. This report also discusses on the new prototype Advance Robotics Inspection System (ARIS). It is designed base on previous failed attempts. Its design is base on the caterpillar type which allows the robot to turn 360 degrees and climb over obstacles without getting stuck. Finally fuzzy logic control was implemented. All the experimental modeling procedure and results are discussed in detail in this report. The report discusses on full detail on how to get parameters for the autonomous system in curving pipe and pipe with obstacles most commonly section of pipe with brackets. Experiments on fully autonomous movement when robot entering a Tor L junction hasn't been done due to no such facility of junction pipe in UTP. Because of that, this report have state a recommendation for UTP to have a proper facility for in pipe robotic testing. This scope of research have great potential as it gives the world a solution on pipeline inspection that is very crucial especially in the oil and gas industry where safety is a big issue.

Item Type: Final Year Project
Academic Subject : Academic Department - Electrical And Electronics - Pervasisve Systems - Microelectronics - Sensor Development
Subject: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Engineering > Electrical and Electronic
Depositing User: Users 2053 not found.
Date Deposited: 30 Sep 2013 16:55
Last Modified: 25 Jan 2017 09:42
URI: http://utpedia.utp.edu.my/id/eprint/7531

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