Welcome To UTPedia

We would like to introduce you, the new knowledge repository product called UTPedia. The UTP Electronic and Digital Intellectual Asset. It stores digitized version of thesis, dissertation, final year project reports and past year examination questions.

Browse content of UTPedia using Year, Subject, Department and Author and Search for required document using Searching facilities included in UTPedia. UTPedia with full text are accessible for all registered users, whereas only the physical information and metadata can be retrieved by public users. UTPedia collaborating and connecting peoples with university’s intellectual works from anywhere.

Disclaimer - Universiti Teknologi PETRONAS shall not be liable for any loss or damage caused by the usage of any information obtained from this web site.Best viewed using Mozilla Firefox 3 or IE 7 with resolution 1024 x 768.


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 (Unpublished)

[img] PDF
Download (6Mb)


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

Actions (login required)

View Item View Item

Document Downloads

More statistics for this item...