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Remote Operated Vehicle (ROV) for Underwater Ultrasonic Non Destructive Testing

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

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Remote Operated Vehicle (ROV) for Underwater Ultrasonic Non Destructive Testing

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  1. Project Guide: Dr. PrabhuRajagopal Students: • -Tanuj Jhunjhunwala (ME09B097) • -shehzamankhatib(ME09B130) Remote Operated Vehicle (ROV) for Underwater Ultrasonic Non Destructive Testing Dual Degree Project (2013-2014)

  2. Contents • Motivation • Goals • Proposed Concept • Design • Timeline • Budget • Further Research Project

  3. 1. Motivation • Rover required for inspecting offshore pipes • Currently diver based  expensive • Deep water capability Diver taking pipeline CP reading Source:- www.jcsubsea.com Underwater ROV Source:- www.bluebird-electric.net

  4. 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

  5. 3. Proposed Concept Source:- NorskElektroOptikk AS (www.neo.in)

  6. 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

  7. 4. Design 4.2 Decision Matrix – Hull and Thruster Configuration

  8. 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

  9. 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

  10. 4. Design 4.5 Prototype I [Dual Hull, 4 thrusters] • Bilge pump motors for propulsion • For Surge • For Heave • Neutrally Buoyant • PVC Cylindrical Hull Waterproofing (O-ring; Araldite)

  11. 4. Design - 4.5 Prototype I (Video)

  12. 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

  13. 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

  14. 5. Timeline of proposed project

  15. 6. Budget 6.1 Mechanical Note:- If we go through IC&SR customs duty can be avoided

  16. 6. Budget 6.2 Electronics and Vision

  17. 6. Budget 6.3 Overall Budget

  18. 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

  19. Thank You

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