Abstract: Comparative analysis of robotic vehicles for pipe inspection is presented in this paper. The promising concept of self-propelled intelligent robotic vehicle (SPIRV) based on octahedral dodekapod for inspection and operation in active branched pipelines with variable cross-sections is reasoned. SPIRV is able to move in pipeline, regardless of its spatial orientation. SPIRV can also be used to move along the outside of the pipelines as well as in space between surfaces of annular tubes. Every one of faces of the octahedral dodekapod can clamp/unclamp a thing with a closed loop surface of various forms as well as put pressure on environmental surface of contact. These properties open new possibilities for its applications in SPIRV. We examine design principles of octahedral dodekapod as future intelligent building blocks for various robotic vehicles that can self-move and self-reconfigure.
Abstract: This paper determines most common model of in-pipe
robots to derive its degree of freedom in order to compare with the
necessary degree of freedom required for a system to move inside
pipelines freely in order to derive analytical reason for losing control
of in-pipe robots at branched pipe. DOF of most common mechanism
in in-pipe robots can be calculated by considering the robot as a
parallel manipulator. A new design based on previously researched
in-pipe robot PAROYS has been suggested, and its possibility to
overcome branched section has been simulated.
Abstract: In this paper two mathematical models for definition of gas accidental escape localization in the gas pipelines are suggested. The first model was created for leak localization in the horizontal branched pipeline and second one for leak detection in inclined section of the main gas pipeline. The algorithm of leak localization in the branched pipeline did not demand on knowledge of corresponding initial hydraulic parameters at entrance and ending points of each sections of pipeline. For detection of the damaged section and then leak localization in this section special functions and equations have been constructed. Some results of calculations for compound pipelines having two, four and five sections are presented. Also a method and formula for the leak localization in the simple inclined section of the main gas pipeline are suggested. Some results of numerical calculations defining localization of gas escape for the inclined pipeline are presented.
Abstract: Methanol-to-olefins coupled with transformation of
coal or natural gas to methanol gives an interesting and promising way
to produce ethylene and propylene. To investigate solid concentration
in gas-solid fluidized bed for methanol-to-olefins process catalyzed by
SAPO-34, a cold model experiment system is established in this paper.
The system comprises a gas distributor in a 300mm internal diameter
and 5000mm height acrylic column, the fiber optic probe system and
series of cyclones. The experiments are carried out at ambient
conditions and under different superficial gas velocity ranging from
0.3930m/s to 0.7860m/s and different initial bed height ranging from
600mm to 1200mm. The effects of radial distance, axial distance,
superficial gas velocity, initial bed height on solid concentration in the
bed are discussed. The effects of distributor shape and porosity on
solid concentration are also discussed. The time-averaged solid
concentration profiles under different conditions are obtained.
Abstract: Methanol-to-olefins (MTO) coupled with
transformation of coal or natural gas to methanol gives an interesting
and promising way to produce ethylene and propylene. To investigate
solid concentration in gas-solid fluidized bed for methanol-to-olefins
process catalyzed by SAPO-34, a cold model experiment system is
established in this paper. The system comprises a gas distributor in a
300mm internal diameter and 5000mm height acrylic column, the
fiber optic probe system and series of cyclones. The experiments are
carried out at ambient conditions and under different superficial gas
velocity ranging from 0.3930m/s to 0.7860m/s and different initial bed
height ranging from 600mm to 1200mm. The effects of radial
distance, axial distance, superficial gas velocity, initial bed height on
solid concentration in the bed are discussed. The effects of distributor
shape and porosity on solid concentration are also discussed. The
time-averaged solid concentration profiles under different conditions
are obtained.