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Robotics and Embedded Systems Applied to the Buried Pipeline Inspection

Year: 2015 Volume: 9 Issue: 8 1871 - 1881 Pages

• Authors:
• Robson C. Santos
• Julio C. P. Ribeiro
• Iorran M. de Castro
• Luan C. F. Rodrigues
• Sandro R. L. Silva
• Diego M. Quesada

Abstract: The work aims to develop a robot in the form of autonomous vehicle to detect, inspection and mapping of underground pipelines through the ATmega328 Arduino platform. Hardware prototyping is very similar to C / C ++ language that facilitates its use in robotics open source, resembles PLC used in large industrial processes. The robot will traverse the surface independently of direct human action, in order to automate the process of detecting buried pipes, guided by electromagnetic induction. The induction comes from coils that send the signal to the Arduino microcontroller contained in that will make the difference in intensity and the treatment of the information, and then this determines actions to electrical components such as relays and motors, allowing the prototype to move on the surface and getting the necessary information. This change of direction is performed by a stepper motor with a servo motor. The robot was developed by electrical and electronic assemblies that allowed test your application. The assembly is made up of metal detector coils, circuit boards and microprocessor, which interconnected circuits previously developed can determine, process control and mechanical actions for a robot (autonomous car) that will make the detection and mapping of buried pipelines plates. This type of prototype can prevent and identifies possible landslides and they can prevent the buried pipelines suffer an external pressure on the walls with the possibility of oil leakage and thus pollute the environment.

• Keywords:
• Robotic
• metal detector
• embedded system
• pipeline.

Analytical Proposal to Damage Assessment of Buried Continuous Pipelines during External Blast Loading

Year: 2011 Volume: 5 Issue: 11 558 - 562 Pages

• Authors:
• Danesh Nourzadeh
• Sepideh Khorshid
• Shiro Takada
• Khosrow Bargi

Abstract: In this paper, transversal vibration of buried pipelines during loading induced by underground explosions is analyzed. The pipeline is modeled as an infinite beam on an elastic foundation, so that soil-structure interaction is considered by means of transverse linear springs along the pipeline. The pipeline behavior is assumed to be ideal elasto-plastic which an ultimate strain value limits the plastic behavior. The blast loading is considered as a point load, considering the affected length at some point of the pipeline, in which the magnitude decreases exponentially with time. A closed-form solution for the quasi-static problem is carried out for both elastic and elasticperfect plastic behaviors of pipe materials. At the end, a comparative study on steel and polyethylene pipes with different sizes buried in various soil conditions, affected by a predefined underground explosion is conducted, in which effect of each parameter is discussed.

• Keywords:
• Beam on elastic foundation
• Buried pipelines
• External explosion
• Non-linear quasi-static solution.