1. PROJECT TITLE: DETECTION OF FLAWS IN PIPELINES USING ULTRASONIC PHASED ARRAY TECHNIQUE PROJECT GUIDE: Mr.J.

Senthil Kumar, Assistant Professor, Department of ECE, Mepco Schlenk Engineering College. STUDENT MEMBERS: M.Manivannan Y.John Durai Singh 2.PROBLEM DEFINITION: Since from origination of mankind, Humans are involved in detecting cracks in drainage pipelines. This leads to many mental and physical problems to the sewage workers. This may also leads to many skin diseases and ceases their dignity in the society. In order to overcome this inconvenient method we propose Robot for Pipeline Navigation. Another purpose of this method is that, for an unknown crack in pipeline, in which the Pipeline is buried inside ground few decades before, it is harder to find the exact location of flaws. Hence inorder to detect the exact location of flaws we need to dig the entire soil and check the crack. This leads to waste of money and time. 3.OBJECTIVE: The objective of our Project is to develop a robotic system that will aid in Pipeline Navigation for detecting Flaws and blocks 4.EXISTING WORKDONE: Sensor based technologies to monitor pipelines: It consists of architectural model based on sensors for pipeline monitoring . Integrated wired and wireless networks. Requires more power consumption. It can solves some of reliability issues only. RFID based system: A Set of fixed powerless sensors implemented by RFID. RFID are inexpensive. RFID are integrated inside the pipeline such that are uniformly distributed. Proposed system for pipe line navigation consist of wireless camera with led and wheel type moving structure. Ultrasonic signal processing methods for detection of defects in composite materials D.Pagodinas,Prof. K.Barauskas Ultrasound institute,Kaunas University of Technology Saka M., Schneider E., Holler P. A New Approach to Detect and Size Closed Cracks by Ultrasonics. Res. Nondestr. Eval. 1989. P. 65-75. Stanullo J., Bojinski S., Gold N., Shapiro S., Busse G. Ultrasonic signal analysis to monitor damage development in short fiber-reinforced polymers. Ultrasonics. , 1998. Vol.36. P.455-460. Ravi-Chandar K., Schneider E. Ultrasonic Detection and Sizing of Plastic Zones Surrounding Fatigue Cracks Res. Nondestr. Eval. 1994. P. 191-209. Gendron R., Tatibouet J., Guevremont J., Dumoulin M. M., Piche L. Ultrasonic Behavior of Polymer Blends. Polymer Engineering and Science. 1995. Vol.35. No.1. P. 9-91.

PIPELINE NAVIGATION ROBOT

5.UNDERLYING THEORETICAL CONCEPT: Methodology to be used: Phased array ultrasonics pattern matching is going to be used in our project for the detection of flaws and defects.Ultrasonic technique is one of widely used techniques for nondestructive testing (NDT) of materials . In ultrasonic testing useful information about integrity or geometry of the object under a test is obtained. Measurement configuration often encountered in NDT includes pulse-echo reflection technique. The ultrasonic wave, generated by a piezoelectric transducer propagates through the material and is reflected by defects and back surface of the sample. The signals reflected by defects possess information about defects size and orientation . This method is successfully used in NDT of various materials.The pattern for flawless pipeline is predetermined and it will be stored as an array in our program.The microcontroller will get the output from the ultrasonic receiver and it will compare the pattern received with the prestored pattern.If the received pattern's value is lower than the threshold value we will program it as zero.If any such occurence is found then an alarm will be sent to the base station.RF is going to be used for transmitting the signal from the robot to the base station. Wireless camera is used to trace the path of the pipeline. If there is any curves or bending in the path can be identified by using this camera. The camera works on an RF module. In the case of dark, the small LED attached to the camera will help in motion.large cracks can also be detected manually by using this camera. COMPONENTS TO BE USED: Propeller: A propeller is a type of fan that transmits power by converting rotational motion into thrust. A pressure difference is produced between the forward and rear surfaces of the air foil-shaped blade, and a fluid (such as air or water) is accelerated behind the blade. The Propeller is used to control the direction of the Robot. Using two motors the direction of the robot is changed. When two motors drive in clockwise direction the robot moves in Forward direction, when both rotate in anticlockwise direction they move Backward. When right motor rotates in clockwise and left motor in anticlockwise direction it moves in Left side. Then for the last case the robot turns Right. Microcontroller: Arduino is an open-source electronics prototyping platform based on flexible, easy-to-use hardware and software. It's intended for artists, designers, hobbyists, and anyone interested in creating interactive objects or environments. Arduino can sense the environment by receiving input from a variety of sensors and can affect its surroundings by controlling lights, motors, and other actuators. The microcontroller on the board is programmed using the Arduino programming language (based on Wiring) and the Arduino development environment (based on Processing). Arduino projects can be stand-alone or they can communicate with software running on a computer (e.g. Flash, Processing, MaxMSP).

An Arduino board consists of an 8-bit Atmel AVR microcontroller with complementary components to facilitate programming and incorporation into other circuits. An important aspect of the Arduino is the standard way that connectors are exposed, allowing the CPU board to be connected to a variety of interchangeable add-on modules known as shields. Some shields communicate with the Arduino board directly over various pins, but many shields are individually addressable via an IC serial bus, allowing many shields to be stacked and used in parallel. Official Arduinos have used the megaAVR series of chips, specifically the ATmega8, ATmega168, ATmega328, ATmega1280, and ATmega2560. A handful of other processors have been used by Arduino compatibles. Most boards include a 5 volt linear regulator and a 16 MHz crystal oscillator (or ceramic resonator in some variants), although some designs such as the LilyPad run at 8 MHz and dispense with the onboard voltage regulator due to specific formfactor restrictions. An Arduino's microcontroller is also pre-programmed with a boot loader that simplifies uploading of programs to the on-chip flash memory, compared with other devices that typically need an external programmer. Wireless camera: Wireless security cameras are closed-circuit television (CCTV) cameras that transmit a video and audio signal to a wireless receiver through a radio band. Many wireless security cameras require at least one cable or wire for power; "wireless" refers to the transmission of video/audio. However, some wireless security cameras are batterypowered, making the cameras truly wireless from top to bottom. Wireless cameras are proving very popular among modern security consumers due to their low installation costs (there is no need to run expensive video extension cables) and flexible mounting options; wireless cameras can be mounted/installed in locations previously unavailable to standard wired cameras. In addition to the ease of use and convenience of access, wireless security camera allows users to leverage broadband wireless internet to provide seamless video streaming over-internet. Wireless security cameras function best when there is a clear line of sight between the camera(s) and the receiver. Outdoors, and with clear line of sight, digital wireless cameras typically have a range between 250 to 450 feet. Indoors, the range can be limited to 100 to 150 feet. The signal range varies depending on the type of building materials and/or objects the wireless signal must pass through. Remote Control Transmitter : The remote control transmitter is the handheld thingy with knobs and buttons and a long intenna sticking out of it. It will require it's own battery and battery charger. The remote control transmitter usually has very good range. The most important feature you we to be concerned with is number of channels it can operate on. Each channel allows us to control one more item on your robot. Receiver: Receiver is the small device used to pick up the signals from the Transmitter, processes it, then outputs a servo ready signal. A tuned radio frequency receiver (TRF receiver) is a radio receiver that is usually composed of several tuned radio frequency amplifiers followed by circuits to detect and amplify the audio signal. Crystal: Both the transmitter and your receiver will each require a crystal. These are necessary to ensure both of the devices are operating under the same frequency. For RC, there are two frequencies we need to be aware of. One is for air and one is for surface. Its illegal and bad practice to control a remote control car with an air frequency. It could accidently cause someone's remote control aircraft to crash and kill some poor cute innocent squirrel. Thus while purchasing we must buy remote control for surface aircaft. Another, the crystal is fragile. If the remote control vehicle crashes a lot, the crystal could get damaged. Receivers often come with a foam pad thingy to wrap it in for shock absorption. .

Ultrasonics: Phased array ultrasonics (PA) is an advanced method of ultrasonic testing that has applications in medical imaging and industrial nondestructive testing. Common applications are to noninvasively examine the heart or to find flaws in manufactured materials such as welds. Single-element (non-phased array) probes, known technically as monolithic probes, emit a beam in a fixed direction. To test or interrogate a large volume of material, a conventional probe must be physically scanned (moved or turned) to sweep the beam through the area of interest. In contrast, the beam from a phased array probe can be moved electronically, without moving the probe, and can be swept through a wide volume of material at high speed. The beam is controllable because a phased array probe is made up of multiple small elements, each of which can be pulsed individually at a computer-calculated timing. The term phased refers to the timing, and the term array refers to the multiple elements. Phased array ultrasonic testing is based on principles of wave physics, which also have applications in fields such as optics and electromagnetic antennae. The PA probe consists of many small ultrasonic transducers, each of which can be pulsed independently. By varying the timing, for instance by pulsing the elements one by one in sequence along a row, a pattern of constructive interference is set up that results in a beam at a set angle. In other words, the beam can be steered electronically. The beam is swept like a search-light through the tissue or object being examined, and the data from multiple beams are put together to make a visual image showing a slice through the object. 6.BLOCK DIAGRAM: RECEIVER PART

RF RECEIVER (WIRELESS CAMERA)

TRANSMITTER PART

RF TRANSMITTER (WIRELESS CAMERA)

MICROCONTR OLLER

ULTRASONIC TRANSMITTER ULTRASONIC RECEIVER

MOTOR1

MOTOR2

7.EXPLAINATION: Controller is used for locomotive purpose. Its used to control both the motors. The locomotion is controlled by remote control by using RF TRANSMITTER AND RECEIVER. Inorder to locate the path wireless camera is used .RF is used to control the transmission and reception. There are ultrasonic transmitters and receivers in which they are used to detect the flaw. The tramsmitters emit ultrasonic waves and receivers are used to receive the pattern. The pattern for flawless pipelines must be pre-programmed in the controller. Now the received pattern is compared with the pre-programmed pattern and if any mismatching occurs an alarm will be sent to the receiver.

8.NOVELTY WE PROPOSE: The Pipeline navigation Robot that were already used only navigate in surface medium and not in water medium. Here we are proposing a model that will go inside the pipe even in water medium. This will ease the identification of flaws inside pipeline that will ultimately reduce the wages for humans and Boklain that were used for dugging out the pipeline. Moreover our robot will alert the base station by sending signal to the receiver instantaneously. Eventhough we dug out the pipeline the flaws cant be identified if it is so small. Here we are going inside the pipeline and passing Ultrasonic waves that will be helpful in finding even small cracks.

9.HARDWARE AND SOFTWARE REQUIRED: RF WIRELESS CAMERA ARDUINO BOARD( MICROCONTROLLER) ULTRASONIC TRANSMITTERS AND RECEIVERS DC MOTORS DRIVER IC (L 293D) ARDUINO SOFTWARE

10.IMPACTS ON SOCEITY: The health hazards of humans who are working in sewage will be eradicated. Ultrasonics can identify even small flaws and crack that may cause major damages of pipes are detected earlier and the disaster will be prevented. REFERENCES: 1. Strapdown inertial systems for pipeline navigation,inertial navigation sensor devolopment,IEEE colloquium on 9 jan 1990. 2. Hanna,P.LInst. of Eng. Surveying & Space Geodesy, Nottingham UnivERSITY,C.T.C. Arsene, A.M.S. Zalzala, Control of Autonomous Robots Using Fuzzy Logic Controllers Tuned by Genetic Algorithms, 0-7803-55369/99/$10.00 1999 IEEE. 3. Kays R., Pagodinas D., Tumys O. Detection of defects in multi-layered plastic cylindrical structures by ultrasonic method. Ultragarsas (Ultrasound). Kaunas: Technologija. 2002. Nr.2(43). P.7-12. 4. Acoustic Wavelength and Defect Detection. Center for Nondestructive Evaluation, Iowa State University, Ames, IA. http://www.cnde.iastate.edu/ncce/UT_CC/Sec.2.4b/Sec.2.4b.html. 5. Ultrasonic Testing. The Nondestructive Testing Handbook, second edition. Vol.7. Birks A.S., Green R.E., Mclntire P. American Society for Nondestructive Testing. 1991. 893 p.