Law, Kok Wah (2019) Design And Development Of Cooperative Controlled Two Robots For Pipeline Inspection. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)
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Text (24 Pages)
Design And Development Of Cooperative Controlled Two Robots For Pipeline Inspection.pdf - Submitted Version Download (1MB) |
Abstract
Pipeline explosion is the most dreadful incident in the oil and gas industry which cause a huge number of fatality and financial loss every year. The existing pipeline inspection robots is costly and the efficiency and flexibility of the single robot system is low in case the pipeline have 2 ways such as T-branch. Therefore, the affordable cooperative controlled two robots for pipeline inspection are developed where the robots are applicable for the horizontal pipeline which used to transport air or gas. This project also aims to evaluate the performance of the developed mobile robots and develop the communication between the mobile robots. A simple structure wheeled type robot has good performance in T-branch accessibility is stated. Besides, Bluetooth module is the most common tools to develop the communication between the multi robot system due to its ease to use and can communicate with other Bluetooth enabled devices. Few experiments such as performance of mobile robot on various type of surfaces, tracking object using ultrasonic sensor, leader-follower approach and tracking control of mobile robot are designed to evaluate the performance and communication between the mobile robots. A PVC pipe with T-branch is built to verify the mobile robots in T-branch accessibility. Through the experiment, the mobile robot is successfully pass through the pipeline with various type of surfaces. The speed, efficiency and accuracy are also evaluated through the experiment.The master and slave robot are able to perform forward, backward, turning left and right movement without having communication loss or disconnected in the PVC pipe.
| Item Type: | Final Year Project (Project Report) |
|---|---|
| Uncontrolled Keywords: | Autonomous robots -- Control systems, Robotics, Robots |
| Subjects: | T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Library > Final Year Project > FKE |
| Depositing User: | F Haslinda Harun |
| Date Deposited: | 02 Mar 2020 07:10 |
| Last Modified: | 02 Mar 2020 07:10 |
| URI: | http://digitalcollection.utem.edu.my/id/eprint/24348 |
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