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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 46017 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Sayyaadi, Hassan; Meghdari, Ali
- Abstract:
- Leakages in the transmission pipes include a large proportion of water loss. Scarcity of fresh water in one hand and high costs to compensate for drop in pressure and flow lines, on the other hand, detection and location of leaks have been important. This phenomenon can also cause a lot of damage to the urban contextures. This thesis considers the leakage in tubing buried in the soil by means of a floating robot. Since the rate of leakage, specifies the requirement to perform maintenances, In addition to finding the leakage, an overall estimate of the amount of leakage is desired.Since non-destructive leak detection is desired, the mechanical-magnetic sensor is designed. First, for the feasibility of the sensor, the simulation in FLUENT software is applied. For determining the position of sensor, neural network with error back-propagation learning algorithm is used. The robot has the capability of adapting to pass through possible defects and deformation of pipes. Robot performance in a pipe with a diameter of 350 mm will be tested. The defects with a diameter smaller than 60 mm in deformation do not cause difficulties in operations for robots.For testing and analysis of raw data of test or actual operation, there needs to be a post-processing unit so in the Computer part of the project, a software has been designed for the robot, which acts as an interface between the robot and the user. This software has the capability to send the commands, manage the stored data, display and record the online data, calibrate the sensors, display two-and three-dimensional graphics data, analyze the battery charge indicator and display the speed of the robot. Finally In electronic part of the robot according to the requirements of the robot two boards has been designed. One of them has the task of collecting the data and controlling the robot. And the other one, acts as an interface between electronic and mechanical units
- Keywords:
- Neural Network ; Nondestructive Inspection (NDI) ; Leak Detection ; Fluent Software ; Floating Robot ; In-Pipe Leak Detection
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