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CHAPTER 01
INTRODUCTION
1.1 DEFINATION OF ROBOT
A robot is a mechanical or virtual artificial agent, usually an
electro-mechanical
machine that is guided by a computer program or electronic
circuitry.
1.2 PIPE INSPECTION
In the world, millions of miles of pipeline carrying everything
from water to crude oil.
The pipe is vulnerable to attack by internal and external
corrosion, cracking, third party
damage and manufacturing flaws. If pipeline carrying water
springs a leak bursts, it can
be a problem but it usually doesn't harm the environment.
However, if a petroleum or
chemical pipeline leaks, it can be a environmental disaster.
When a pipeline is built, inspection personnel may use visual,
X-ray, magnetic particle,
ultrasonic and other inspection methods to evaluate the welds
and ensure that they are of
high quality. These inspections are performed as the pipeline is
being constructed so
gaining access the inspection area is not a problem. In some
sections of pipeline are left
above ground like but in most areas they get buried. Once the
pipe is buried, it is
undesirable to dig it up for any reason.
1.3 GENERAL FAILURE OF PIPE
1.3.1 Scaling of pipe:
In most cases, pipe scale is the material that builds up on the
inside of pipes. This
material makes the inner area of the pipe smaller, which will
either decrease the volume
or increase the pressure of the liquid flowing through the
system. In addition, this makes
machinery based on flowing water work harder to gain the amount
of liquid they need.
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Pipe scale is also the term used to describe the musical
resonance of a specific pipe on a
pipe organ.
Pipe scale mostly consists of minerals present in the liquid
flowing through the pipe. In
water, this generally means calcium and magnesium. As water
flows, small irregularities
in the pipe's surface will catch impurities. These impurities
will continue to catch on
these rough spots, causing them to grow. This is similar to how
the formations in caves
are made, just much faster.
The buildup of pipe scale has several direct impacts on the
liquid in the pipe. As the inner
surface of the pipe becomes smaller, the liquid must change its
flow patterns to
compensate. If the system allows for quantity variations, the
volume of water transferred
by the system will begin to decrease. If the system transfers a
set volume of liquid, then
the pressure and speed will build up in the pipe. This could
cause problems if there are
weak or leaky joints in the system.
1.3.2 Corrosion of pipe:
Pipes used to distribute drinking water are made of plastic,
concrete, or metal (e.g., steel,
galvanized steel, ductile iron, copper, or aluminum). Plastic
and concrete pipes tend to be
resistant to corrosion. Metal pipe corrosion is a continuous and
variable process of ion
release from the pipe into the water. Under certain
environmental conditions, metal pipes
can become corroded based on the properties of the pipe, the
soil surrounding the pipe,
the water properties, and stray electric currents. When metal
pipe corrosion occurs, it is a
result of the electrochemical electron exchange resulting from
the differential galvanic
properties between metals, the ionic influences of solutions,
aquatic buffering, or the
solution pH.
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1.3.3 Cracking in pipe:
Low alloy steel welded pipes buried in the ground were sent for
failure analysis
investigation. Failure of steel pipes was not caused by tensile
ductile overload but
resulted from low ductility fracture in the area of the weld,
which also contains multiple
intergranular secondary cracks. The failure is most probably
attributed to intergranular
cracking initiating from the outer surface in the weld heat
affected zone and propagated
through the wall thickness. Random surface cracks or folds were
found around the pipe.
In some cases cracks are emanating from the tip of these
discontinuities.
1.4 PIPE LINE INSPECTION ROBOT
This is a robot which inspects the pipe line inner surface by
travelling through pipe and
does visual video inspection and providing the surface
inspection to the user or inspector
who can obtain the result easily at outside of the pipeline.
1.5 OBJECTIVE OF PROJECT
1.5.1 Monitoring of inner surface:
The robot must easily inspect the inner surface of the pipe line
without any trouble and
gives proper live images to the inspector.
1.5.2 Low cost with high quality:
It must have a low cost with effective functions and high
durability with high quality.
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1.5.2 Unskilled labor:
For general inspection no need of skilled person. An unskilled
labor cal easily inspects
the pipe.
1.5.3 All inspection points with maximum efficiency:
It can inspect the pipe with maximum accuracy with high grade
result.
1.5.4 Easy for transport:
It must be easy for traveling purpose with zero damage.
1.5.5 900 turn & sufficiently work against gravity:
It must take turn in 900 bend (elbow) and it must work against
the gravity not fully
vertical but at least inclined position up to 450.
1.5.6 Mumbai water pipe lines, our robot can locate the exact
location where the
crack is present:
This is our main objective of our project. It will be explain in
next chapter PROBLEM
DEFINITION
1.6 CONCLUSION
In this chapter we discussed about just of our project topic
& its definition and objectives
of our project.
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CHAPTER 02
PROBLEM DEFINITION
2.1 MUMBAI WATER PIPE LINES
Mumbai! The city of 1.5 crore people.
The water supply to Mumbai from various sources is about 563
million gallons per day
(MGD). The monsoon precipitation is collected in six lakes and
supplied to the city
through the year. 460 MGD are treated at the Bhandup Water
Treatment Plant, the largest
in Asia. The BMC manages to supply between 70 and 75% of the
city's water needs.
The water distribution system in Bombay is about 100 years old.
Water is brought into
the city from the lakes after treatment, and stored in 23
service reservoirs. Since two of
the major sources, Tansa and Lower Vaitarna, are at a higher
level than the city, not
much power is required to pump the water.
The service reservoirs are mainly situated on hills. Some of
them are located at Malabar
Hill, Worli Hill, Raoli, Pali Hill, Malad, Powai and Bhandup.
Timings of water supply to
different parts of the city vary between 2 and 5 hours.
2.2NEED
2.2.1 Water pipe lines in MUMBAI:
The pipeline from main source has diameter about 3 to 4 meters
after that it has
branches to supply water in different areas.
The big diameters pipelines are easily inspected by manually
inspection. But
small diameter pipes which are in branches which has diameter up
to 25 inch
which is critical to inspect.
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Most of the branches of pipelined are situated parallel to the
gutter lines and most
of them are in buried into the earth.
Almost all pipelines are 25 years old and its life is almost
affected because of
continuous digging the road, gutter lines and buildings
construction.
If crack present in the pipelines which results the gutter
drainage water mixed
with drinking water which affects our health.
Also there is a scaling and corrosion because of long year
services.
If any problem occurred with pipeline results the decrease in
pressure of water
and to obtain the previous supply of water to maintain the force
of water BMC dig
the whole path of pipe line & then repair the crack or
replace which is more
costly.
It means waste on money and time hence it is too difficult
though it is small
diameter pipe line.
2.2.2 Boiler steam carrying pipe lines:
In MIDC areas most of small scale industries uses the
boiler.
Boiler is the most sensitive part which must be inspected
periodically
During the inspection of steam carrying pipe line they uses
outer source which is
increased in maintenance cost.
If they neglect the inspection of steam carrying pipe lines then
it results in major
accidents.
2.3 OUR OBJECTIVES RELATED WITH PROBLEM DEFINITION
Design a robot in that way which can easily inspect the water
pipelines and trace
out the location where crack is present.
Advantage
In current method they dig whole pipe line which is too costly
as
discussed in earlier chapter but due to our pipe inspection
robot
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they can easily trace problem and dig the pipe where actual
problem occurs.
This can saves lot of time and money of BMC.
It must directly give the live images to the inspector to its
device and its control
must be easy.
Advantage
Unskilled labor can easily inspect and can generate the
report
quickly
No need of high skilled engineers
The robot can easily inspect the boiler steam carrying pipe
lines..
Advantage
No need to small scale industries to use outsource
Saves money of industries
Pipe inspection robot can be used for general purpose.
o Ex. In Case of central ac plant duct inspection
Advantage
This robot can be easily used for general purpose where the use
of
pipe is present.
We will try to provide different sensors for general inspection.
Ex.
Temperature sensor poisons gas sensor, moisture quantity
measurement sensor.
2.4 CONCLUSION
In this chapter we highlighted problem definition and try to
bold our solution and clarify
the path of our aims related with project.
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CHAPTER 03
LITERATURE SURVEY
3.1 INTRODUCTION
Pipeline video inspection' is a form of telepresence used to
visually inspect the
interiors of pipelines. A common application is to determine the
condition of small
diameter sewer lines and household connection pipes.
Older sewer lines of small diameter, typically 6-inch (150 mm),
are made by the
union of a number of short 3 feet (0.91 m) sections. The pipe
segments may be made
of cast iron, with 12 feet (3.7 m) to 20 feet (6.1 m) sections,
but are more often made
of vitrified clay pipe (VCP), a ceramic material, in 3 feet
(0.91 m), 4 feet (1.2 m) & 6 feet
(1.8 m) sections. Each iron or clay segment will have an
enlargement (a "bell") on one
end to receive the end of the adjacent segment. Roots from trees
and vegetation may
work into the joins between segments and can be forceful enough
to break open a larger
opening in terra cotta or corroded cast iron. Eventually a root
ball will form that will
impede the flow and this may cleaned out by a cutter mechanism
and subsequently
inhibited by use of a chemical foam - a rooticide.
With modern video equipment the interior of the pipe may be
inspected - this is a
form of non-destructive testing. A small diameter collector pipe
will typically have a
cleanout access at the far end and will be several hundred feet
long, terminating at
a manhole. Additional collector pipes may discharge at this
manhole and a pipe (perhaps
of larger diameter) will carry the effluent to the next manhole,
and so forth to a pump
station or treatment plant.
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3.2 TYPES OF INSPECTION PROCESS
3.2.1 Camera tractor:
A run to be inspected will either start from an access pipe
leading at an angle
down to the sewer and then run downstream to a manhole, or will
run between
manholes.
The service truck is parked above the access point of the pipe.
The camera tractor,
with a flexible cable attached to the rear, is then lowered into
the pipeline. The
tractor is moved forward so that it is barely inside of the
pipeline.
A "down-hole roller" is set up between the camera tractor and
the cable reel in
the service truck, preventing cable damage from rubbing the top
of the pipeline.
The operator then retires to the inside of the truck and begins
the inspection,
remotely operating the camera tractor from the truck.
When the inspection is complete or the camera cable is fully
extended, the camera
tractor is put in reverse gear and the cable is wound up
simultaneously.
When the camera tractor is near the original access point, the
down hole roller is
pulled up and the camera tractor is moved into the access point
and pulled up to
the service truck.
A tractor may be used to inspect a complete blockage or collapse
that would
prevent using a fish and rope as described below.
Pulling the camera backwards
For small diameter pipes there may not be enough room for the
tractor
mechanism. Instead, a somewhat rigid "fish" is pushed through
the pipe and
attached to a rope at the access point near the truck. The fish
is then pulled to
place the rope along the pipe. The rope is then used to pull the
inspection pig and
cable through the pipe. Detaching the rope, the cable is then
used to pull the pig
backwards as the pipe is inspected on the monitor (this is the
method shown in the
illustrations below).
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3.2.2 Analysis of video footage:
Much of the analysis of what was viewed in the pipeline is
conducted at the time
of the inspection by the camera operator, but the entire
inspection is always
recorded and saved for review.
Using software you can easily record digital video and simplify
the analysis
process, here are some samples of different applications
available on the market:
The early detection and identification of cracks, leakage
points, blockages or intrusions
allows for the adequate repair or replacement of pipeline to be
undertaken.
With pipeline infrastructure ageing, the urban sprawl widening
and the population
growing, demand is continually increasing on our water and sewer
mains.
The development of teleinspection technology equipment has
opened up a new world for
the maintenance, repair, replacement and construction of
pipelines, allowing greater
consultation ahead of any excavation work.
Teleinspection technology allows pipe inspection without any
digging, allowing
inspectors to save the unnecessary cost of excavation around a
pipe which might still be
in a robust and safe condition and not in need of replacement or
even repair.
Major developments and improvements over the years in the design
of equipment now
allows for improved results when determining the most
appropriate method or product
equipment to be used to complete any scheduled work
Robotic CCTV crawlers, pushrod portable systems, laser profiling
and sonar profiling are
just some of the inspection technology systems now being
utilized during regular
inspection of water and sewer mains. These systems allow for
comprehensive
information on the condition of the underground infrastructure
to be collated, allowing a
planned maintenance program to be developed.
CCTV robotic crawlers/tractors and pushrod manual systems allow
for condition
reporting and surveying of an asset, giving early warning of
failures and allowing for
economical repair under no-crisis conditions.
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CCTV is used in a variety of methods. The camera is placed in
the pipeline and is either
winched through or self propelled. Crawlers are electronically
powered, with the power
supply for the camera coming from a connection at the rear. The
picture and control
signals are transferred to a monitor control centre managed by
an operator working to
detect and determine what condition work or repairs are
recommended.
3.2.3 Robotic crawlers:
Robotic crawlers first appeared in the 1950s and the 1990s saw
the coming of the age of
this equipment in Australia. A greater range of products and
equipment now allows
inspections to be completed in areas once deemed inaccessible,
providing vision that
could previously not be seen in small, large or restrictive
locations.
Specialist robotic crawling tractor systems are now produced to
inspect pipes ranging
from 100 mm up to larger pipes in excess of 2 m in diameter.
Crawlers systems can be fitted with a fixed forward view camera
head, a pan & tilt
camera head, or even a zoom pan & tilt camera head fitted
with laser for crack width
measurement detection. Some crawlers are fitted with an elevator
lift to allow greater
camera height and vision while working in a larger size pipe.
Others are steerable to give
directional control if working in larger pipes or box culvert
pipe.
Recent developments have led to the introduction of lateral
inspection systems, with the
system entering the service connection line from the main using
remote control functions
and allowing vision from a pan & tilt camera head. Lateral
inspection systems can be
deployed in 150 mm mainline pipe upwards. Introduction of the
camera into laterals is
aided by a motorised driven guide device and monitoring
camera.
The new 3D Optoscanner, Panoramo, is the latest inspection
system to be released to the
Australian market, capturing images of the pipeline and its
condition through the use of
two high resolution digital photo cameras. The two 186
wide-angled camera lenses are
integrated in the front and rear section of the housing. Pipes
are inspected at a speed of 35
cm (14 inches) per second.
During inspection, xenon flashing lights are triggered at the
same position in the pipe.
The hemispherical pictures are scanned together to form 360
spherical images. During
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the scanning process, which is possible in both forward and
reverse direction, the data is
transferred digitally to the inspection vehicle and is
immediately available to the operator
for orientation purposes and to locate any obstructions.
The data is stored in the form of film and removable onto hard
disks or DVDs as storage
media. This unique method of inspection captures a complete
inspection of the pipe
surface allowing you to rotate and also pan & tilt the
camera image at any position in the
pipe whilst reviewing the data film.
An unfolded 2D view of the inner pipe surface allows rapid
viewing of the pipe condition
and permits computer-aided measurement of the position and size
of objects. For further
analysis and
3.2.4 Laser profiling:
The ability to detect and measure changes in pipe shape or bore
clearance, be it due to
deformation, siltation, corrosion or erosion, is difficult at
the best of times, especially
when using conventional CCTV camera systems.
This is further exasperated by the fact that the video footage
produced by the camera is
without calibration or a reference point from which to take
accurate measurements of any
kind it is all guesswork.
Any conventional CCTV survey thereby runs the risk of missing
subtle, but relevant,
changes in the pipes shape as observations are dependent on the
keenness of the
operators eye.
Rigid pipes, such as vitrified clay, present less of a problem
as these tend to crack or
collapse rather than deform and the results are rather obvious.
However, even in
circumstances where deformation is obvious it can still be
difficult to determine the exact
extent of the deformation or if the deformation has got worse
over time.
To address this problem, recent advances in pipeline inspection
technology have seen the
refinement and development of state-of-the-art profiling systems
that have enabled the
range of applications and degree of accuracy of traditional
survey delivery systems to be
enhanced dramatically.
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These new systems are all geared towards the elimination of
human error, increased
reliability of technology and, ultimately, accuracy of
information.
Laser profiling incorporates cutting edge, split laser
technology that allows for pipe
profiling to be carried out under normal light conditions. This
means that profiling and
conventional CCTV imaging can be carried out in tandem without
interfering with the
quality of the survey results.
The laser profiler allows you accurately determination of amount
of damage contained
within a pipe asset. The attachment shows the actual shape of
the pipe while the software
can predetermine the correct pipe shape and calculate the
difference between the two.
The aim of projecting a bright line onto the internal pipe wall
is to define a plane on the
video image where measurements on the image can be translated in
the real dimensions
of objects observed through the camera.
The system is calibrated by using two fixed points with a known
separation on the radial
light plane, established with small marker pins that are
illuminated by the laser light.
These act as calibration points on the video image to identify
the scale of the image
where it is illuminated by the red laser light. The laser
intensity is sufficient to make the
generated red line on the pipe bright enough to see clearly on
the video image under
normal light conditions. Calibrating the video image allows
measurement to be carried
out after the video has been recorded and does not slow the rate
at which the video can be
recorded.
The software measurement tools provide the ability to accurately
determine the amount
of flow loss caused by a wide variety of pipe faults. Combining
the laser profiler and the
measurement tools makes obtaining the actual degradation of the
pipe a reality.
Analysing this data determines whether pipe refurbishment is
necessary.
3.2.5 Sonar pipe profiling:
The sonar system was specifically designed for the inspection of
submerged and semi-
submerged pipelines. It uses high resolution/short range sonar
and only works
underwater. The system itself is capable of inspecting pipelines
from 225 mm in diameter
to conduits in excess of 5 m in diameter.
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The head of the sonar, its transducer, looks sideways at right
angles to the direction of the
motion through the pipe, resulting in a cross sectional view of
the pipe in real time.
As the speed of inspection is critical for the longitudinal
resolution, the general guideline
for the speed of inspection is approximately 100 mm per second.
The sonar uses a color
display to indicate the type of surface the sonar is sweeping,
denoted by red for a hard
surface and blue for a softer surface.
As with the CCTV system, the method of propulsion would either
be self propelled or
floated, dependent upon known circumstances in the pipeline or
the size of the pipe. If
heavy silt is expected then pipelines above 600 mm would be
surveyed by floating the
sonar along the crown of the pipe.
If the pipeline were less than 600 mm then either the
self-propelled or winch assisted self-
propelled method would be used. The level of deformation and/or
silt levels can easily
and accurately be measured by the site software.
3.2.6 Visual:
The visual portion of the inspection consists of observing
visible features and
cracks that indicate potential distress.
This inspection requires experienced staff to know which cracks
are normal and
which are indicative of a problem. It also requires a thorough
understanding of the
width and length of cracks that are normally produced during the
production of
pipe as opposed to those that might indicate lack of
prestressing, or distress, in the
pipe.
The visual inspection will also include an examination of the
joints as well as the
width of joints or the amount of pull the pipeline was subjected
to in order to
maintain line and grade. All anomalies will be noted with the
distance and
location from known features. In many instances closure pieces,
adapters, shorts,
and other specials are inserted in pipelines to make station on
outlets and other
tie-in features.
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3.3 ASSESSMENT OF EXISTING PIPE INSPECTION ROBOTS
Although there have been many robots designed for the purpose of
pipe
inspection, most of these focus on operation in empty pipes and
do not take into account
the effects of pressurized fluid on the motion and stability of
the robot. Existing pipe
inspection robots can be categorized by their different
locomotion methods: wheeled,
inchworm, snake and legged.
3.3.1 Wheeled Robots
Wheeled robots are widely used in this application due to their
simple design and
control methodologies, energy efficiency.The simplest of these
behave similar to regular
wheeled vehicles in that they rely on their own weight to
maintain contact between their
wheels and the pipe wall.
Although these robots have no theoretical upper limit on the
diameter of pipe they
can navigate, they can only travel through horizontal or near
horizontal pipe networks,
with limitations on the maximum incline that they can traverse.
Such robots would not be
able to navigate vertical pipe sections and would not be capable
of operating in pipes
with high rates of fluid flow as they would be swept away. In
order to overcome these
problems, some wheeled pipe inspection robots have attempted to
use an active method
of attracting the wheels to the pipe wall.
Although the design of both these robots means that they are not
restricted by pipe
diameter, their use of magnets limits their operational
environment to those which are
constructed primarily of ferrous materials. Other wheeled pipe
inspection robots operate
by pressing their wheels against the pipe surface through
passive means (e.g. springs), or
active means (e.g. linear Actuators), or a combination of
both.
Although these robots each have distinctive designs, they all
follow the same
general principle of pushing their wheels against the pipe wall
and using them to propel
down the pipe. Of particular note is Explorer, a segmented robot
that is used for the
inspection of gas pipelines. Unlike other pipe robots, Explorer
was designed to operate in
pressurised, active gas pipes. Each segment of the robot is
designed to protect the internal
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workings from the high pressure inside the pipe and the shape of
the robot is designed to
provide minimum resistance to the flow of gas .Despite their
mechanical simplicity, the
efficiency of wheeled robots whilst climbing is not optimal, as
the force used to push the
wheels against the pipe wall acts against the actuators trying
to drive the wheels.
3.3.2 Inchworm Robots
Inchworm-type robots, like wheeled robots, are relatively simple
to control and
allow the robot to navigate the various features inside the
pipe
Each of these robots uses a vibration source as the main driving
force, coupled
with a passive mechanical system pressing against the pipe wall.
The simple nature of
these robots means that they are easy to control and usually
have very few parts, but are
incapable of navigating junctions. Other inchworm robots have
used an active method of
pressing against the pipe wall. Although they are more complex
than their passive
variants, they have more control over their movement and can
more easily change
direction.
These robots all use a form of linear actuation for propulsion,
coupled with full
control over the extension and retraction of their limbs, which
allows them to easily move
forwards and backwards along the pipe. Examples of such robots
have been demonstrated
to navigate straight Pipe sections and bends. Unlike wheeled
robots, inchworm robots
cannot continuously move forwards, but rather move forward in
steps, which can make
them slower than their wheeled counterparts. However, they are
likely to be more
efficient during climbing as the force pushing the robots feet
against the pipe wall acts
perpendicular to the robots direction of motion and thus does
not hinder it.
3.3.3 Snake and Legged Robots
Snake and legged robots both have many degrees of freedom, which
permit them
a wide range of different motions. However, these results in
robots using more actuators
and having more complex control systems than those found in
robots using other
locomotion types.
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These capable of navigating bends and junctions in a pipe.
Similarly, snake robots used
for pipe inspection can be seen. These robots consist of several
modules connected
together using actuated joints.
Movement is primarily achieved through the use of travelling
wave locomotion.
The serial nature of both these locomotion types means that they
require high power
actuators and have limited payload capacity .The nature of
travelling wave locomotion in
snake robots can make it difficult for sensors to take stable
readings of their environment
.As pipelines are generally uniform and structured environments,
the complexity of
legged and snake robots may not be required for this
application, especially since robots
with simpler locomotion methods have demonstrated their ability
to navigate the various
features in pipelines.
3.4 CONCLUSION
In this chapter we discussed about the different technology used
for pipe inspection &
different types of robot used in pipe inspection.
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CHAPTER 04
WORKING PRINCIPLE OF PIPE INSPECTION ROBOT
4.1 MECHANICAL WORKING PRINCIPLE
Refer given figure
Note: Here we decide about only one set of links. In project
there are 3 set of links
situated at an interval of 1200. Also there is a similar part
which is connected by
plate joint.
4.1.1DESCRIPTION OF DIFFERENT MECHANICAL PARTS:
4.1.1.1 Wheel:
Wheels are used for the purpose for to run travel the whole
mechanism.
4.1.1.2Motor:
Motor is used for them to give motion to the wheel and to open
and close the robot
position to adjust the self position according to inner diameter
of pipe.
There are total 8 motors. Out of which 6 motors are used for to
travel the
mechanism and remaining two motors are used for to maintain open
and closed position
with the help of screw.
4.1.1.3 Screw or shaft:
Screw or shaft is run by motor and collar is mounted on it and
it works as a nut.
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4.1.1.4 Collar no 1:
Collar is moves horizontally as shown in figure and link no 1 is
welded on it.
4.1.1.5 Link no 1
This one part of the mechanism and it welded to the collar as
shown in figure and it
moves with collar in horizontal position. It joins with link no
2. The joint is not fixed. It
is movable for the purpose of open and close motion.
4.1.1.6 Link no 2
This is one part of the mechanism which joints between link no 1
& 3.
4.1.1.7 Link no 3
This is one part of the mechanism which is supported by the link
no 2 & 4. This is
important link because motor and wheel are mounted on it as
shown in figure.
4.1.1.8 Link no 4
This is fixing link on collar no 2 by welding. During motion
transfer it is in fixed
position. It supports to the link no 3.
4.1.1.9 Collar no 2:
This is only used for to support the screw and link no 4
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4.1.1.10 Round ring:
Round ring is used for to support C channel, collar no 2 and
link no 4. It also supports
to the motor.
4.1.1 .11 C channel
C channel is important part because it supports almost whole
assembly. The purpose of
this is to make a connection between second similar part of the
assembly.
4.1.1.12 Plate joint:
It works a knuckle joint to join two parts.
4.1.1.13 Nut bolts joints:
Nut bolted joints are used in to make a joint between links.
4.1.2 WORKING PRINCIPLE OF ROBOT (MECHANICAL)
1. Consider first the robot is totally in closed position means
it has minimum pipe
diameter inspection range.
2. When we insert it in pipe for the purpose of inspection then
by rotating motor
which is fixed in C channel we adjust the pipe inner diameter
surface range.
3. At that time when motor rotates the collar no 1 works as a
nut and it moves
horizontally as shown in figure.
4. When it moves that time link 1 also moves it results link 2
& 3 moves or change
its original position.
5. When link 1 moves horizontally the motion transfers to the
link 2 which is in
between link 1 & 3.
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6. The movement of link 2 causes the movement of link 3 up or
down as motion
direction of collar.
7. If collar moves towards right link 3 go up and vice
versa.
8. The wheel and motor are mounted at the end of the link no 3.
When this motor
runs it causes the forward or reverse motion of robot.
9. The electrical system is provided to run the motors and
camera with LED lights,
temperature sensor and poisons gas sensor.
10. Camera or cam system provided live pictures to the
inspector.
11. Temperature sensor give live reading of temperature present
inside the pipe and
gas sensor measures the PPM of pipe inside air.
4.2 ELECTRICAL WORKING PRINCIPLE
4.2.1 DIFFERENT ELECTRICAL AND ELECTRONICS PARTS:
1. Microcontroller 89s51
2. Relays
3. Analog to digital converter
4. DC motor
5. Battery
6. Transistor
7. Transformer
8. LCD
9. Crystal
4.2.2 WORKING PRINCIPAL OF ROBOT (ELECTRICAL)
1. 12 volts dc reduction gear motor
2. In front vga camera
3. Two sensors: gas sensor(MQ6), Temperature sensor/Thermistor
(ntc)
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4. Sensors output will go to ADC (analog to digital convertor).
ADC gives data to
microcontroller 89s51. Controller through serial cables will
give data to computer.
5. computers trigger signal will be received by controller
6. Controller will give output to relay contactor.
7. Controller output is logic signal. Logic signal is received
by transistor (name-
npnvc 549) .signal is amplified and relay coil is
magnetized.
8. Relay is electro mechanical switch. First relay is closed
motor will move forward.
if second relay is close it will move reverse.
9. power supply-
A. For power supply
B. Two lead acid battery. Battery output goes to filter
capacitor than to voltage
regulator.
C. Battery output of 12v is converted to 5v. as voltage
requirement for adc and
microcontroller is 5v.
D. Through regulator 5v is given to microcontroller and
batteries 12v to motor
through relay.
E. We have LCD display to see the incoming outgoing data.
F. Temperature and gas value will be displayed in LCD.
10. Crystal clock: To execute the program in
microcontroller.
11. IC 7414 is used to give signal to ADC. Thereby analog signal
is converted to
digital.
4.3 CONCLUSION
Here we learned the different parts of robot their construction
and working principal.
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CHAPTER 05
DESCRIPTION OF ELECTRICAL COMPONENTS
5.1 MICROCONTROLLER 89S51
5.1.1 Description:
The AT89S51 is a low-power, high-performance CMOS 8-bit
microcontroller
with 4K bytes of In System Programmable Flash memory. The device
is manufactured
using Atmels high-density nonvolatile memory technology and is
compatible with the
industry- standard 80C51 instruction set and pin out. The
on-chip Flash allows the
program memory to be reprogrammed in-system or by a conventional
nonvolatile
memory programmer. By combining a versatile 8-bit CPU with
In-System Programmable
Flash on a monolithic chip, the Atmel AT89S51 is a powerful
microcontroller which
provides a highly-flexible and cost-effective solution to many
embedded control
applications.
The AT89S51 provides the following standard features: 4K bytes
of Flash, 128
bytes of RAM, 32 I/O lines, Watchdog timer, two data pointers,
two 16-bit
timer/counters, a Five-vector two-level interrupt architecture,
a full duplex serial port, on-
chip oscillator, and clock circuitry. In addition, the AT89S51
is designed with static logic
for operation down to zero frequency and supports two software
selectable power saving
modes. The Idle Mode stops the CPU while allowing the RAM,
timer/counters, serial
port, and interrupt system to continue functioning. The
Power-down mode saves the
RAM contents but freezes the oscillator, disabling all other
chip functions until the next
external interrupt or hardware reset.
5.1.2 Features:
Compatible with MCS-51 Products
4K Bytes of In-System Programmable (ISP) Flash Memory
Endurance: 10,000 Write/Erase Cycles
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4.0V to 5.5V Operating Range
Fully Static Operation: 0 Hz to 33 MHz
Three-level Program Memory Lock
128 x 8-bit Internal RAM
32 Programmable I/O Lines
Two 16-bit Timer/Counters
Six Interrupt Sources
Full Duplex UART Serial Channel
Low-power Idle and Power-down Modes
Interrupt Recovery from Power-down Mode
Watchdog Timer
Dual Data Pointer
Power-off Flag
Fast Programming Time
Flexible ISP Programming (Byte and Page Mode)
Green (Pb/Halide-free) Packaging Option
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5.1.3 Pin diagram:
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5.1.4 Block diagram
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5.1.5 Pin Description:
5.1.5.1 VCC
Supply voltage.
5.1.5.2GND
Ground.
5.1.5.3 Port 0
Port 0 is an 8-bit open drain bi-directional I/O port. As an
output port, each pin can sink
eight TTL
Inputs. When 1s are written to port 0 pins, the pins can be used
as high-impedance inputs.
Port 0 can also be configured to be the multiplexed low-order
address/data bus during
accesses to external program and data memory. In this mode, P0
has internal pull-ups.
Port 0 also receives the code bytes during Flash programming and
outputs the code bytes
during program verification. External pull-ups are required
during program verification.
5.1.5.4 Port 1
Port 1 is an 8-bit bi-directional I/O port with internal
pull-ups. The Port 1 output buffers
can
Sink/source four TTL inputs. When 1s are written to Port 1 pins,
they are pulled high by
the internal pull-ups and can be used as inputs. As inputs, Port
1 pins that are externally
being pulled low will source current (IIL) because of the
internal pull-ups. Port 1 also
receives the low-order address bytes during Flash programming
and verification.
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5.1.5.5 Port 2
Port 2 is an 8-bit bi-directional I/O port with internal
pull-ups. The Port 2 output buffers
can
sink/ source four TTL inputs. When 1s are written to Port 2
pins, they are pulled high by
the internal pull-ups and can be used as inputs. As inputs, Port
2 pins that are externally
being pulled low will source current (IIL) because of the
internal pull-ups. Port 2 emits
the high-order address byte during fetches from external program
memory and during
accesses to external data memory that use 16-bit addresses (MOVX
@ DPTR). In this
application, Port 2 uses strong internal pull-ups when emitting
1s. During accesses to
external data memory that use 8-bit addresses (MOVX @ RI), Port
2 emits the contents
of the P2 Special Function Register. Port 2 also receives the
high-order address bits and
some control signals during Flash programming and
verification.
5.1.5.6 Port 3
Port 3 is an 8-bit bi-directional I/O port with internal
pull-ups. The Port 3 output buffers
can
sink/ source four TTL inputs. When 1s are written to Port 3
pins, they are pulled high by
the inter-
Port Pin Alternate Functions
P1.5 MOSI (used for In-System Programming)
P1.6 MISO (used for In-System Programming)
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P1.7 SCK (used for In-System Programming)
nal pull-ups and can be used as inputs. As inputs, Port 3 pins
that are externally being
pulled low
Will source current (IIL) because of the pull-ups.
Port 3 receives some control signals for Flash programming and
verification.
Port 3 also serves the functions of various special features of
the AT89S51, as shown in
the following
Table.
5.1.5.7 RST
Reset input. A high on this pin for two machine cycles while the
oscillator is running
resets
the device. This pin drives High for 98 oscillator periods after
the Watchdog times out.
The DISRTO bit in SFR AUXR (address 8EH) can be used to disable
this feature. In the
default state of bit DISRTO, the RESET HIGH out feature is
enabled.
5.1.5.8 ALE/PROG
Address Latch Enable (ALE) is an output pulse for latching the
low byte of the address
during
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Accesses to external memory. This pin is also the program pulse
input (PROG) during
Flash
Programming. In normal operation, ALE is emitted at a constant
rate of 1/6 the oscillator
frequency and may be used for external timing or clocking
purposes. Note, however, that
one ALE pulse is skipped during each access to external data
memory. If desired, ALE
operation can be disabled by setting bit 0 of SFR location 8EH.
With the bit set, ALE is
active only during a MOVX or MOVC instruction. Otherwise, the
pin is weakly pulled
high. Setting the ALE-disable bit has no effect if the
microcontroller is in external
execution mode.
5.1.5.9 PSEN
Program Store Enable (PSEN) is the read strobe to external
program memory. When the
AT89S51 is executing code from external program memory, PSEN is
activated twice
each machine cycle, except that two PSEN activations are skipped
during each access to
external data memory.
5.1.5.10 EA/VPP
External Access Enable. EA must be strapped to GND in order to
enable the device to
fetch
code from external program memory locations starting at 0000H up
to FFFFH. Note,
however,
that if lock bit 1 is programmed, EA will be internally latched
on reset.
EA should be strapped to VCC for internal program
executions.
This pin also receives the 12-volt programming enable voltage
(VPP) during Flash
programming.
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5.1.5.11 XTAL1
Input to the inverting oscillator amplifier and input to the
internal clock operating circuit.
5.1.5.12 XTAL2
Output from the inverting oscillator amplifier
Oscillator Characteristics
XTAL1 and XTAL2 are the input and output, respectively, of an
inverting amplifier that
can be
Configured for use as an on-chip oscillator, as shown in Figure
11-1. Either a quartz
crystal or
Ceramic resonator may be used. To drive the device from an
external clock source,
XTAL2
Should be left unconnected while XTAL1 is driven, as shown in
Figure 11-2. There are
no
Requirements on the duty cycle of the external clock signal,
since the input to the internal
clocking
Circuitry is through a divide-by-two flip-flop, but minimum and
maximum voltage high
and low
Time specifications must be observed.
Figure shows Oscillator Connections
C2
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XTAL2
GND
XTAL1
C1
Basic Reset Ckt.
5.1.6 For 89c51 and 89s51 Memory Organization
MCS-51 devices have a separate address space for Program and
Data Memory. Up to
64K
Bytes each of external Program and Data Memory can be
addressed.
Program Memory
If the EA pin is connected to GND, all program fetches are
directed to external memory.
On the AT89S51, if EA is connected to VCC, program fetches to
addresses 0000H
through FFFH are directed to internal memory and fetches to
addresses 1000H through
FFFFH are directed to external memory.
Data Memory
The AT89S51 implements 128 bytes of on-chip RAM. The 128 bytes
are accessible via
direct
and indirect addressing modes. Stack operations are examples of
indirect addressing, so
the 128 bytes of data RAM are available as stack space.
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5.2 RELAY
5.2.1 Introduction:
A relay is an electrically operated switch. Many relays use an
electromagnet to
operate a switching mechanism, but other operating principles
are also used. Relays find
applications where it is necessary to control a circuit by a
low-power signal, or where
several circuits must be controlled by one signal. The first
relays were used in long
distance telegraph circuits, repeating the signal coming in from
one circuit and re-
transmitting it to another. Relays found extensive use in
telephone exchanges and early
computers to perform logical operations. A type of relay that
can handle the high power
required to directly drive an electric motor is called a
contactor. Solid-state relays control
power circuits with no moving parts, instead using a
semiconductor device to perform
switching. Relays with calibrated operating characteristics and
sometimes multiple
operating coils are used to protect electrical circuits from
overload or faults; in modern
electric power systems these functions are performed by digital
instruments still called
"protection relays
5.2.2 Basic design and operation:
A simple electromagnetic relay consists of a coil of wire
surrounding a soft iron
core, an iron yoke, which provides a low reluctance path for
magnetic flux, a movable
iron armature, and a set, or sets, of contacts; two in the relay
pictured. The armature is
hinged to the yoke and mechanically linked to a moving contact
or contacts. It is held in
place by a spring so that when the relay is de-energized there
is an air gap in the magnetic
circuit. In this condition, one of the two sets of contacts in
the relay pictured is closed,
and the other set is open. Other relays may have more or fewer
sets of contacts depending
on their function. The relay in the picture also has a wire
connecting the armature to the
yoke. This ensures continuity of the circuit between the moving
contacts on the armature,
and the circuit track on the printed circuit board (PCB) via the
yoke, which is soldered to
the PCB.
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When an electric current is passed through the coil, the
resulting magnetic field
attracts the armature, and the consequent movement of the
movable contact or contacts
either makes or breaks a connection with a fixed contact. If the
set of contacts was closed
when the relay was de-energized, then the movement opens the
contacts and breaks the
connection, and vice versa if the contacts were open. When the
current to the coil is
switched off, the armature is returned by a force, approximately
half as strong as the
magnetic force, to its relaxed position. Usually this force is
provided by a spring, but
gravity is also used commonly in industrial motor starters. Most
relays are manufactured
to operate quickly. In a low voltage application, this is to
reduce noise. In a high voltage
or high current application, this is to reduce arcing.
When the coil is energized with direct current, a diode is often
placed across the
coil to dissipate the energy from the collapsing magnetic field
at deactivation, which
would otherwise generate a voltage spike dangerous to circuit
components. Some
automotive relays already include a diode inside the relay case.
Alternatively a contact
protection network, consisting of a capacitor and resistor in
series, may absorb the surge.
If the coil is designed to be energized with alternating current
(AC), a small copper ring
can be crimped to the end of the solenoid. This "shading ring"
creates a small out-of-
phase current, which increases the minimum pull on the armature
during the AC cycle.
By analogy with functions of the original electromagnetic
device, a solid-state
relay is made with a thyristor or other solid-state switching
device. To achieve electrical
isolation an optocoupler can be used which is a light-emitting
diode (LED) coupled with
a photo transistor.
5.2.3 Types:
5.2.3.1 Latching relay:
Latching relay, dust cover removed, showing pawl and ratchet
mechanism. The
ratchet operates a cam, which raises and lowers the moving
contact arm, seen edge-on
just below it. The moving and fixed contacts are visible at the
left side of the image.
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A latching relay has two relaxed states (bistable). These are
also called "impulse",
"keep", or "stay" relays. When the current is switched off, the
relay remains in its last
state. This is achieved with a solenoid operating a ratchet and
cam mechanism, or by
having two opposing coils with an over-center spring or
permanent magnet to hold the
armature and contacts in position while the coil is relaxed, or
with a remanent core. In the
ratchet and cam example, the first pulse to the coil turns the
relay on and the second pulse
turns it off. In the two coil example, a pulse to one coil turns
the relay on and a pulse to
the opposite coil turns the relay off. This type of relay has
the advantage that it consumes
power only for an instant, while it is being switched, and it
retains its last setting across a
power outage. A remanent core latching relay requires a current
pulse of opposite polarity
to make it change state.
5.2.3.2 Reed relay:
A reed relay has a set of contacts inside a vacuum or inert gas
filled glass tube,
which protects the contacts against atmospheric corrosion. The
contacts are closed by a
magnetic field generated when current passes through a coil
around the glass tube. Reed
relays are capable of faster switching speeds than larger types
of relays, but have low
switch current and voltage ratings.
5.2.3.3 Mercury-wetted relay:
A mercury-wetted reed relay is a form of reed relay in which the
contacts are
wetted with mercury. Such relays are used to switch low-voltage
signals (one volt or less)
because of their low contact resistance, or for high-speed
counting and timing
applications where the mercury eliminates contact bounce.
Mercury wetted relays are
position-sensitive and must be mounted vertically to work
properly. Because of the
toxicity and expense of liquid mercury, these relays are rarely
specified for new
equipment. See also mercury switch.
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5.2.3.4 Polarized relay:
A polarized relay placed the armature between the poles of a
permanent magnet to
increase sensitivity. Polarized relays were used in middle 20th
Century telephone
exchanges to detect faint pulses and correct telegraphic
distortion. The poles were on
screws, so a technician could first adjust them for maximum
sensitivity and then apply a
bias spring to set the critical current that would operate the
relay.
5.2.3.5 Machine tool relay:
A machine tool relay is a type standardized for industrial
control of machine tools,
transfer machines, and other sequential control. They are
characterized by a large number
of contacts (sometimes extendable in the field) which are easily
converted from
normally-open to normally-closed status, easily replaceable
coils, and a form factor that
allows compactly installing many relays in a control panel.
Although such relays once
were the backbone of automation in such industries as automobile
assembly, the
programmable logic controller (PLC) mostly displaced the machine
tool relay from
sequential control applications.
5.2.3.6 Contactor relay:
A contactor is a very heavy-duty relay used for switching
electric motors and
lighting loads, although contactors are not generally called
relays. Continuous current
ratings for common contactors range from 10 amps to several
hundred amps. High-
current contacts are made with alloys containing silver. The
unavoidable arcing causes
the contacts to oxidize; however, silver oxide is still a good
conductor.[2]
Such devices are
often used for motor starters. A motor starter is a contactor
with overload protection
devices attached. The overload sensing devices are a form of
heat operated relay where a
coil heats a bi-metal strip, or where a solder pot melts,
releasing a spring to operate
auxiliary contacts. These auxiliary contacts are in series with
the coil. If the overload
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senses excess current in the load, the coil is de-energized.
Contactor relays can be
extremely loud to operate, making them unfit for use where noise
is a
5.2.3.7 Solid-state relay:
A solid state relay (SSR) is a solid state electronic component
that provides a
similar function to an electromechanical relay but does not have
any moving components,
increasing long-term reliability. With early SSR's, the tradeoff
came from the fact that
every transistor has a small voltage drop across it. This
voltage drop limited the amount
of current a given SSR could handle. As transistors improved,
higher current SSR's, able
to handle 100 to 1,200 Amperes, have become commercially
available. Compared to
electromagnetic relays, they may be falsely triggered by
transients.
5.2.3.8 Solid state contactor relay:
A solid state contactor is a very heavy-duty solid state relay,
including the
necessary heat sink, used for switching electric heaters, small
electric motors and lighting
loads; where frequent on/off cycles are required. There are no
moving parts to wear out
and there is no contact bounce due to vibration. They are
activated by AC control signals
or DC control signals from Programmable logic controller (PLCs),
PCs, Transistor-
transistor logic (TTL) sources, or other microprocessor and
microcontroller controls.
5.2.3.9 Buchholz relay:
A Buchholz relay is a safety device sensing the accumulation of
gas in large oil-
filled transformers, which will alarm on slow accumulation of
gas or shut down the
transformer if
5.2.3.10 Forced-guided contacts relay:
A forced-guided contacts relay has relay contacts that are
mechanically linked
together, so that when the relay coil is energized or
de-energized, all of the linked
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contacts move together. If one set of contacts in the relay
becomes immobilized, no other
contact of the same relay will be able to move. The function of
forced-guided contacts is
to enable the safety circuit to check the status of the relay.
Forced-guided contacts are
also known as "positive-guided contacts", "captive contacts",
"locked contacts", or
"safety relays".
5.2.3.11 Overload protection relay:
Electric motors need over current protection to prevent damage
from over-loading
the motor, or to protect against short circuits in connecting
cables or internal faults in the
motor windings.[3]
One type of electric motor overload protection relay is operated
by a
heating element in series with the electric motor. The heat
generated by the motor current
heats a bimetallic strip or melts solder, releasing a spring to
operate contacts. Where the
overload relay is exposed to the same environment as the motor,
a useful though crude
compensation for motor ambient temperature is provided.
5.2.4 Applications:
Relays are used to and for:
Control a high-voltage circuit with a low-voltage signal, as in
some types of
modems or audio amplifiers,
Control a high-current circuit with a low-current signal, as in
the starter solenoid
of an automobile,
Detect and isolate faults on transmission and distribution lines
by opening and
closing circuit breakers (protection relays),
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5.2.5 Selection of an appropriate relay for a particular
application requires
evaluation of many different factors:
Number and type of contacts normally open, normally closed,
(double-throw)
Contact sequence "Make before Break" or "Break before Make". For
example,
the old style telephone exchanges required Make-before-break so
that the
connection didn't get dropped while dialing the number.
Rating of contacts small relays switch a few amperes, large
contactors are rated
for up to 3000 amperes, alternating or direct current
Voltage rating of contacts typical control relays rated 300 VAC
or 600 VAC,
automotive types to 50 VDC, special high-voltage relays to about
15 000 V
Coil voltage machine-tool relays usually 24 VAC, 120 or 250 VAC,
relays for
switchgear may have 125 V or 250 VDC coils, "sensitive" relays
operate on a few
mill amperes
Coil current
Package/enclosure open, touch-safe, double-voltage for isolation
between
circuits, explosion proof, outdoor, oil and splash resistant,
washable for printed
circuit board assembly
Assembly Some relays feature a sticker that keeps the enclosure
sealed to allow
PCB post soldering cleaning, which is removed once assembly is
complete.
Mounting sockets, plug board, rail mount, panel mount,
through-panel mount,
enclosure for mounting on walls or equipment
Switching time where high speed is required
"Dry" contacts when switching very low level signals, special
contact materials
may be needed such as gold-plated contacts
Contact protection suppress arcing in very inductive
circuits
Coil protection suppress the surge voltage produced when
switching the coil
current
Isolation between coil circuit and contacts
Aerospace or radiation-resistant testing, special quality
assurance
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Expected mechanical loads due to acceleration some relays used
in aerospace
applications are designed to function in shock loads of 50 g or
more
Accessories such as timers, auxiliary contacts, pilot lamps,
test buttons
Regulatory approvals
Stray magnetic linkage between coils of adjacent relays on a
printed circuit board.
5.3 DC MOTOR
5.3.1 Introduction & working principle:
A DC motor relies on the fact that like magnet poles repels and
unlike magnetic
poles attracts each other. A coil of wire with a current running
through it generates
a electromagnetic field aligned with the center of the coil. By
switching the current on or
off in a coil its magnet field can be switched on or off or by
switching the direction of the
current in the coil the direction of the generated magnetic
field can be switched 180. A
simple DC motor typically has a stationary set of magnets in the
stator and an
armature with a series of two or more windings of wire wrapped
in insulated stack slots
around iron pole pieces (called stack teeth) with the ends of
the wires terminating on
a commutator. The armature includes the mounting bearings that
keep it in the center of
the motor and the power shaft of the motor and the commutator
connections. The
winding in the armature continues to loop all the way around the
armature and uses either
single or parallel conductors (wires), and can circle several
times around the stack teeth.
The total amount of current sent to the coil, the coil's size
and what it's wrapped around
dictate the strength of the electromagnetic field created.
The sequence of turning a particular coil on or off dictates
what direction the
effective electromagnetic fields are pointed. By turning on and
off coils in sequence a
rotating magnetic field can be created. These rotating magnetic
fields interact with the
magnetic fields of the magnets (permanent or electromagnets) in
the stationary part of the
motor (stator) to create a force on the armature which causes it
to rotate. In some DC
motor designs the stator fields use electromagnets to create
their magnetic fields which
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allow greater control over the motor. At high po wer levels, DC
motors are almost always
cooled using forced air.
The commutator allows each armature coil to be activated in
turn. The current in
the coil is typically supplied via two brushes that make moving
contact with the
commutator. Now, some brushless DC motors have electronics that
switch the DC
current to each coil on and off and have no brushes to wear out
or create sparks.
Different number of stator and armature fields as well as how
they are connected
provides different inherent speed/torque regulation
characteristics. The speed of a DC
motor can be controlled by changing the voltage applied to the
armature. The
introduction of variable resistance in the armature circuit or
field circuit allowed speed
control. Modern DC motors are often controlled by power
electronics systems which
adjust the voltage by "chopping" the DC current into on and off
cycles which have an
effective lower voltage.
Since the series-wound DC motor develops its highest torque at
low speed, it is
often used in traction applications such as electric. The DC
motor was the mainstay of
electric traction drives on both electric and diesel-electric
locomotives, street-cars/trams
and diesel electric drilling rigs for many years. The
introduction of DC motors and
an electrical grid system to run machinery starting in the 1870s
started a new second
Industrial Revolution. DC motors can operate directly from
rechargeable batteries,
providing the motive power for the first electric vehicles and
today's hybrid
cars and electric cars as well as driving a host of cordless
tools. Today DC motors are still
found in applications as small as toys and disk drives, or in
large sizes to operate steel
rolling mills and paper machines.
If external power is applied to a DC motor it acts as a DC
generator, a dynamo.
This feature is used to slow down and recharge batteries on
hybrid car and electric cars or
to return electricity back to the electric grid used on a street
car or electric powered train
line when they slow down. This process is called regenerative
braking on hybrid and
electric cars. In diesel electric locomotives they also use
their DC motors as generators to
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slow down but dissipate the energy in resistor stacks. Newer
designs are adding large
battery packs to recapture some of this energy.
5.3.2 Types of dc motor:
5.3.2.1 Brush type:
A brushed DC electric motor generating torque from DC power
supply by using
an internal mechanical commutation. Stationary permanent magnets
form the stator field.
Torque is produced by the principle that any current-carrying
conductor placed within an
external magnetic field experiences a force, known as Lorentz
force. In a motor, the
magnitude of this Lorentz force (a vector represented by the
green arrow), and thus the
output torque, is a function for rotor angle, leading to a
phenomenon known as torque
ripple) Since this is a single phase two-pole motor, the
commutator consists of a split
ring, so that the current reverses each half turn ( 180
degrees).
The brushed DC electric motor generates torque directly from DC
power supplied
to the motor by using internal commutation, stationary
magnets
(permanent or electromagnets), and rotating electrical
magnets.
Advantages of a brushed DC motor include low initial cost, high
reliability, and
simple control of motor speed. Disadvantages are high
maintenance and low life-span for
high intensity uses. Maintenance involves regularly replacing
the carbon brushes and
springs which carry the electric current, as well as cleaning or
replacing the commutator.
These components are necessary for transferring electrical power
from outside the motor
to the spinning wire windings of the rotor inside the motor.
Brushes consist of
conductors.
5.3.2.2 Brushless type:
Typical brushless DC motors use a rotating permanent magnet in
the rotor, and
stationary electrical current/coil magnets on the motor housing
for the stator, but the
symmetrical opposite is also possible. A motor controller
converts DC to AC. This design
is simpler than that of brushed motors because it eliminates the
complication of
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transferring power from outside the motor to the spinning rotor.
Advantages of brushless
motors include long life span, little or no maintenance, and
high efficiency.
Disadvantages include high initial cost, and more complicated
motor speed controllers.
Some such brushless motors are sometimes referred to as
"synchronous motors" although
they have no external power supply to be synchronized with, as
would be the case with
normal AC synchronous motors.
5.4 BATTERY (LEAD ACID BATTERY)
5.4.1 Introduction
The leadacid battery was invented in 1859 by French physicist
Gaston
Plant and is the oldest type of rechargeable. Despite having a
very low energy-to-weight
ratio and a low energy-to-volume ratio, its ability to supply
high surge currents means
that the cells have a relatively large power-to-weight ratio.
These features, along with
their low cost, make it attractive for use in motor vehicles to
provide the high current
required by automobile starter motors.
As they are inexpensive compared to newer technologies,
lead-acid batteries are
widely used even when surge current is not important and other
designs could provide
higher energy densities. Large-format lead-acid designs are
widely used for storage in
backup power supplies in cell phone towers, high-availability
settings like hospitals,
and stand-alone power systems. For these roles, modified
versions of the standard cell
may be used to improve storage times and reduce maintenance
requirements.
This battery provides 6V in our project. We want 12 volt
requirement. So, we
connected two batteries in series.
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5.5 TRANSISTOR
A transistor is a semiconductor device used
to amplify and switch electronic signals and electrical power.
It is composed of
semiconductor material with at least three terminals for
connection to an external circuit.
A voltage or current applied to one pair of the transistor's
terminals changes the current
through another pair of terminals. Because the controlled
(output) power can be higher
than the controlling (input) power, a transistor can amplify a
signal. Today, some
transistors are packaged individually, but many more are found
embedded in integrated
circuits.
The transistor is the fundamental building block of modern
electronic devices, and
is ubiquitous in modern electronic systems. Following its
development in 1947 by John
Bardeen, Walter Brattain, and William Shockley, the transistor
revolutionized the field of
electronics, and paved the way for smaller and cheaper radios,
calculators,
and computers, among other things. The transistor is on the list
of IEEE milestones in
electronics, and the inventors were jointly awarded the 1956
Nobel Prize in Physics for
their achievement.
5.6 CRYSTAL
5.6.1 Description:
Crystals are commonly used to provide a stable clock source for
micro-
controllers. This has a freq. tolerance of +-50ppm, temperature
stability of +-50ppm, and
load capacitance of 18pF. It's slightly more than 1/8" tall.
5.6.2 More information and instructions:
Spec sheet: here (ABL type)
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Here are 22pF ceramic disc capacitors commonly used with this
crystal to provide a clock
source to micro-controllers.
When installing, be sure that the case does not make contact
with any other conductors;
ie, don't push it all the way flush with the board.
+-5ppm (parts per million) per year aging drift.
About crystals: There are several different ways to provide a
clock source, including
crystals, oscillators, RC circuits, and resonators; this article
gives a good comparison.
Crystals offer a good compromise of low cost, high accuracy,
good temperature stability,
and low power use.
They are typically used in what's called a "Pierce circuit" with
microcontrollers that has
two other capacitors tied to ground on either side of the
crystal. The value of the
capacitors affects the circuit's frequency. Crystals
manufactured for use in this type of
circuit are parallel crystals and come pre-compensated for a
certain "capacitive load." The
formula that relates the crystal's capacitive load and the
capacitors used in the circuit is:
CL = (C1*C2)/(C1+C2) + Cs (stray capacitance in leads and
circuit board). Many guides
suggest Cs is usually around 5 pF, but the Microchip spec sheets
seem to assume it's
12.5pF.
PPM (Parts per Million): This is like a percent error (1000 PPM
= .1% error), and is
convenient for calculating error with crystals. 5ppm on a 4MHz
crystal = 5*4 = 20Hz
possible error. Most microcontroller applications don't require
too much accuracy,
100ppm is fine. If the parallel capacitors don't match the
crystal's capacitive load exactly,
they will pull the frequency, but not much. This offers more
info about pullability and
crystals in general. It seems to indicate that on a 20pF CL
crystal, you may get 16ppm/pF
error between the anticipated load and actual.
A Microchip application note that talks about crystal design
considerations for
microcontrollers.
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5.7 TRANSFORMER
5.7.1 Working principal:
A transformer is an electrical device that transfers energy
between two circuits
through electromagnetic induction. A transformer may be used as
a safe and
efficient voltage converter to change the AC voltage at its
input to a higher or lower
voltage at its output. Other uses include current conversion,
isolation with or without
changing voltage and impedance conversion.
A transformer most commonly consists of two windings of wire
that are wound
around a common core to provide tight electromagnetic coupling
between the windings.
The core material is often a laminated iron core. The coil that
receives the electrical input
energy is referred to as the primary winding, while the output
coil is called the secondary
winding.
An alternating electric current flowing through the primary
winding (coil) of a
transformer generates a varying electromagnetic field in its
surroundings which causes a
varying magnetic flux in the core of the transformer. The
varying electromagnetic field in
the vicinity of the secondary winding induces an electromotive
force in the secondary
winding, which appears a voltage across the output terminals. If
a load impedance is
connected across the secondary winding, a current flows through
the secondary winding
drawing power from the primary winding and its power source.
A transformer cannot operate with direct current; although, when
it is connected
to a DC source, a transformer typically produces a short output
pulse as the current rises.
5.7.2 Applications:
Transformers perform voltage conversion; isolation protection;
and impedance
matching. In terms of voltage conversion, transformers can
step-up voltage/step-down
current from generators to high-voltage transmission lines, and
step-down voltage/step-up
current to local distribution circuits or industrial customers.
The step-up transformer is
used to increase the secondary voltage relative to the primary
voltage, whereas the step-
down transformer is used to decrease the secondary voltage
relative to the primary
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voltage. Transformers range in size from thumbnail-sized used in
microphones to units
weighing hundreds of tons interconnecting the power grid. A
broad range of transformer
designs are used in electronic and electric power applications,
including miniature, audio,
isolation, high-frequency, power conversion transformers,
etc.
5.7.3 Basic principles:
The functioning of a transformer is based on two principles of
the laws of
electromagnetic induction: An electric current through a
conductor, such as a wire,
produces a magnetic field surrounding the wire, and a changing
magnetic field in the
vicinity of a wire induces a voltage across the ends of that
wire.
The magnetic field excited in the primary coil gives rise to
self-induction as well
as mutual induction between coils. This self-induction counters
the excited field to such a
degree that the resulting current through the primary winding is
very small when no load
draws power from the secondary winding.
The physical principles of the inductive behavior of the
transformer are most
readily understood and formalized when making some assumptions
to construct a simple
model which is called the ideal transformer. This model differs
from real transformers by
assuming that the transformer is perfectly constructed and by
neglecting that electrical or
magnetic losses occur in the materials used to construct the
device.
5.8 ANALOG TO DIGITAL CONVERTER
An analog-to-digital converter (abbreviated ADC, A/D or A to D)
is a device that
converts a continuous physical quantity (usually voltage) to a
digital number that
represents the quantity's amplitude.
5.9 CONCLUSION
In this chapter we discussed about different type of electrical
components which we used
in our academic project.
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CHAPTER 06
SENSOR
6.1 INTRODUCTION
In our project we used two sensors for general purpose use of
our robot. First one
is gas sensor and another is temperature sensor.
A sensor is a physical device or biological organ that detects,
or senses, a signal or
physical condition and chemical compounds.
6.2 OVERVIEW
Most sensors are electrical or electronic, although other types
exist. A sensor is a
type of transducer. Sensors are either direct indicating (e.g. a
mercury thermometer or
electrical meter) or are paired with an indicator (perhaps
indirectly through an analog to
digital converter, a computer and a display) so that the value
sensed becomes human
readable. In addition to other applications, sensors are heavily
used in medicine, industry
and robotics. Technical progress allows more and more sensors to
be manufactured with
MEMS technology. In most cases this offers the potential to
reach a much higher
sensitivity. See also MEMS sensor generations.
6.3 TYPES OF SENSORS
Since a significant change involves an exchange of energy,
sensors can be classified
according to the type of energy transfer that they detect.
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6.3.1 Thermal sensors:
Temperature sensors:
Thermometers, thermocouples, temperature sensitive resistors
(thermistors and
resistance temperature detectors), bi-metal thermometers and
thermostats
Heat sensors:
Bolometer, calorimeter
6.3.2 Electromagnetic sensors:
electrical resistance sensors: ohmmeter, multimeter
electrical current sensors: galvanometer, ammeter
electrical voltage sensors: leaf electroscope, voltmeter
electrical power sensors: watt-hour meters
magnetism sensors: magnetic compass, fluxgate compass,
magnetometer, Hall
effect device,
metal detectors
6.3.3 Mechanical sensors:
pressure sensors: altimeter, barometer, barograph, pressure
gauge, air speed
indicator, rate of climb indicator, variometer
gas and liquid flow sensors: flow sensor, anemometer, flow
meter, gas meter,
water meter, mass flow sensor
mechanical sensors: acceleration sensor, position sensor,
selsyn, switch, strain
gauge
6.3.4 Chemical sensors:
Chemical sensors detect the presence of specific chemicals or
classes of
chemicals. Examples include oxygen sensors, also known as lambda
sensors, ion-
selective electrodes, pH glass electrodes, and redox
electrodes.
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6.3.5 Optical and radiation sensors:
Electromagnetic time-of-flight. Generate an electromagnetic
impulse, broadcast it,
then measure the time a reflected pulse takes to return.
Commonly known as -
RADAR (Radio Detection And Ranging) are now accompanied by the
analogous
LIDAR (Light Detection And Ranging. See following line), all
being
electromagnetic waves. Acoustic sensors are a special case in
that a pressure
transducer is used to generate a compression wave in a fluid
medium (air or
water)
light time-of-flight. Used in modern surveying equipment, a
short pulse of light is
emitted and returned by a retroreflector. The return time of the
pulse is
proportional to the distance and is related to atmospheric
density in a predictable
way.
6.4 TEMPERATURE SENSOR (THERMISTOR)
6.4.1 Introduction:
A thermistor is a type of resistor whose resistance varies
significantly
with temperature, more so than in standard resistors. The word
is
a portmanteau of thermal and resistor. Thermistors are widely
used as inrush current
limiters, temperature sensors, self-resetting over current
protectors, and self-
regulating heating elements.
Thermistors differ from resistance temperature detectors (RTD)
in that the
material used in a thermistor is generally a ceramic or polymer,
while RTDs use pure
metals. The temperature response is also different; RTDs are
useful over larger
temperature ranges, while thermistors typically achieve a higher
precision within a
limited temperature range, typically 90 C to 130 C.
Thermistors are thermally sensitive resistors produced