#4, 103F room Thursday, November 02, 2017 08:00 AM - 08:17 AM

• 55,377 km of gas pipelines
• 28,181 km of liquid pipelines
• Move 28% of crude oil produced North America and 23% of natural gas consumed in the United States
• Workforce of 15,400 people
• $27B+ in secured capital projects for growth
• No.12 on the 2016 Newsweek Green Rankings
• Environmental issues
• Insurance and leak prevention (pipeline integrity)

• Inertial Measurement Unit
• External signal sink-source communication

• Measurements of IMU unit
  • Gyroscopes rotation angles $latex \omega_1$, $latex \omega_2$, $latex \omega_3$ - Euler angles
  • Linear translation motion $latex a_x, a_y, a_z$-acceleration
  • Magnetometer
• Error of integration prevents accurate localization (known problem in aerospace engineering)
  \begin{equation} a_{x}=\frac{d^2x}{dt^2}\end{equation}
  the measurement error is accumulated by double integration of  $latex a_x $ signal
  \begin{equation} x(t)=\int \int a_{x}d\tau\end{equation}
• Practical solution is dead-reckoning
• The IMU chip is designed to be placed in the geometric center of the ball in order to prevent the error during rotation.
• The position of the battery is designed to keep the mass balance of the robot.

• Cheaper swimbot (87$)
• Large number of swimbot deployments (every batch of transfered fluid should have 2-3 swimbots)
• Large number of data for statistical processing and mining
  • Deep Neural Network
• Pipeline integrity and leak prevention

• Problem of integration drift is the main issue in all IMUs
• Algorithm is applied to fuse acceleration and and angular velocity to generate accurate positioning

  

  • Quaternions
  • Euler angels
  • Rotation Matrix
  • Fusion algorithm and Madgwick library
• Artificial Neural Network and Deep Neural Network

The experimental run takes 4-5 seconds in the recorded interval between 31 sec and 36 sec

The experimental run takes 4-5 seconds in the recorded interval between 31 sec and 36 sec

Position Calculated

Pipe length is 3.22 m and relative error is 5.3%

• Leak localization is explored
  • Issues of drift associated with IMU are addressed
  • Fusioon algorithm
  • Deep Neural Network
• Data exploration for large number of deployed swimbots

Future work:

• Bayesian inference
• Several agent swimbots with communication protocol