Drone to Obstacle Distance Estimation Using YOLO V3 Network and Mathematical Principles

Now a days, drones are very commonly used in various real time applications. Moving towards autonomy, these drones rely on obstacle detection sensors and various collision avoidance algorithms programmed into it. Development of fully autonomous drones provide the fundamental benefits of being able to operate in hazardous environments without a human pilot. Among the various sensors, monocular cameras provide a rich source of information and are one of the main sensing mechanisms in low flying drones. These drones can be used for rescue and search operations, traffic monitoring, infrastructure, and pipeline inspection, and in construction sites. In this paper, we propose an onboard obstacle detection model using deep learning techniques, combined with a mathematical approach to calculate the distance between the detected obstacle and the drone. This when implemented does not need any additional sensor or Global Positioning Systems (GPS) other than the vision sensor.

Morphological Adaptation for Speed Control of Pipeline Inspection Gauges MC-PIG

Passive and active hybrid pipeline inspection gauges (PIGs) have been used for in-pipe inspection. While a passive PIG cannot control its speed, the hybrid version can achieve this by using an integrated valve specifically designed and embedded in the PIG. This study proposes a generic new method for speed adaptation in PIGs (called MC-PIG) by introducing a generic, modular, controllable, external valve unit add-on for attaching to existing conventional (passive) PIGs with minimal change. The MC-PIG method is based on the principle of morphological computation with closed-loop control. It is achieved by regulating/computing the PIG's morphology (i.e., a modular rotary valve unit add-on) to control bypass flow. Adjustment of the valve angle can affect the flow rate passing through the PIG, resulting in speed regulation ability. We use numerical simulation with computational fluid dynamics (CFD) to investigate and analyze the speed of a simulated PIG with the valve unit adjusted by proportional-integral (PI) control under various in-pipe pressure conditions. Our simulation experiments are performed under different operating conditions in three pipe sizes (16″, 18″, and 22″ in diameter) to manifest the speed adaptation of the PIG with the modular valve unit add-on and PI control. Our results show that the PIG can effectively perform real-time adaptation (i.e., adjusting its valve angle) to maintain the desired speed. The valve design can be adjusted from 5 degrees (closed valve, resulting in high moving speed) to a maximum of 45 degrees (fully open valve, resulting in low moving speed). The speed of the PIG can be regulated from 0.59 m/s to 3.88 m/s in a 16″ pipe at 4.38 m/s (in-pipe fluid velocity), 2500 kPa (operating pressure), and 62 °C (operating temperature). Finally, the MC-PIG method is validated using a 3D-printed prototype in a 6″ pipe. Through the investigation, we observed that two factors influence speed adaptation; the pressure drop coefficient and friction of the PIG and pipeline. In conclusion, the results from the simulation and prototype show close characteristics with an acceptable error.

E-Agriculture

In current era, modern technologies need to be used in agriculture in india to increase crop productivity because over 70% of the rural people depends upon the agriculture fields. Indian farmers are facing challenges such as crop monitoring, Soil and field analysis , estimation of soil conditions, Fighting infections and pests, irrigation monitoring , need of more human power and money etc., To overcome these agricultural challenges, agricultural drones are used in agriculture. Because of the applications of agricultural drone, it can be used easily where the equipment and labors are difficulty to operate in agricultural fields. To yield better crop quality and preventing fields from any sort of damage , agricultural drones are needed. Agricultural drones have a number of advantages over the more traditional agricultural methods. And moreover data processing applications are becoming less expensive and easier to use due to applications of agricultural drones. In this paper brief discussion about classification and importance of drones , application of agricultural drones, future use of agricultural drones etc., are discussed and finally concluded about the need of using modern technologies in agriculture fields . Keywords: Drones, agricultural drones, crop monitoring, crop spraying, pipeline inspection.

Optimization of the design of the pig launcher-receiver chambers of cleaning and diagnostic tools

По результатам проведенного анализа конструктивных решений камер пуска-приема средств очистки и диагностики (КПП СОД), применяемых при технической диагностике и техническом обслуживании магистральных трубопроводов в России и за рубежом, был установлен ряд проблем существующих конструкций, снижающих эксплуатационную надежность данного вида оборудования. Это, в свою очередь, обусловило актуальность задачи оптимизации конструкции КПП СОД, в том числе в части унификации используемых при их изготовлении деталей, увеличения доли заводских изделий. Были приняты решения, обеспечившие комплексный подход к вопросу повышения надежности и ремонтопригодности оборудования - разработана новая конструкция КПП СОД, позволяющая снизить металлоемкость и трудоемкость при изготовлении, сократить эксплуатационные затраты, повысить технологичность и прочностные характеристики. В рамках решения данной задачи выполнены расчетно-теоретические исследования с применением прикладного программного комплекса SIMULIA Abaqus. Надежность оптимизированной конструкции подтверждена результатами испытаний на прочность опытного образца КПП СОД с номинальным диаметром рабочей камеры DN 1000. Разработан типоразмерный ряд КПП СОД усовершенствованной конструкции с номинальными диаметрами рабочей камеры DN 150-1200 для применения на магистральных нефте- и нефтепродуктопроводах. Based on the results of the analysis of the design solutions of launching and receiver stations of pipeline inspection gauges (pig launchers-receivers) used in process diagnostics and maintenance of main pipelines in Russia and abroad, a number of applied design issues was established. This, in turn, led to the relevance of the issue of optimizing the design of pig launchers and receivers, including the unification of parts used in their manufacture, thereby increasing the share of factory-made products. Decisions were made that provided a comprehensive approach to the issue of improving the operational reliability of this type of equipment - a new design of pig launchers and receivers was developed, which allows to reduce production metal consumption and labor intensity, reduce operating costs, increase constructability and reliability. As part of the solution of this issue, computational and theoretical studies using the SIMULIA Abacus software package were carried out. The reliability of the optimized design is confirmed by the results of durability tests of the pig launcher and receiver prototype with the nominal diameter of the working chamber of DN 1000. A dimension range of advanced designs of pig launchers and receivers with nominal working chamber diameters of DN 150-1200 for use in main oil and petroleum product pipelines was developed.

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

This paper presents a modularized autonomous pipeline inspection robot called MRINSPECT VII+, which we recently developed. MRINSPECT VII+ is aimed at inspect in-service urban gas pipelines with a diameter of 200 mm. The robot consists of five basic modules: driving, sensing, joint, and battery modules. For nondestructive testing (NDT), an NDT module can be added to the system. The driving module uses a multiaxial differential gear mechanism to provide traction forces to the robot. The sensor module recognizes the pipeline element using position-sensitive detector (PSD) sensors and a CCD camera. The control module contains a computing unit and manages the robot’s autonomous navigation. The battery module supplies power to the system. Each module is connected via backdrivable active joint modules, which provide flexibility while moving inside narrow pipelines. Additionally, the wireless communication module helps the system communicate with the ground station. We tested MRINSPECT VII+ in real pipeline environments and validated its feasibility successfully.