Journal of Emerging Science and Technology, Vol.

1, JOSET-202101, 2021

Interior Pipe Mountaineering Device Assessment Robot

Muhammad Shurjeel Amjad and Salman Ahmad

Abstract: The pipeline is widely used to transport oil and gas over millions of miles all over the world. However, the leakage in
pipelines is one of the major origins of numerous losses in pipeline operators. There are also few accidents happen and leakage
occurs so there is a need to properly monitor the leakage of the oil and gas pipeline. For inspection of these oil and gas pipes, there is
a need for highly accurate regular inspection of the pipeline. This research explains how the robot inspects the internal leakage of
oil and gas pipelines. The robot has a feature of an ultrasonic sensor, built-in camera. The distance is measured between the robot
and the leakage is determined with the help of the ultrasonic sensor. The robot senses the leakage and moves towards it and the
built-in camera shows how deep is the leakage. In addition, open issues and research gap for the development of consistent pipeline
leakage revealing method are deliberated in this research. The result illustrate that the real time gas and oil leakage monitoring
system developed in this research is consistent and practice. This robot initial 3-Dimension design is ready and other testing will be
part of future works. Future improvements are to use this robot in indoor as well as outdoor pipeline inspection.

Keywords: Gas pipe, Interior Pipe, Maintenance, Mountaineering Device, Robot

Reference to this paper should be made as follows: Amjad, M. S. and Ahmad, S. (2021). Interior Pipe Mountaineering Device Assessment
Robot, Journal of Emerging Science and Technology, Vol. 1, JOSET-202101, 2021.

Biographical notes:
Muhammad Shurjeel Amjad is pursuing his BE in mechanical engineering at Pakistan Institute of Engineering and Technology. His
scientific and research work is aimed on mechanical engineering and robotics.
shurjeelamjad03@gmail.com
Engr Salman Ahmad is a professor of mechanical engineering at Pakistan Institute of Engineering And Technology, Multan Pakistan. He
received his MS from University of Lahore, Pakistan. His research is related to mechanical engineering and robotic science fields.
salmanahmad106106@gmail.com
Problem Definition & Literature Review/ Background:
The design of this project is to make a robot works in the industry where oil, gas and water pipes are installed. In that industry,
there will be a great threat to leakage of any oil or gas, water pipes so there is something that automatically detects the faults
and repairs it. For doing this design a robot runs on the pipes easily and detects the fault also.

Abbreviations
𝑆 = 𝐹𝑖𝑥𝑒𝑑 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑖𝑛 𝑚𝑒𝑡𝑒𝑟𝑠 𝜀𝑟 = 𝑅𝑒𝑙𝑎𝑡𝑖𝑣𝑒 𝐷𝑖𝑒𝑙𝑒𝑐𝑡𝑟𝑖𝑐 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑉𝑚 = 𝑀𝑒𝑑𝑖𝑢𝑚 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑖𝑛 𝑚𝑠 −1 𝑋 = 𝐿𝑒𝑎𝑘 𝑃𝑜𝑖𝑠𝑡𝑖𝑜𝑛 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒
𝑅 = 𝑅𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛 𝐶𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 ∆𝑡 = 𝑇𝑖𝑚𝑒 𝐷𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑐𝑒 𝑖𝑛 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
𝑄 = 𝐿𝑒𝑎𝑘𝑎𝑔𝑒 𝐹𝑙𝑜𝑤 𝑅𝑎𝑡𝑒 𝑖𝑛 𝑚3 /𝑠 𝑎 = 𝑁𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑃𝑟𝑒𝑠𝑠𝑢𝑟𝑒 𝑊𝑎𝑣𝑒 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝐴 = 𝐶𝑟𝑜𝑠𝑠 𝑆𝑒𝑐𝑡𝑖𝑜𝑛𝑎𝑙 𝐴𝑟𝑒𝑎 𝑖𝑛 𝑚2 𝑘 = 𝐵𝑢𝑙𝑘 𝑀𝑜𝑑𝑢𝑙𝑢𝑠
𝜌 = 𝐷𝑒𝑛𝑠𝑖𝑡𝑦 𝑜𝑓 𝐺𝑎𝑠 𝑜𝑟 𝐹𝑙𝑢𝑖𝑑 𝑖𝑛 𝑘𝑔/𝑚3 𝐶 = 𝐶𝑜𝑟𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝐹𝑎𝑐𝑡𝑜𝑟
𝜑𝑚𝑎𝑥 = 𝐹𝑙𝑜𝑤 𝐷𝑖𝑠𝑝𝑒𝑟𝑠𝑖𝑜𝑛 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑒 = 𝑃𝑖𝑝𝑒𝑙𝑖𝑛𝑒 𝑇𝑕𝑖𝑐𝑘𝑛𝑒𝑠𝑠
𝛾 = 𝑆𝑝𝑒𝑐𝑖𝑓𝑖𝑐 𝐻𝑒𝑎𝑡 𝑅𝑎𝑡𝑖𝑜 𝐸 = 𝑀𝑜𝑑𝑢𝑙𝑢𝑠 𝑜𝑓 𝐸𝑙𝑎𝑠𝑡𝑖𝑐𝑖𝑡𝑦
𝑇 = 𝑇𝑟𝑎𝑣𝑒𝑙𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 𝑖𝑛 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
1. Introduction
Pipe Leakage happens usually and complete wall loss of conduit or through-crevice flaws is a general occasion at
several spots. In the Oil & Gas and Offshore industry where flammable gasses are accessible, it is commanding to
modify these brands of pipe leaks and pipe spots with cold-curing repair. But first, we detect the pipe leakage
because hot works are more or less unsuitable. Robot detection system using compound wrap must meet the
essentials and perform at the typical level under convincing conditions. Robotic technology is increasing day by
day because this system contains accurate measurement methods. People efforts are less and less consuming. The
benefits of robots have augmented their litheness with being accomplished of accomplishing a variety of
household tasks and presentations. They are more detailed and consistent than hominoid workers. Robots also
allow for amplified production and income margin because they can whole tasks faster. Laws of Robotics are a set
of laws, rules, or principles, which are intended as a fundamental outline to underpin the performance of robots
intended to have a gradation of self-sufficiency. Robots of this gradation of intricacy do not yet exist, but they
have been extensively anticipated in science nonfiction, films and are a topic of active research and progress in the
fields of robotics and artificial intelligence.
This is the very vast field project now working on the design of the robot but later near future also trying to build it
and test it in the market. Our design includes a robot that walks and climbs inside the pipes and there will be a
built-in camera installed which shows visual picture of the leakage. There is an ultrasonic sensor installed which
detects the distance from the bottom.

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In the literature, there are many research studying using the robots but for other purposes and very few researchers
use robots for the detection. However, they are different from our idea in which the robots used do not have
sensors and cameras installed in them. Thus, our idea can help the industrialist to solve their problems.
In one study, they were conducting a daily inspection of the pipe and recording their data, and inspecting the
condition of the pipes to set all the leakage of the pipe. Also, according to the pipe conditions forecast, leakage is
repaired on time.
There are also few limitations in the design of the robot because the pipes are very hot so the body of the robot is
also restrained with that temperature. In the pipes the normal temperature is about 55-60 oC, and the humidity in
the pipes is 100%, and shell temperature in the pipes are 125 oC to 500 oC. Another thing is that it is difficult to
measure the distance in the zigzag pipes with the help of ultrasonic sensor as it measures the distance in the
straight line.
The additional thing in this robot is that the customer wants also to use a built-in camera which is installed to help
to visually see the condition of the pipe within the internal design of the body.
Currently, the robot available in the market does not have a lot of features. It only navigates and detects the
leakage but not showing the distance and there is no camera to allow seeing the leakage and its depth.
The customer wants the robot which works wirelessly and also controlled remotely with a remote- control. In
addition, it is required to be a human-friendly, easy to use and fast working, reliable and have some strength to
bear the hardness and temperature of the environment. All the video camera records are stored in it.
In this design, the robots moves in the internal of the pipe easily and have 6 tires which easily move in the pipe and
adjust the position and locate the leakage. It also has flexibility to move anywhere easily horizontally (left or right)
and vertically (up and down).
Investigate the human –robot interaction (HRI) of user’s attitude with different robot of varying levels of human
likeness. In future robot is very important use in human life. Robot study and robot use in industry very important
part in human life. Human perception of social robots resembles social phenomena to other human society
(Szczepanowski, 2020).
Study the human life growing upcoming technology years this optimization is very vast use in every industry and
human life also. Robot optimization in human life is very commonly use and practical use in industry life humans.
Robot optimization of knowledge –intensive engineering process incremental of tool-based Manufacture of
common awareness base solution. In industry this optimization knowledge –based solutions development is much
important in human life (Švejda, 2019).
In this experiment negative pressure wave use analysis for the burst pipeline in oil industry. In recent years
research community take serious note for this kind of analysis to associate the cost effective for the oil and gas
industry. WSN technology use in major industry for detects the burst pipe and affects the most of the part of
industry. Long-range frequency signals are carrying high and low sine wave. Most of the waves are robotic signals
for easily detect the sensor used in the industry. Transform analysis merge with WSN so keep the strong signals,
detect the burst pipe, and see the pipe stress for upcoming life for cylinder dimensions for the industry. This
technique use the 95% accuracy for detects the any kind for error in cylinder and high frequency noise is getting
for the take pollution for the human life. Researcher takes serious for methods to take the type error in burst pipe
leakage (Marvel, 2014). Investigate the pipe line leakage in oil and gas industries and also prefer the safety
precautions in this type industries we study in this paper. Pipe line leakage is very big economic loss during work
or any heating process in oil and gas industry. The method of detection of pipeline and optimization to increase
the pipe leakage life. Robot work is classifies the standards for oil and gas pipeline leakage detection and analyze
the future development direction (Hongfang, et. al. 2018). Design the (FBG) hoop strain measurement using vector
machine to study and control the pipeline leakage in all industries that using the hot fluid work. Fiber Bragg
Grating hoop strain sensors are recently use in water pipe industry. Multiple hoop strain signals can be extracted
distributed loop set laterally the conduit leakage imitate development. Support Vector Regressions (SVR) is
localized escape point lengthways a model duct. Series of fatal hoop rinsing variations take out as the input
variables to achieve multi-worsening study as to localize the leakage theme. The strictures of changed kernel
meanings are heighten through five-fold cross justification to obtain the highest leak localization exactitude. The
result expressions the two type of factor depend C and Gamma value. The localization mean the square loss of the
pipeline leakage as low as 0.05. The average localization of vector machine loop is 5% but in this work reduced
the noise (Almodaresi, et. al. 2018).
Use software to able to get the fault oil and gas pipeline under the sea. Due to submarine under the sea most of the
cases are consider to pipeline leakage with crash with submarine. The Fault-Tree analysis (FTA) effective tool to
system technically identified the fault in pipeline. A puniest t-norm (Tw) based on the fuzzy culpability tree

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approach is purposed obtain a relative probability domain evolution. Oil and gas pipeline leakage is very sensitive
matter under the seas level because aquatic life is very damage due this circumstances. The quantitative analysis is
very important in pipeline leakage. The critical events after quantitative analysis improvement measure put
forward the technique.
Design a device detect the many types gases like natural gas, hydrogen, oil and gas, water pipe pipeline leakage
through dynamic waves device. To monitor gas pipeline leakage before this technique use is very difficult but time
to time study continues on this situation and robot use and also use dynamic waves process use to detect the line
leakage. The traditional method based on the propagation detection waveform by upstream or downstream signals
(Jianxing, et. al. 2019). These type of gases are move internal pipe but pipe diameter not more then 45mm. Finally,
the consequences of the experiments are deliberated and scrutinized. The results indicate that all leakages can be
sensed by both systems but that the largest setting error of the outmoded manner is −0.800%, whereas the largest
location errors with reverence to the new method are 0.064% with the trial attenuation quantities and 3.055% with
the conjectural attenuation measurements. This detection method oil and gas pipeline is very well improve or
suited method through use the dynamics waves (Liu, et. al. 2019).
Noise in pipeline is huge problem in modern era. Pipeline leakage in oil and gas industries work is also going but
in this time noise pollution is still a huge problem due to this pipeline. Small noise pollution removal method based
on experimental mode putrefaction (SNR-EMD) is purpose due to lessen this kind of sound in pipe industries.
Extreme–glass postponement (EME) tested by heaviness reduced the signals of noise use this method. The adverse
pressure engage (NPE) is mutual with the (SNR-EMD) to find the pipeline escape in oil and gas industry then
remove the leakage and noise also from internal pipe hole (Ren, et. al. 2018).
study the leakage and pipeline leakage scheme of gas pipeline ventilation. The poor material pipe use in heavy
industries then all after effects is increase the OGDCL, hydrogen-gas, natural gas industries. The ansys method of
(CFD) analysis is very basic to use the improve material of pipe and also for the structure for the pipes in all types
industries that we use the heavy pipes (Jouhara, et. al. 2017).Parallel use of two fans to remove the heat in tunnel
cylinder pipe for use the move gas from one point to another point. Set the block valve to use the first we control
the leakage and second we improve the ventilation in under tunnel. Leakage control or detect the under the tunnel
to use Robots and ansys program (Schäffer, et. al. 2019).
It is transport from manufacturing facilities to the feeding areas appreciably the usage of sunken conduits. Several
motives such as aged, inner and outdoor rust, flaws, seabed tectonic actions, fatigue extremely, pitting and boat
anchors are accountable for shattering submerged herbal fuel pipelines (UNGPs) by using sensors (Kumar, et. al.
2017). Therefore, analytic the leakages in the UNGPs are necessary forestall misplacing electricity store. learn
about introduces a process, which uses inert acoustic primarily founded obtained sign energy distinction (RSSD)
method, to contain the escapes in the UNGPs. Bearing in mind actual lifestyles UNGP, the overall show of the
proposed skill is scrutinize by simulations. The positioning mistake of the future approach in contrast with
obtained signal forte (RSS) approach founded totally method, which is regard as a level. The RSS approach strains
leakage (source) power records nevertheless; it may additionally no longer be feasible to recognize leakage
electricity rapidly(Chemweno, et. al. 2020).
Study the pipeline leakage and corrosion to monitor the oil transport through long distances. However, pipeline
also suffer many threats especially corrosion and leakage (Ren, et. al. 2019). Optical fiber sensor is used for the
safety monitoring for pipe to under the soil and tunnel for the industry purposes. Optical frequency domain
reflectometr (OFDR) technique is more suitable for pipeline monitoring. Frequency is large amount for the detect
the time for leakage under the pipeline for the improve for oil and gas for their distances from a large diameter
cylinder use for in this method. Distributed optical fiber sensors (DOFS) leakage test for this method for the huge
amount detect the corrosion and fatigue testing during the sensors use for both methods (Jia, et. al. 2019).
The constructions of the pipelines are design to stand up to quite a few environmental packing prerequisites to
safeguard secure dependable supply from point of manufacturing to the seashore or distribution garage. However,
seepages in cylinder systems are one of the predominant reasons of uncountable losses in pipeline workers and
nature. Occurrences of pipeline disappointment can upshot in serious biological disasters, human losses and
financial loss. In order to evade such danger and uphold safe and dependable pipeline substructure, enormous
lookup reports have devoted to applying pipeline leak discovery and localization the use of different methods and
application (Sukhadeve, 2017). Different leakage discovery and localizations in pipeline systems is reviewer and
their fortes and faintness are highlight (Adegboye, et. al. 2019).
In high latitude counties, area central boiler systems (DHSs) are major temperature stream keys to together
resident trade and inhabitants. Cylinder outflow recognition is consequently chief for checking the state of (DHSs)
and sponsoring liveliness competence. In this literature, a saliency examination method is present for DHS

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pipeline leakage discovery using at all sensed ultraviolet pictures, noticeable imagery, and terrestrial info system
(GIS) data. In the saliency-built DHS seepage uncovering method, the electromagnetic map is fashioned to
increase the seepage marks, and the channel location material mined from GIS data or visible similes acts as a
supply proceeding to discard false shocks. Finally, adaptive board subdivision by supreme entropy licenses the
automatic discovery of potential leakage marks in the final fused major map. The data as found for the validity for
the most of the major countries in the Asian side industries.
The literature shows maintain the long pipeline used for the oil and gas industries. It used the wireless sensor
network for long pipe in water or oil industries (Pal, et. al. 2019). These countries gold oil mining and supply the
whole world. However, in this modern age most of the defects see in long pipe. Radio Frequency Identification
(RFI) and WSN technologies are use in this type of type industry that uses the high velocity pipe in oil industries.
Both methods base on the simulation of (RSF) and WSN nodes. First node is just check the pipe is leakages and
second node check the pipe strength. According to mechanism both methods use for the only in Arab base
industries. Nodes are simulating the two types for the sleep and generate for the whole pipe diameter. Three
wakeup sums use location based, time based and interrupt driven for help the control the pipeline leakage in (Oil
Refrainers). The mathematical models are deriving for the use method and estimation the energy to flow in long
pipes.
The paper is organized as follows: Section 2 presents the basic principle and procedures of the proposed
methodology; Section 3 provides technology advances and application and analysis. The conclusion and future
scope of work are given in Section 4.

2. Proposed Methodology
Pipes are divided into three categories like metallic pipes, cement pipes, and plastic pipes. The metallic pipes
include the steel pipes, galvanized pipes, and cast-iron pipes. The cement pipes include the concrete cement pipes
and asbestos cement pipes and the plastic pipes include plasticized polyvinyl chloride pipes. Galvanized iron pipes
are only used in the water and sewerage purposes. While in the industry the pipes which are used for oil and gas
transportation are made up of iron and steel which are used due to their high strength. They are used to transfer gas
or pass of LPG and other non-toxic gases. There are also some pipes used in industry for supply and exhaust
purposes and the size of the pipes is varied according to the requirements.
The robot detects the deposits and leakage within the pipes by using a distance sensor installed in the robot which
measures the distance between the robot and the bottom of the pipe and also measures the distance between the
robot and top of the pipe. These measured results indicate if there are any deposits and leakage presence in the
pipe. In the standard pipe, the results are measured and considered as standards. The remaining measurements are
compared with the standards to check if there is any difference. Also, the camera is installed to show the internal
structure of the pipe if any leakage occurred or not.
The camera will easily navigate to show the user where the leakage is. It will take highly resolution videos so
humidity will never affect the quality.
After conducting the survey, we concluded that customer requires a robot which is light in weight, user friendly
and bear the harsh environment of the pipes. It must be long lasting and the camera required being durable.

For inspection of these oil and gas pipes, there is a need for highly accurate regular inspection of the pipeline. This
report explains how the robot inspects the internal leakage of oil and gas pipelines. The robot has a feature of an
ultrasonic sensor, built-in camera. The distance is measured between the robot and the leakage is determined with
the help of the ultrasonic sensor. The robot senses the leakage and moves towards it and the built-in camera shows
how deep is the leakage. The penetration depth of the ultrasonic wave found out by the following equation:
(𝑇. 𝑉𝑚 )2 − 𝑆 2
𝐷=
2
The percentage of the ultrasonic signals gives coefficient is determined by the following equation.
𝑉1 − 𝑉2
𝑅=
𝑉1 + 𝑉2
Also, ultrasonic coefficient can also be find out by using the following equation:
𝜀𝑟2 − 𝜀𝑟1
𝑅=
𝜀𝑟2 + 𝜀𝑟1
The speed of the ultrasonic signals determined by the following equation:

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Journal of Emerging Science and Technology
𝑐
𝑉𝑚 =
𝜀𝑟 𝜇𝑟
2 1 + 𝑃2 + 1)
The leakage flow through the cracks in mass was determined by the following equation:
𝑄 = 𝛼𝐴𝜑𝑚𝑎𝑥 2𝑃𝜌
The flow leakage dispersion function for the gas and oil leakage was computed as follows:
2 1 (𝛾−1)
𝛾
𝜑𝑚𝑎𝑥 = ( )
𝛾+1 𝛾+1
The measurement of inconsistency in the values, found out by using the mass conservation principle:
𝑑𝑀𝐿
𝑀𝑖 𝑡 − 𝑀𝑜 𝑡 =
𝑑𝑡
The time taken by the ultrasonic signals from the leak point to the culmination side of the pipeline found out suing
sensor locating signals.
𝑋
1
𝑡1 − 𝑡0 = 𝑑𝑋
𝑎𝑋 − 𝑉
0
The time difference in which ultrasonic wave starts from first station to the end of sensor found out by the
following equation:
𝑋 𝐿−𝑋
∆𝑇 = −
𝑎−𝑉 𝑎+𝑉
The negative pressure velocity found by the following expression:
𝑘
𝜌
𝑎=
1+ 𝑘 𝐸 𝐷 𝑒 𝐶
The uncertainties and errors are usually neglected in any research during the calculations and experimental
measurements of performance parameters. Reliability analysis is usually done to prove the accuracy and precision
of the experiments.
1
𝑛 2 2
𝛼𝐸 1 𝛿𝐸
= 𝛼𝑒
𝐸 𝐸 𝛿𝑒𝑖 𝑖
𝑖=1
Our project is to produce a portable working and functional robot that climbs easily in the internal of the pipes for
our consumer, but to do so some stages should be fulfilled to reach our final objective.
The milestones of our projects that we must fulfill and will help us to monitor the progress:
1- Understanding the idea of our project and do research accordingly and read some related literature
2- Asking some specialized workers in industries about how the robot moves in the internal pipes and the
difficulties faced, the diameters of the pipes and the temperature or humidity in pipes.
3- Designing the internal pipe climbing device.
4- Presenting the idea for the mentor
5- Making a prototype of the robot design which is shown below in the Fig 1.

Fig 1. CAD model of the internal pipe view of robot

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Journal of Emerging Science and Technology

3. Result Analysis
The proposed technique may be used for engineering optimization for designing of prototyping of different robots.
The methodology which is proposed here are provided generic fully robot optimization for different shapes of
robot.
A priori robot parameters evaluation is maintain by the model based approach. Modelled engineering
requirements are considered on iterative parameters modification supported by the robot 3D model. Moreover the
following control system design tasks which have to be taken into account for non-standard robot architectures are
also addressed can be found in design sections. Result of the analysis are shown in Fig 2 from their different
parameter can be estimated.

Fig 2. Maximum joint velocity, acceleration and torque

4 Conclusion
This study proposed a pipeline based structure with dissimilar procedure to identify the position of the leakage.
The location error of the anticipated method is calculated and compared with statistical estimation method, which
is considered as a benchmark. The programming technique have need of estimation of leakage strength but it may
not be feasible to know the leakage strength because of instantly varied constraint such as gas flow rate and time
delay between successive bubbles. Contrary to the programming technique, the technique does not require any
parameters of which must be instantly known. Simulation works scrutinize presentation of the proposed method,
where a real life UNGP is considered. Our project is to produce a portable working and functional robot that
climbs easily in the internal of the pipes for our consumer, but to do so some stages should be fulfilled to reach our
final objective.

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