Chandra, Jonathan (2024) Underwater Robot Localisation Based on Electrical Impedance. Master's Thesis / Essay, Mechanical Engineering.
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Abstract
This Thesis introduces an electrical impedance-based localisation method for Pipeline Inspection Gauges (PIGs) within water distribution systems. The method seeks to overcome some of the limitations of existing localisation techniques and was validated to have the potential as an useful addition to existing methods. At its core, the method is based on the linear relationship between the changes in electrical impedance and the PIG’s travel distance. The study was conducted through both environmental and analytical modelling. The research addressed three critical aspects: the linearity of the impedance- distance relationship, the effectiveness of untethered PIG operations, and the applicability of this method within a water distribution network. Simulations were conducted to better understand the potential of impedance measurements in accurately localising the PIG’s location across both simple and complex network configurations. Findings indicate that this approach could markedly enhance the accuracy and efficiency of PIG-based inspections. The study hopefully aids future researchers and engineers to build a proper pipeline maintenance system.
| Item Type: | Thesis (Master's Thesis / Essay) |
|---|---|
| Supervisor name: | Cao, M. and Jayawardhana, B. |
| Degree programme: | Mechanical Engineering |
| Thesis type: | Master's Thesis / Essay |
| Language: | English |
| Date Deposited: | 14 May 2024 07:11 |
| Last Modified: | 14 May 2024 07:16 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/32385 |
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