Julio C. Adamowski

Autonomous system for oil pipelines inspection

Abstract Maintenance of oil pipelines is an issue of great concern for oil companies. Any possibility of leakage must be detected before the leakage occurs and a preventive action should be taken in order to avoid losses of oil and ecological disasters. One of the main causes of oil pipelines leakage is the corrosion of the bottom part of the pipeline due to accumulation of water and other corrosive substances. One of the methods used to check the conditions of the oil pipelines is the running of a data acquisition device through all the length of the pipeline (that can be km) to gather information about the corrosion and its position inside the pipeline. This device is commonly referred to as pig. The Brazilian oil company, PETROBRAS, wanting to have the technology of such device to detect corrosion in their oil pipelines proposed to the Department of Mechanical Engineering of the Escola Politecnica da Universidade de Sao Paulo a joint project to the development of a pig that could run uninterruptedly in long oil pipelines gathering corrosion data for the preventive maintenance of their oil pipelines. The result of the project was the development of an ultrasonic pig with 16 ultrasonic transducers with on-board energy system and acquisition and storage systems. Also, comprised in the presented solution was the development of a software to analyze the collected data and give the position of the corrosion spots along the pipeline. This paper presents in detail the implementation and design issues related to the development of the ultrasonic pig. Also, some experimental data will be shown as confirmation of the effectiveness of the developed system.

Analysis of the particle stability in a new designed ultrasonic levitation device

The use of acoustic levitation in the fields of analytical chemistry and in the containerless processing of materials requires a good stability of the levitated particle. However, spontaneous oscillations and rotation of the levitated particle have been reported in literature, which can reduce the applicability of the acoustic levitation technique. Aiming to reduce the particle oscillations, this paper presents the analysis of the particle stability in a new acoustic levitator device. The new acoustic levitator consists of a piezoelectric transducer with a concave radiating surface and a concave reflector. The analysis is conducted by determining numerically the axial and lateral forces that act on the levitated object and by measuring the oscillations of a sphere particle by a laser Doppler vibrometer. It is shown that the new levitator design allows to increase the lateral forces and reduce significantly the lateral oscillations of the levitated object.

Identification of elastic, dielectric, and piezoelectric constants in piezoceramic disks

Three-dimensional modeling of piezoelectric devices requires a precise knowledge of piezoelectric material parameters. The commonly used piezoelectric materials belong to the 6mm symmetry class, which have ten independent constants. In this work, a methodology to obtain precise material constants over a wide frequency band through finite element analysis of a piezoceramic disk is presented. Given an experimental electrical impedance curve and a first estimate for the piezoelectric material properties, the objective is to find the material properties that minimize the difference between the electrical impedance calculated by the finite element method and that obtained experimentally by an electrical impedance analyzer. The methodology consists of four basic steps: experimental measurement, identification of vibration modes and their sensitivity to material constants, a preliminary identification algorithm, and final refinement of the material constants using an optimization algorithm. The application of the methodology is exemplified using a hard lead zirconate titanate piezoceramic. The same methodology is applied to a soft piezoceramic. The errors in the identification of each parameter are statistically estimated in both cases, and are less than 0.6% for elastic constants, and less than 6.3% for dielectric and piezoelectric constants.

Finite element analysis and optimization of a single-axis acoustic levitator

A finite element analysis and a parametric optimization of single-axis acoustic levitators are presented. The finite element method is used to simulate a levitator consisting of a Langevin ultrasonic transducer with a plane radiating surface and a plane reflector. The transducer electrical impedance, the transducer face displacement, and the acoustic radiation potential that acts on small spheres are determined by the finite element method. The numerical electrical impedance is compared with that acquired experimentally by an impedance analyzer, and the predicted displacement is compared with that obtained by a fiber-optic vibration sensor. The numerical acoustic radiation potential is verified experimentally by placing small spheres in the levitator. The same procedure is used to optimize a levitator consisting of a curved reflector and a concave-faced transducer. The numerical results show that the acoustic radiation force in the new levitator is enhanced 604 times compared with the levitator consisting of a plane transducer and a plane reflector. The optimized levitator is able to levitate 3, 2.5-mm diameter steel spheres with a power consumption of only 0.9 W.

Characterization of Novel Flextensional Actuators Designed by Using Topology Optimization Method

Flextensional actuators consist of a piezoceramic bonded to a flexible structure that amplifies and changes the direction of generated piezoceramic displacement. In this work, some prototypes of novel flextensional actuators designed by using topology optimization are manufactured, and characterized. Experimental resonance frequencies and displacements of each flextensional actuator and single piezoceramic are obtained by using an impedance analyzer and laser interferometry technique, respectively. The main purpose of these measurements is to verify the displacement amplification introduced by new designs of flextensional piezoelectric actuators. To verify the amplification, both displacements of the single piezoceramic and the complete actuator are measured through laser interferometry and compared. The measurements are made considering harmonic and transient excitations. All experimental results are compared with finite element simulations, using ANSYSTM software. The predicted amplification rates provided by these actuators are verified. Therefore, these results validate flextensional actuators designed by using topology optimization.

Ultrasonic measurement of density of liquids flowing in tubes

This paper presents the implementation of the relative reflection method for the ultrasonic measurement of the density of liquids, which may be flowing in pipelines, at different temperatures. This technique will be shown to be valid for large-diameter tubes containing flowing liquids. It employs a double-element transducer, consisting of a piezoelectric ceramic transmitter and a large aperture PVDF membrane receiver, separated by a polymethylmethacrylate buffer rod. Between the receiver and the liquid is a PMMA reference rod. The density is obtained from the reflection coefficient of the reference rod-liquid interface and the transit time between this interface and a reflector placed in the opposite wall of the tube. The DET is calibrated once to account for temperature effects. The calibration is incorporated during signal processing, so that the actual density measurement is temperature compensated. In testing this method, a system was implemented and measurements of several liquids, stationary and flowing in a pipeline, were conducted. The error of measurements obtained by this method for distilled water, tap water, castor oil, and ethanol, when compared to data in the literature or obtained by a pycnometer, is less than 1.5%.

Acoustic levitation of a large solid sphere

We demonstrate that acoustic levitation can levitate spherical objects much larger than the acoustic wavelength in air. The acoustic levitation of an expanded polystyrene sphere of 50 mm in diameter, corresponding to 3.6 times the wavelength, is achieved by using three 25 kHz ultrasonic transducers arranged in a tripod fashion. In this configuration, a standing wave is created between the transducers and the sphere. The axial acoustic radiation force generated by each transducer on the sphere was modeled numerically as a function of the distance between the sphere and the transducer. The theoretical acoustic radiation force was verified experimentally in a setup consisting of an electronic scale and an ultrasonic transducer mounted on a motorized linear stage. The comparison between the numerical and experimental acoustic radiation forces presents a good agreement.

Modeling and Identification of an Open-frame Underwater Vehicle: The Yaw Motion Dynamics

A semi-autonomous unmanned underwater vehicle (UUV), named LAURS, is being developed at the Laboratory of Sensors and Actuators at the University of Sao Paulo. The vehicle has been designed to provide inspection and intervention capabilities in specific missions of deep water oil fields. In this work, a method of modeling and identification of yaw motion dynamic system model of an open-frame underwater vehicle is presented. Using an on-board low cost magnetic compass sensor the method is based on the utilization of an uncoupled 1-DOF (degree of freedom) dynamic system equation and the application of the integral method which is the classical least squares algorithm applied to the integral form of the dynamic system equations. Experimental trials with the actual vehicle have been performed in a test tank and diving pool. During these experiments, thrusters responsible for yaw motion are driven by sinusoidal voltage signal profiles. An assessment of the feasibility of the method reveals that estimated dynamic system models are more reliable when considering slow and small sinusoidal voltage signal profiles, i.e. with larger periods and with relatively small amplitude and offset.

Ultrasonic material characterization using large-aperture PVDF receivers.

This work describes the use of a large-aperture PVDF receiver in the measurement of liquid density and composite material elastic constants. The density measurement of several liquids is obtained with accuracy of 0.2% using a conventional NDE emitter transducer and a 70-mm-diameter, 52-microm P(VDF-TrFE) membrane with gold electrodes. The determination of the elastic constants is based on the phase velocity measurement. Diffraction can lead to errors around 1% in velocity measurement when using alternatively the conventional pair of ultrasonic transducers (1-MHz frequency and 19-mm-diameter) operating in through-transmission mode, separated by a distance of 100 mm. This effect is negligible when using a pair of 10-MHz, 19-mm-diameter transducers. Nevertheless, the dispersion at 10 MHz can result in errors of about 0.5%, when measuring the velocity in composite materials. The use of an 80-mm diameter, 52-microm-thick PVDF membrane receiver practically eliminates the diffraction effects in phase velocity measurement. The elastic constants of a carbon fiber reinforced polymer were determined and compared with the values obtained by a tensile test.

Modeling of functionally graded piezoelectric ultrasonic transducers

The application of functionally graded material (FGM) concept to piezoelectric transducers allows the design of composite transducers without interfaces, due to the continuous change of property values. Thus, large improvements can be achieved, as reduction of stress concentration, increasing of bonding strength, and bandwidth. This work proposes to design and to model FGM piezoelectric transducers and to compare their performance with non-FGM ones. Analytical and finite element (FE) modeling of FGM piezoelectric transducers radiating a plane pressure wave in fluid medium are developed and their results are compared. The ANSYS software is used for the FE modeling. The analytical model is based on FGM-equivalent acoustic transmission-line model, which is implemented using MATLAB software. Two cases are considered: (i) the transducer emits a pressure wave in water and it is composed of a graded piezoceramic disk, and backing and matching layers made of homogeneous materials; (ii) the transducer has no backing and matching layer; in this case, no external load is simulated. Time and frequency pressure responses are obtained through a transient analysis. The material properties are graded along thickness direction. Linear and exponential gradation functions are implemented to illustrate the influence of gradation on the transducer pressure response, electrical impedance, and resonance frequencies.