- Email: [email protected]
Design and development of multi-purpose prosthetic bore well system- an invincible arm
Available online at www.sciencedirect.com
ScienceDirect Materials Today: Proceedings 4 (2017) 8983–8992
www.materialstoday.com/proceedings
ICAAMM-2016
Design and development of multi-purpose prosthetic bore well system- an invincible arm Singuru Rajesha*, Gamini Sureshb, R Chandra Mohanb a
b
, Machine Design, Vignan University, Guntur, AndhraPradesh, India Asst. Prof, Department of Mechanical Engineering, Vignan University, Guntur, AndhraPradesh, India b Company Managing Director, Resins and Allied Products, Vijayawada, Andhra Pradesh, India
Abstract This paper develops a Prosthetic Bore Well Rescue System[PBRS] for rescuing trapped children from bore well in less time. In the past few years there are many bore well deaths in India. The generally followed conventional methods for rescuing trapped children takes a lot of time [20-40 hrs.] for bringing child out from bore well. In spite of these efforts child may not survive. It necessitates a need to design a new rescue system for these accidents instead of older methods. The manipulator is modelled in CATIA V6 software package. The PBRS is provided with the newly developed revolving and stabilizing mechanisms for safe holding of child. The different proximity non-vision sensors are used for detecting human condition, depth from ground, surrounding temperature, pressure and existence of any smoke gas. The present proposed design is capable of handling scenarios when child is stuck up at bottom and middle. The PBRS is proposed to reduce the risk involved during the child rescue operation by analysing the situation and also to provide an option in crack detection inside the composite rocket casings, pipelines and boilers. © 2017 Elsevier Ltd. All rights reserved. Selection and Peer-review under responsibility ofthe Committee Members of International Conference on Advancements in Aeromechanical Materials for Manufacturing (ICAAMM-2016). Keywords:Borewell deaths; Conventional method; Prosthetic; Stabilizing mechanism; Crack Detection; Rocket Casings
* Corresponding author. Tel.: +91-9493724967. E-mail address: [email protected] 2214-7853© 2017 Elsevier Ltd. All rights reserved. Selection and Peer-review under responsibility ofthe Committee Members of International Conference on Advancements in Aeromechanical Materials for Manufacturing (ICAAMM-2016).
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S. Rajesh / Materials Today: Proceedings 4 (2017) 8983–8992
1. Introduction Water level on earth is about 79%. Out of this 97.5% is the sea water and 2.5% is the fresh water. Water level is decreasing day by day and not reaching people`s increasing demands. To fulfil the needs, bore wells are rigged for getting water from the ground [1] and after the exhaust of the source they will leave these holes uncovered. As per the Indian government report, Newspaper articles and Google search of bore well accidents in the last 10 years resulted in a total of 39 bore well incidents since 2006. The actual number of incidents may be more since many incidents go unreported. Out of 41 reported cases, maximum number of accidents has occurred in the years 2007 and 2014[2]. The age of children trapped in the bore wells ranged from 2 years to 9 years. Analysis of a statewise Pie chart, as in Fig.1, indicates that Haryana, Gujarat, Tamil Nadu top the list of the bore well accident states. These three states alone account for more than 50% of the bore well accidents since January 2006 until November 2015.This deaths are happening not only in India, but also in neighbour counties like China [3], Bangladesh etc…
Fig. 1 Pie chart showing bore well deaths in Indian States
Investigating into reason behind these deaths, while rigging bore or after the exhaust of source people leave these holes not by covering or closing. Sometimes they close with gunny bags or with dry leaves and sticks [4]. Children may play in that area and suddenly fall into the bore well and troubled for long time and die lack of oxygen at depth, water and food. As the depth increases temperature also increases and makes child not to tolerate at that condition. With increase in the temperature, pressure also increases. These violent conditions make the children prone to cause in hyperthermia.
Fig. 2 Symptoms of hyperthermia condition
Hyperthermia [5] is elevating body temperature due to failed thermoregulation that occurs when a body produces or absorbs more heat than it dissipates. Extreme temperature elevation then becomes a medical emergency requiring
S. Rajesh / Materials Today: Proceedings 4 (2017) 8983–8992
8985
immediate treatment to prevent disability or death. As an early stage of hyperthermia is heat stress, whose symptoms include heavy sweating, rapid breathing and a fast, weak pulse. In severe heat stroke, there may be confused, hostile, or seemingly intoxicated behavior depicted in Fig. 2. Heart rate and respiration rate will increase as blood pressure drops and the heart attempts to maintain adequate circulation [6]. The decrease in blood pressure can then cause blood vessels to contract reflex, resulting in a pale or bluish skin color in advanced cases. Young children, in particular may have organ, unconsciousness and death will result. After detecting child is trapped in bore well army personnel and other experts pressed into service to rescue the boy. The generally followed conventional rescue system shown in Fig.3 is by rigging a parallel tunnel at some distance from the bore hole and going into that and rescue him [7]. But the method has many drawbacks such as long time taking, no visualization, no O2 supply, no food and water supply, requirement of JCB`s, Cranes, Army persons and need of big space around hole. In spite of these determinations child may not survived in many cases.
Fig.3 Conventional rescue system
The main aim of the paper is to provide innovative design and working of new rescue system named Prosthetic Bore Well Rescue System for these innocent children bore well deaths and an idea of implementing in crack detection of rocket motor casings, pipelines and boilers. 2. New Prosthetic rescue system As a part of the bigger goal of engaging robotics technology for the welfare of mankind, there is a need to develop newco-operative networked intelligent rescue robots for natural disaster management. As per the United States of America and NASA [8] in the future there should be more and more intelligent robots like in Fig.4, which can be used in any situations like rescue from fire, mining rescues, earth quakes, tsunamis, road accidents, aerial survey etc.…
Fig.4 Future rescue robots
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Many powerful and intelligent rescue robots have been developed to work in many rescues. Over the last decade, rescue robots played an important role to reduce the damages caused by several natural and terrorist disasters like Nepal earthquake [2015], Tohoku earthquake [Japan,2011] [9], World Trade Centre [9/11, New York]etc.The intelligent robots usually consists of arms/hands for safe holding of victim, which are also called as prosthesis robots. Generally, Prostheses means replacement of leg or arm to human body [10]. But, in the robotic language Prostheses is one of the type in robot classification. It has a robotic arm or leg which is controlled by human brain. These prosthetics don’t have their own brains and are not truly programmable. They can make of either hydraulic or servomotor actuators, utilize servo control and work with a good mechanical linkage [11]. 2.1. Challenges involved in development of new rescue system The primary characteristics of the bore well rescue system includes size, type of bore well and operating conditions [12].The following are the challenges involved in the development new system are shown in Figure andareenumeratedasfollows: • • • • • • • •
How to detect the child in the hole alive or not? How to detect position, depth, temperature, pressure, and harmful gasses? How to supply Oxygen, Water, and cooling air? How to send the arm into the hole? How to stabilize it inside the hole? How to hold the baby & take him out? Cases like a] Boy at bottom [b] Boy stuck in middle [c] Boy slipped to bottom Mechanisms for smooth function The proposed design is able to overcome all these hurdles.
3. Structure and principle of Prosthetic bore well rescue system The design of the system involves the following main component sections for the required operations. • • • •
Manipulator Sensory Devices Controllers Power conversion unit
3.1. Manipulator Prosthetic manipulator is the collection of mechanical linkages connected by joints to form an open-loop kinematic chain. It includes the gears, coupled links, grippers, shafts, lead screws, forks and two round plates. It is capable revolving around 360o and slide to side for holding the child. The head part in Fig. 5[a] is having bevel gears and forks for running stabilizing mechanism. Itis inserted into hole through standardized rope and pulley from ground by tripod stand. After detecting the human, the manipulator stops and first stabilizes in the hole by fork stabilizing mechanism, inspired from three-jaw chuck operation in lathe machine. Later the second plate revolved as per child position, which can be seen in visual images by camera. Motor gripper will hold and pull child out from bore well. These can be operated by servo motor and hydraulic actuator, which is perfect in holding. Entire manipulator setup was modelled in CATIA V6 software package shown in Fig. 5[b].
S. Rajesh / Materials Today: Proceedings 4 (2017) 8983–8992
5[a]
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5[b]
Fig.5 [a] Manipulator head part and [b] Entire Manipulator
3.2. Sensory Devices Sensory devices inform the system controller about the status of the manipulator. These will continuously detect instantaneous position of manipulator, needed velocity and possible acceleration information about the individual links, which can be feed back to the control unit to produce the proper control of the mechanical system.Visual and Non-visual sensors are two types of sensors used in arm. For lighting in the hole a LED light is fixed at arm end. Wi-Fi Camera is also used, which is coupled to an appropriate android mobile app with image detection hard ware is the one and only visual sensor in the system for tracking the position of child in the hole. The different proximity non-vision sensors are used for detecting human condition, depth from ground, surrounding temperature, pressure and existence of any smoke gas. Table 1 provides different sensors, which are used in the system and depicted in Fig.6.
6[a]
6[b]
6[c]
Fig. 6 [a] Oxygen Concentrator; 6[b] Temperature Sensor; 6[c] Human Detecting Sensor[HS-101] Table 1. Non-Visual sensors in system. Non-Visual Sensors
Functions
Sensors used
Temperature
Temperature in the hole at that position
LM-35
Human Detecting
Whether boy/ Child is alive or not
Bar[or] HS-101 Sensor
Pressure Gauge
Detects the pressure
Foam pressure gauge
Oxygen
Detects Oxygen level
Oxygen concentrator
Smoke Sensor
Sensing smoke
M-26
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3.3. Controller Controller will carry out the needed tasks. These will perform the necessary arithmetic computations for determining the manipulator path, speed and position. These send signals to the joint actuating devices [via interfaces] and utilize the information provided by the proximity sensors. The microcomputer-based arm controller is the devised that can be used in the servo-controlled arm. 3.4. Power conversion unit Itprovides the necessary energy to the manipulator`s actuators. It can take the form of power amplifier in the case of servomotor-actuated systems. It can be a remote compressor when pneumatic or hydraulic devices are used. Possibleimplementation of a prosthetic arm controller includes a single microprocessor is used as both the sequencer and the computational element. The common bus is the link that connects the micro-processor, its memory, the vision system, the binary I/O interface and the servo loops. By partitioning the system as shown, only the servo loops have to interface to the sensory data from the joints and provide drive signals to the power amplifiers. Also in this implementation[Fig.7 [a]], the vision system is self-contained and incorporates all the necessary hardware and software to perform its function. By distributing the system, we have removed some of the burden from the sequencer.
7 [a] 7[b] Fig. 7[a] Possible implementation of system; 7[b] Sub systems of PBRS components
4. Challenges overcoming components For smooth working of system the following components in Table 2 are needed. Table 2. Needed components. S.No
Component[s]
Function[s]
1.
Digital Wi-Fi Camera [Interfaced with mobile phone]
Position of the boy in the hole and boy motion
2.
LED Light
Provide lighting to boy and camera
Sensors 3.
Temperature
Temperature in the hole at that position
4.
Human Detecting
Whether boy/ Child is alive or not
5.
Pressure Gauge
Detects the pressure at that position
6.
Oxygen Pipe
Detects Oxygen Level
7.
Smoke Sensor
Sensing of harmful gasses
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Supply Pipes 8.
Oxygen Pipe
For free respiration to child
9.
Coolant Pipe
Cools the Temperature
10.
Water Pipe
Child can Drink Water
11.
Rope and Pulley
Support the manipulator
12.
Tripod Stand
Support the rope, pulley and entire equipment
13.
Gears
For running mechanisms
14.
Bevel Gears
For the Stabilization of the system
15.
Servo Motors
For running of gears and mechanisms
16.
Hydraulic / Pneumatic actuator
Actuator to pull the child out
17.
Computerized control [Laptop, Software]
Entire setup will be controlled by these
18.
Safety Balloon
To give support to child at bottom
Manipulator
Oxygen concentrator [13] automatically detect oxygen level at the rescue region and supplies the required O2 to child through 200mt tube pipe. The concentrator is placed on the ground and only pipes are send into the hole through manipulator. The working was shown in Fig.8.The manipulator to be send into the hole with the help of newly designed tripod stand for supportingrope, pulley and entire manipulator setup.Rope with international standards is used for our operation.Two steel pulleys one with bigger and smaller diameters are used in the tripod stand for easy operation. Child will hold and pulled out from borewellthrough holding mechanism, which is operated by servo motor actuator or hydraulic actuator, which are perfect in holding. Three types of gears are used in this system for easy operation of our invincible arm. These are to be made of Al material and lubricated for smooth running. One big bevel gear and three small bevel gears are used for the stabilizing mechanism at top plate in order to avoid any shake or vibration whileholding. For running of Gears and motion in entire setup. Three ½ HP, ½ HP and 1HP servomotors are used in various places for a better functioning. Table 3 and 4 provides the locations, functions of gears and servomotors respectively. Table 3. Gears and their location. Gear type
Function [s]
Location [s]
Bevel gear
For the stability of the system
Top plate
Worm gear
Rotary to linear
At Gripper
Spur and lead screw
Linear to rotary
Below top plate
Table 4. Servomotors and their location. Function [s]
Location [s]
Horse Power
For running the bevel gear
At Bevel gear mechanism
½ HP
For rotatory motion of second plate
At the lead screw
½ HP
For the holding of child
At the gripper end
1HP
5. Operating steps of system The following steps are to be carried in the operation of the bore well rescue system: At first all the manipulator parts are to be assembled in a correct way. Later fix the prosthetic system to chain at top plate and connect it to the rope, which runs inside narrow hole through two pulleys. Send the arm slowly inside
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the bore hole through controls by watching the virtual images in PC or Mobile. Entire set up is supported by tripod stand on the ground with oxygen concentrator aside. After detecting the human body the arm will stop at some distance above the child and give the information of depth from ground, position of child, surrounding temperature, pressure, O2 level and existence of any smoke gases. Then stabilize the system with stabilizing mechanism, at the top of first plate will release stabilizing fork mechanism using servo motor by running one big and three small bevel gears. The controlling operator will take the results from sensors and give the input supplies of water, O2 gas and cool air for child through the pipes of Oxygen concentrator.
Fig.8 Rescue operation with PBR System
The position images of the child can be viewed in the mobile or PC, which is connected to the Wi-Fi camera running in LED light.Run the second servo motor to revolve the gripper hand as per the child position. The lead screw will turn the spur gear for linear to rotary motion. Run the servomotor of the gripper. This will make the links to open the gripper hand. Then it holds the child body at safe body part [hip or shoulder]. Back the forks to the initial position by running bevel gear. Slowly lift child with controls to top. Now, press the safety balloon at the bottom such that it supports the child if he slips from grippers so that no slipping takes place.Treatment will be given to victim after taking him out from hole. We can use PBRS in sending medicines, food, oxygen, telephone signals and voice of their family to the men, who are trapped in mining accidents. 6. Crack detection through prosthetic system The detection of cracks in small and narrow diameter cylindrical structures is a big problem. Pipelines, rocket cases, boilers, pressure vessels, chimney etc. are hollow cylindrical in nature. Cracks in these will results in the loss of strength, which could lead to failure of component and its function. In generally, Non-destructive testing methods are widely available for quality assurance and fault diagnostics [14]. The solid rocket motor cases, considered as pressure vessels, are designed with very small safety margins. The cracks in solid rocket cases are very small, on the order of 0.025 mm, and difficult to detect. Different types of defects in composite cases are voids, propellant wound with tails, cluster of voids, propellant entrapment, loose flap filled resin and separation between propellant &insulation may result in a catastrophic failure of the flight [15]. Different NDT methods used in crack detection of composite rocket cases are[i] Ultrasonic, [ii] Radiography and [iii] Thermography [16-17].
S. Rajesh / Materials Today: Proceedings 4 (2017) 8983–8992
9[a]
9[b] Fig.9[a] Inspection of pipelines; 9[b] Inspection Rocket cases; 9[c] Inspection through probe of PBRS
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The end linear actuator [hydraulic gripper] can be disabled from the manipulator and used for crack inspection application. As bore hole are just like as narrow hollow cylindrical, PBRS can easily enter into these. Metal and non-metal materials can be tested through this system. By fixing the needed NDT equipment at end as in Fig.9 we can send the manipulator inside the hallow sections. Ultrasonic probes, CCTV cameras, Radiography probes, Infrared cameras, etc.…can fix at the end. The captured images, ultrasonic signals, radiography images will be received by the host computer. Planning and control for behavior of manipulator is done with commands given by micro-computer to servo motors and these will run the manipulator in different directions. By comparing images and signals we can detect the voids and cracks in narrow hollow pipes. 7. Conclusion The proposed system operation was better than conventional bore well rescue operations and has several components to do different works which will make the arm more invincible and easier in operation. Since providing few modifications in the proposed design is more advantages and surely used in many applications like crack detection in pipe holes, rocket motor casings, boilers, chimneys and mining rescues. Acknowledgements First author thankfully acknowledges R.Manikanta[Srikakulam], faculty,M.Tech students of Vignan’s University, Guntur and Resin & Allied Products Company, Vijayawada, Andhra Pradesh, India for encouraging in doing this paper. References [1] [2] [3] [4] [5]
Khan BH;Non-Conventional Energy Sources; Tata Mc-Graw Hill; second ed.;New Delhi;2008. Arivazhagan OA;G-chart for predicting bore well accidents in India; 2014. Chuanjiang W, Xiujuian S, ZhixianZhang, Jixiang Z; Virtual Prototype Realization and simulation for small calibre deep well rescue robot, 3rd ICMTMA, China;2011; pp.1128-30. Sanket AT, Suraj BK and Pooja K;Rescue System for Borewell Accidents;Int. Journal of Recent Advances in Engineering & Technology;2015; Vol. 3; pp. 23-27. Karakitsos D and Karabinis A;Hypothermia therapy after traumatic brain injury in children; N. Engl. J. Med. ; 2008; Vol. 11; pp. 1179–80.
8992 [6] [7] [8] [9] [10] [11] [12] [13] [14] [15] [16] [17]
S. Rajesh / Materials Today: Proceedings 4 (2017) 8983–8992 Fauci and Anthony; Harrison's Principles of Internal Medicine;McGraw-Hill Professional; 17th ed.; pp. 117–121; 2008. Saran K, Vignesh S, Louis MJ;Bore well rescue Robot;Int. Journal for Rearch in Aero-Mechanical Engineering; 2014; vol. 2; pp. 61-80. Sagan C, Reddy R and Ewald H;Machine Intelligence and Robotics: Report of the NASA Study Group; Jet Propulsion Laboratory, NASA; 1980. Matsuno F and Tadokoro S;Rescue robots and systems in Japan;ROBIO 2004: IEEE International Conference;2004; pp. 12–20. Simpson Jand WienerE;Oxford English Dictionary; Oxford University Press. Inc.;London, UK; 1997. Richard DK, Thomas AC and Michael N; Robotic Engineering – An Integrated Approach, Prentice-Hall of India Private Limited, Inc.; 2007; pp 10-11 and 84-89. Robin RM, Jeffery K, Samuel LS and Rahmat S;Novel Application of Robotics - Mobile Robots in Mine Rescue and Recovery; 2009; IEEE Robotics & Automation Magazine; pp. 91-103. Friesen RM, RaberMB, Reimer DH; Oxygen concentrators: A primary oxygen supply source, Canadian Journal of Anesthesia ;1999; Vol.46 ; pp. 1185. Armin M; Non-Destructive Test Methods for Hollow-Core Composite Insulators;IEEE; 2010; pp. 536-39. Agarwal BD, BroutmanLJ andChandrashekara K;Analysis and Performance of Fiber Composites; Wiley India Pvt. Ltd., New Delhi, India; 2006; pp. 438-458. Vijayakumar S, Rahul K, Mohan MVN andSrinivasa Gopal AS, Quality Assurance of Rocket Motor Casings using Non Destructive Testing, The e-Journal of Nondestructive Testing,2015, Vol.20, pp. 5.1-5.8 Remakanthan S, Moideenkutty KK, Gunasekaran R, Thomas C and Thomas CR;Analysis of defects in Solid Rocket Motors using X-Ray Radiography;The e-Journal of Nondestructive Testing; 2015;Vol.20, pp. 6.1-6.8.
ScienceDirect Materials Today: Proceedings 4 (2017) 8983–8992
www.materialstoday.com/proceedings
ICAAMM-2016
Design and development of multi-purpose prosthetic bore well system- an invincible arm Singuru Rajesha*, Gamini Sureshb, R Chandra Mohanb a
b
, Machine Design, Vignan University, Guntur, AndhraPradesh, India Asst. Prof, Department of Mechanical Engineering, Vignan University, Guntur, AndhraPradesh, India b Company Managing Director, Resins and Allied Products, Vijayawada, Andhra Pradesh, India
Abstract This paper develops a Prosthetic Bore Well Rescue System[PBRS] for rescuing trapped children from bore well in less time. In the past few years there are many bore well deaths in India. The generally followed conventional methods for rescuing trapped children takes a lot of time [20-40 hrs.] for bringing child out from bore well. In spite of these efforts child may not survive. It necessitates a need to design a new rescue system for these accidents instead of older methods. The manipulator is modelled in CATIA V6 software package. The PBRS is provided with the newly developed revolving and stabilizing mechanisms for safe holding of child. The different proximity non-vision sensors are used for detecting human condition, depth from ground, surrounding temperature, pressure and existence of any smoke gas. The present proposed design is capable of handling scenarios when child is stuck up at bottom and middle. The PBRS is proposed to reduce the risk involved during the child rescue operation by analysing the situation and also to provide an option in crack detection inside the composite rocket casings, pipelines and boilers. © 2017 Elsevier Ltd. All rights reserved. Selection and Peer-review under responsibility ofthe Committee Members of International Conference on Advancements in Aeromechanical Materials for Manufacturing (ICAAMM-2016). Keywords:Borewell deaths; Conventional method; Prosthetic; Stabilizing mechanism; Crack Detection; Rocket Casings
* Corresponding author. Tel.: +91-9493724967. E-mail address: [email protected] 2214-7853© 2017 Elsevier Ltd. All rights reserved. Selection and Peer-review under responsibility ofthe Committee Members of International Conference on Advancements in Aeromechanical Materials for Manufacturing (ICAAMM-2016).
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S. Rajesh / Materials Today: Proceedings 4 (2017) 8983–8992
1. Introduction Water level on earth is about 79%. Out of this 97.5% is the sea water and 2.5% is the fresh water. Water level is decreasing day by day and not reaching people`s increasing demands. To fulfil the needs, bore wells are rigged for getting water from the ground [1] and after the exhaust of the source they will leave these holes uncovered. As per the Indian government report, Newspaper articles and Google search of bore well accidents in the last 10 years resulted in a total of 39 bore well incidents since 2006. The actual number of incidents may be more since many incidents go unreported. Out of 41 reported cases, maximum number of accidents has occurred in the years 2007 and 2014[2]. The age of children trapped in the bore wells ranged from 2 years to 9 years. Analysis of a statewise Pie chart, as in Fig.1, indicates that Haryana, Gujarat, Tamil Nadu top the list of the bore well accident states. These three states alone account for more than 50% of the bore well accidents since January 2006 until November 2015.This deaths are happening not only in India, but also in neighbour counties like China [3], Bangladesh etc…
Fig. 1 Pie chart showing bore well deaths in Indian States
Investigating into reason behind these deaths, while rigging bore or after the exhaust of source people leave these holes not by covering or closing. Sometimes they close with gunny bags or with dry leaves and sticks [4]. Children may play in that area and suddenly fall into the bore well and troubled for long time and die lack of oxygen at depth, water and food. As the depth increases temperature also increases and makes child not to tolerate at that condition. With increase in the temperature, pressure also increases. These violent conditions make the children prone to cause in hyperthermia.
Fig. 2 Symptoms of hyperthermia condition
Hyperthermia [5] is elevating body temperature due to failed thermoregulation that occurs when a body produces or absorbs more heat than it dissipates. Extreme temperature elevation then becomes a medical emergency requiring
S. Rajesh / Materials Today: Proceedings 4 (2017) 8983–8992
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immediate treatment to prevent disability or death. As an early stage of hyperthermia is heat stress, whose symptoms include heavy sweating, rapid breathing and a fast, weak pulse. In severe heat stroke, there may be confused, hostile, or seemingly intoxicated behavior depicted in Fig. 2. Heart rate and respiration rate will increase as blood pressure drops and the heart attempts to maintain adequate circulation [6]. The decrease in blood pressure can then cause blood vessels to contract reflex, resulting in a pale or bluish skin color in advanced cases. Young children, in particular may have organ, unconsciousness and death will result. After detecting child is trapped in bore well army personnel and other experts pressed into service to rescue the boy. The generally followed conventional rescue system shown in Fig.3 is by rigging a parallel tunnel at some distance from the bore hole and going into that and rescue him [7]. But the method has many drawbacks such as long time taking, no visualization, no O2 supply, no food and water supply, requirement of JCB`s, Cranes, Army persons and need of big space around hole. In spite of these determinations child may not survived in many cases.
Fig.3 Conventional rescue system
The main aim of the paper is to provide innovative design and working of new rescue system named Prosthetic Bore Well Rescue System for these innocent children bore well deaths and an idea of implementing in crack detection of rocket motor casings, pipelines and boilers. 2. New Prosthetic rescue system As a part of the bigger goal of engaging robotics technology for the welfare of mankind, there is a need to develop newco-operative networked intelligent rescue robots for natural disaster management. As per the United States of America and NASA [8] in the future there should be more and more intelligent robots like in Fig.4, which can be used in any situations like rescue from fire, mining rescues, earth quakes, tsunamis, road accidents, aerial survey etc.…
Fig.4 Future rescue robots
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S. Rajesh / Materials Today: Proceedings 4 (2017) 8983–8992
Many powerful and intelligent rescue robots have been developed to work in many rescues. Over the last decade, rescue robots played an important role to reduce the damages caused by several natural and terrorist disasters like Nepal earthquake [2015], Tohoku earthquake [Japan,2011] [9], World Trade Centre [9/11, New York]etc.The intelligent robots usually consists of arms/hands for safe holding of victim, which are also called as prosthesis robots. Generally, Prostheses means replacement of leg or arm to human body [10]. But, in the robotic language Prostheses is one of the type in robot classification. It has a robotic arm or leg which is controlled by human brain. These prosthetics don’t have their own brains and are not truly programmable. They can make of either hydraulic or servomotor actuators, utilize servo control and work with a good mechanical linkage [11]. 2.1. Challenges involved in development of new rescue system The primary characteristics of the bore well rescue system includes size, type of bore well and operating conditions [12].The following are the challenges involved in the development new system are shown in Figure andareenumeratedasfollows: • • • • • • • •
How to detect the child in the hole alive or not? How to detect position, depth, temperature, pressure, and harmful gasses? How to supply Oxygen, Water, and cooling air? How to send the arm into the hole? How to stabilize it inside the hole? How to hold the baby & take him out? Cases like a] Boy at bottom [b] Boy stuck in middle [c] Boy slipped to bottom Mechanisms for smooth function The proposed design is able to overcome all these hurdles.
3. Structure and principle of Prosthetic bore well rescue system The design of the system involves the following main component sections for the required operations. • • • •
Manipulator Sensory Devices Controllers Power conversion unit
3.1. Manipulator Prosthetic manipulator is the collection of mechanical linkages connected by joints to form an open-loop kinematic chain. It includes the gears, coupled links, grippers, shafts, lead screws, forks and two round plates. It is capable revolving around 360o and slide to side for holding the child. The head part in Fig. 5[a] is having bevel gears and forks for running stabilizing mechanism. Itis inserted into hole through standardized rope and pulley from ground by tripod stand. After detecting the human, the manipulator stops and first stabilizes in the hole by fork stabilizing mechanism, inspired from three-jaw chuck operation in lathe machine. Later the second plate revolved as per child position, which can be seen in visual images by camera. Motor gripper will hold and pull child out from bore well. These can be operated by servo motor and hydraulic actuator, which is perfect in holding. Entire manipulator setup was modelled in CATIA V6 software package shown in Fig. 5[b].
S. Rajesh / Materials Today: Proceedings 4 (2017) 8983–8992
5[a]
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5[b]
Fig.5 [a] Manipulator head part and [b] Entire Manipulator
3.2. Sensory Devices Sensory devices inform the system controller about the status of the manipulator. These will continuously detect instantaneous position of manipulator, needed velocity and possible acceleration information about the individual links, which can be feed back to the control unit to produce the proper control of the mechanical system.Visual and Non-visual sensors are two types of sensors used in arm. For lighting in the hole a LED light is fixed at arm end. Wi-Fi Camera is also used, which is coupled to an appropriate android mobile app with image detection hard ware is the one and only visual sensor in the system for tracking the position of child in the hole. The different proximity non-vision sensors are used for detecting human condition, depth from ground, surrounding temperature, pressure and existence of any smoke gas. Table 1 provides different sensors, which are used in the system and depicted in Fig.6.
6[a]
6[b]
6[c]
Fig. 6 [a] Oxygen Concentrator; 6[b] Temperature Sensor; 6[c] Human Detecting Sensor[HS-101] Table 1. Non-Visual sensors in system. Non-Visual Sensors
Functions
Sensors used
Temperature
Temperature in the hole at that position
LM-35
Human Detecting
Whether boy/ Child is alive or not
Bar[or] HS-101 Sensor
Pressure Gauge
Detects the pressure
Foam pressure gauge
Oxygen
Detects Oxygen level
Oxygen concentrator
Smoke Sensor
Sensing smoke
M-26
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3.3. Controller Controller will carry out the needed tasks. These will perform the necessary arithmetic computations for determining the manipulator path, speed and position. These send signals to the joint actuating devices [via interfaces] and utilize the information provided by the proximity sensors. The microcomputer-based arm controller is the devised that can be used in the servo-controlled arm. 3.4. Power conversion unit Itprovides the necessary energy to the manipulator`s actuators. It can take the form of power amplifier in the case of servomotor-actuated systems. It can be a remote compressor when pneumatic or hydraulic devices are used. Possibleimplementation of a prosthetic arm controller includes a single microprocessor is used as both the sequencer and the computational element. The common bus is the link that connects the micro-processor, its memory, the vision system, the binary I/O interface and the servo loops. By partitioning the system as shown, only the servo loops have to interface to the sensory data from the joints and provide drive signals to the power amplifiers. Also in this implementation[Fig.7 [a]], the vision system is self-contained and incorporates all the necessary hardware and software to perform its function. By distributing the system, we have removed some of the burden from the sequencer.
7 [a] 7[b] Fig. 7[a] Possible implementation of system; 7[b] Sub systems of PBRS components
4. Challenges overcoming components For smooth working of system the following components in Table 2 are needed. Table 2. Needed components. S.No
Component[s]
Function[s]
1.
Digital Wi-Fi Camera [Interfaced with mobile phone]
Position of the boy in the hole and boy motion
2.
LED Light
Provide lighting to boy and camera
Sensors 3.
Temperature
Temperature in the hole at that position
4.
Human Detecting
Whether boy/ Child is alive or not
5.
Pressure Gauge
Detects the pressure at that position
6.
Oxygen Pipe
Detects Oxygen Level
7.
Smoke Sensor
Sensing of harmful gasses
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Supply Pipes 8.
Oxygen Pipe
For free respiration to child
9.
Coolant Pipe
Cools the Temperature
10.
Water Pipe
Child can Drink Water
11.
Rope and Pulley
Support the manipulator
12.
Tripod Stand
Support the rope, pulley and entire equipment
13.
Gears
For running mechanisms
14.
Bevel Gears
For the Stabilization of the system
15.
Servo Motors
For running of gears and mechanisms
16.
Hydraulic / Pneumatic actuator
Actuator to pull the child out
17.
Computerized control [Laptop, Software]
Entire setup will be controlled by these
18.
Safety Balloon
To give support to child at bottom
Manipulator
Oxygen concentrator [13] automatically detect oxygen level at the rescue region and supplies the required O2 to child through 200mt tube pipe. The concentrator is placed on the ground and only pipes are send into the hole through manipulator. The working was shown in Fig.8.The manipulator to be send into the hole with the help of newly designed tripod stand for supportingrope, pulley and entire manipulator setup.Rope with international standards is used for our operation.Two steel pulleys one with bigger and smaller diameters are used in the tripod stand for easy operation. Child will hold and pulled out from borewellthrough holding mechanism, which is operated by servo motor actuator or hydraulic actuator, which are perfect in holding. Three types of gears are used in this system for easy operation of our invincible arm. These are to be made of Al material and lubricated for smooth running. One big bevel gear and three small bevel gears are used for the stabilizing mechanism at top plate in order to avoid any shake or vibration whileholding. For running of Gears and motion in entire setup. Three ½ HP, ½ HP and 1HP servomotors are used in various places for a better functioning. Table 3 and 4 provides the locations, functions of gears and servomotors respectively. Table 3. Gears and their location. Gear type
Function [s]
Location [s]
Bevel gear
For the stability of the system
Top plate
Worm gear
Rotary to linear
At Gripper
Spur and lead screw
Linear to rotary
Below top plate
Table 4. Servomotors and their location. Function [s]
Location [s]
Horse Power
For running the bevel gear
At Bevel gear mechanism
½ HP
For rotatory motion of second plate
At the lead screw
½ HP
For the holding of child
At the gripper end
1HP
5. Operating steps of system The following steps are to be carried in the operation of the bore well rescue system: At first all the manipulator parts are to be assembled in a correct way. Later fix the prosthetic system to chain at top plate and connect it to the rope, which runs inside narrow hole through two pulleys. Send the arm slowly inside
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the bore hole through controls by watching the virtual images in PC or Mobile. Entire set up is supported by tripod stand on the ground with oxygen concentrator aside. After detecting the human body the arm will stop at some distance above the child and give the information of depth from ground, position of child, surrounding temperature, pressure, O2 level and existence of any smoke gases. Then stabilize the system with stabilizing mechanism, at the top of first plate will release stabilizing fork mechanism using servo motor by running one big and three small bevel gears. The controlling operator will take the results from sensors and give the input supplies of water, O2 gas and cool air for child through the pipes of Oxygen concentrator.
Fig.8 Rescue operation with PBR System
The position images of the child can be viewed in the mobile or PC, which is connected to the Wi-Fi camera running in LED light.Run the second servo motor to revolve the gripper hand as per the child position. The lead screw will turn the spur gear for linear to rotary motion. Run the servomotor of the gripper. This will make the links to open the gripper hand. Then it holds the child body at safe body part [hip or shoulder]. Back the forks to the initial position by running bevel gear. Slowly lift child with controls to top. Now, press the safety balloon at the bottom such that it supports the child if he slips from grippers so that no slipping takes place.Treatment will be given to victim after taking him out from hole. We can use PBRS in sending medicines, food, oxygen, telephone signals and voice of their family to the men, who are trapped in mining accidents. 6. Crack detection through prosthetic system The detection of cracks in small and narrow diameter cylindrical structures is a big problem. Pipelines, rocket cases, boilers, pressure vessels, chimney etc. are hollow cylindrical in nature. Cracks in these will results in the loss of strength, which could lead to failure of component and its function. In generally, Non-destructive testing methods are widely available for quality assurance and fault diagnostics [14]. The solid rocket motor cases, considered as pressure vessels, are designed with very small safety margins. The cracks in solid rocket cases are very small, on the order of 0.025 mm, and difficult to detect. Different types of defects in composite cases are voids, propellant wound with tails, cluster of voids, propellant entrapment, loose flap filled resin and separation between propellant &insulation may result in a catastrophic failure of the flight [15]. Different NDT methods used in crack detection of composite rocket cases are[i] Ultrasonic, [ii] Radiography and [iii] Thermography [16-17].
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9[a]
9[b] Fig.9[a] Inspection of pipelines; 9[b] Inspection Rocket cases; 9[c] Inspection through probe of PBRS
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9[c]
The end linear actuator [hydraulic gripper] can be disabled from the manipulator and used for crack inspection application. As bore hole are just like as narrow hollow cylindrical, PBRS can easily enter into these. Metal and non-metal materials can be tested through this system. By fixing the needed NDT equipment at end as in Fig.9 we can send the manipulator inside the hallow sections. Ultrasonic probes, CCTV cameras, Radiography probes, Infrared cameras, etc.…can fix at the end. The captured images, ultrasonic signals, radiography images will be received by the host computer. Planning and control for behavior of manipulator is done with commands given by micro-computer to servo motors and these will run the manipulator in different directions. By comparing images and signals we can detect the voids and cracks in narrow hollow pipes. 7. Conclusion The proposed system operation was better than conventional bore well rescue operations and has several components to do different works which will make the arm more invincible and easier in operation. Since providing few modifications in the proposed design is more advantages and surely used in many applications like crack detection in pipe holes, rocket motor casings, boilers, chimneys and mining rescues. Acknowledgements First author thankfully acknowledges R.Manikanta[Srikakulam], faculty,M.Tech students of Vignan’s University, Guntur and Resin & Allied Products Company, Vijayawada, Andhra Pradesh, India for encouraging in doing this paper. References [1] [2] [3] [4] [5]
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