ANP; FINEP; CAPES; PETROBRAS; MCTI; / Vasos de pressão esféricos usados para armazenar gás liquefeito de petróleo necessitam ser inspecionados periodicamente a fim de identificar problemas em sua estrutura e evitar futuros acidentes. Este trabalho visa desenvolver uma técnica de mapeamento com base na predição do mapa para a navegação de um robô de inspeção autônomo. A técnica desenvolvida consiste na realização dos seguintes passos: busca autônoma de características conhecidas, percepção do ambiente, estimativa do ambiente, predição das características, mapa por técnica de grade de ocupação e voxel, aplicação de grau de incerteza nas medições e planejamento de trajetória. Ao final desta etapa tem-se a predição do mapeamento completo do tanque a ser inspecionado, contendo as suas principais características físicas como centro, raio, placas e cordões de soldas. Este trabalho auxilia a tarefa de inspeção em vasos de pressão esféricos realizado por um robô autônomo fornecendo um mapa completo do ambiente, com a possibilidade de armazenar a posição de fissuras e outros problemas identificados durante a inspeção. / Spherical pressure vessels used for the storage of liquefied petroleum gas need to be periodically inspected in order to identify problems in their structure and to prevent future accidents. This work aims at the development of a mapping technique based on map prediction for the navigation of an autonomous inspection robot. The technique developed consists of the following steps: autonomous search of known characteristics, perception of the environment, estimation of the environment, prediction of the characteristics, creation of occupation grid filled by voxels, application of degree of uncertainty in measurements and path planning. In the end, it is predicted the complete mapping of the tank to be inspected, containing its main physical characteristics, such as center, radius, plates and weld bead. This work assists the task of inspection in spherical pressure vessels performed by an autonomous robot providing a complete map of the environment, with the possibility of storing the position of fissures and other problems identified during the inspection.

ANP; FINEP; CAPES; PETROBRAS; MCTI; / Vasos de pressão esféricos usados para armazenar gás liquefeito de petróleo necessitam ser inspecionados periodicamente a fim de identificar problemas em sua estrutura e evitar futuros acidentes. Este trabalho visa desenvolver uma técnica de mapeamento com base na predição do mapa para a navegação de um robô de inspeção autônomo. A técnica desenvolvida consiste na realização dos seguintes passos: busca autônoma de características conhecidas, percepção do ambiente, estimativa do ambiente, predição das características, mapa por técnica de grade de ocupação e voxel, aplicação de grau de incerteza nas medições e planejamento de trajetória. Ao final desta etapa tem-se a predição do mapeamento completo do tanque a ser inspecionado, contendo as suas principais características físicas como centro, raio, placas e cordões de soldas. Este trabalho auxilia a tarefa de inspeção em vasos de pressão esféricos realizado por um robô autônomo fornecendo um mapa completo do ambiente, com a possibilidade de armazenar a posição de fissuras e outros problemas identificados durante a inspeção. / Spherical pressure vessels used for the storage of liquefied petroleum gas need to be periodically inspected in order to identify problems in their structure and to prevent future accidents. This work aims at the development of a mapping technique based on map prediction for the navigation of an autonomous inspection robot. The technique developed consists of the following steps: autonomous search of known characteristics, perception of the environment, estimation of the environment, prediction of the characteristics, creation of occupation grid filled by voxels, application of degree of uncertainty in measurements and path planning. In the end, it is predicted the complete mapping of the tank to be inspected, containing its main physical characteristics, such as center, radius, plates and weld bead. This work assists the task of inspection in spherical pressure vessels performed by an autonomous robot providing a complete map of the environment, with the possibility of storing the position of fissures and other problems identified during the inspection.

Thesis. 1975. M.S.--Massachusetts Institute of Technology. Dept. of Civil Engineering. / Bibliography: leaves 124-129. / M.S.

published_or_final_version / Civil Engineering / Master / Master of Philosophy

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Submitted by CRISTIANO PICCARD GONCALVES null (cristiano.goncalves@ymail.com) on 2016-09-16T03:30:56Z No. of bitstreams: 1 Projeto - Cristiano Piccard Gonçalves - Rev. 15.pdf: 4585314 bytes, checksum: 3173bab5e6a2e825765f406fd71aa278 (MD5) / Approved for entry into archive by Ana Paula Grisoto (grisotoana@reitoria.unesp.br) on 2016-09-22T14:16:02Z (GMT) No. of bitstreams: 1 goncalves_cp_me_bauru.pdf: 4585314 bytes, checksum: 3173bab5e6a2e825765f406fd71aa278 (MD5) / Made available in DSpace on 2016-09-22T14:16:02Z (GMT). No. of bitstreams: 1 goncalves_cp_me_bauru.pdf: 4585314 bytes, checksum: 3173bab5e6a2e825765f406fd71aa278 (MD5) Previous issue date: 2016-07-27 / O Setor sucroenergético está entre os mais importantes da economia brasileira e também com importância global no contexto das energias renováveis. A demanda pelo bicombustível e por açúcar cresce continuamente no Brasil e em várias regiões do planeta, criando grandes perspectivas para este setor. O sucesso desta jornada leva a necessidade de investimentos, aumento de produtividade, avaliação dos equipamentos existentes e projetos de pesquisas. Dentre os equipamentos do setor que merecem atenção especial e que devem passar por avaliação estrutural, estão os vasos de pressão. O número destes equipamentos em uma unidade do setor é bastante expressivo. A avaliação dos vasos de pressão é importante para evidenciar a condição de segurança, eficiência operacional e para planejar projetos de alteração, recuperação, reparo e investimentos futuros. O objetivo desta pesquisa foi realizar análise de tensões em um projeto de vaso de pressão com a utilização do Método dos Elementos Finitos (MEF) em comparação com soluções teóricas definidas em norma de projeto, também demonstrar a capacidade do MEF na solução de problemas de análise de tensão em vasos de pressão. As tensões atuantes nos diversos componentes do vaso de pressão estudado (pré-evaporador) foram obtidas pelo Método dos Elementos Finitos e com a utilização de expressões de cálculo teórico. Nas regiões distantes de descontinuidades observou-se proximidade dos resultados, o que não aconteceu em regiões de maior complexidade geométrica as quais não são abrangidas com a utilização das expressões de normas de projeto pelo método teórico. O Método dos Elementos Finitos pode ser utilizado como um complemento para o atendimento aos requisitos das normas de projeto de vasos de pressão. O MEF demostrou ser eficiente e, quando corretamente aplicado, e pode garantir bons resultados em projetos de análise estrutural. / The sugar-energy industry is among the most important of the Brazilian economy and also with global importance in the context of renewable energy. The demand for biofuel and sugar is continuously growing in Brazil and in several regions of the planet, creating great prospects for this sector. The success of this journey takes the necessity for investment, increase of productivity, evaluation of existing equipment and research projects. Among the equipment of the section that deserve special attention and must undergo by structural evaluation, are the pressure vessels. The number of the equipment in a sector unit is very significant. The evaluation of the pressure vessels is important to highlight the security condition, operational efficiency and provide subsidies to changing, recovery, repair designs and future investments. The objective of this research was to perform stress analysis in a pressure vessel design using the Finite Element Method (FEM) compared to theoretical solutions defined in project standard, also demonstrate the ability of the FEM in solving analysis problems of stress in pressure vessels. The stresses acting on the various components of the studied pressure vessel (pre-evaporator) were obtained by the Finite Element Method and the use of theoretical calculation expressions. In the distant regions of discontinuities were observed closeness of the results, what did not happen in regions of greater geometric complexity, which are not covered with the use of expressions of design standards. The Finite Element Method can be used as a complement of standard, which demonstrated to be effective and can ensure good results in structural analysis designs.

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Distillation columns play a very important role in petrochemical industry. The requirements to their safety and lifetime are being constantly stepped up. Hence, they have to be designed very carefully and special attention is to be paid to strength analyses. The diploma thesis is focused on strength analysis of the distillation column carried out according to the ASME Code, Section VIII. Parts of the equipment and some nozzles were analyzed in operational and test conditions. One particular nozzle was analyzed more thoroughly by means of FEM, stress categories were considered. The work also includes worked out drawing documentation.

There is a need in exploring structural health monitoring technologies for the composite structures particularly aged Composite Overwrapped Pressure Vessels (COPVs) for the current and future implementation of COPVs for space missions. In this study, the research was conducted in collaboration with NASA Kennedy Space Center and also NASA Marshall Space and Flight Center engineers. COPVs have been used to store inert gases like helium (for propulsion) and nitrogen (for life support) under varying degrees of pressure onboard the orbiter since the beginning of the Space Shuttle Program. After the Columbia accident, the COPVs were re-examined and different studies (e.g. Laser profilometry inspection, NDE utilizing Raman Spectroscopy) have been conducted and can be found in the literature. To explore some of the unique in-house developed hardware and algorithms for monitoring COPVs, this project is carried out with the following general objectives: 1) Investigate the obtaining indices/features related to the performance and/or condition of pressure vessels 2) Explore different sensing technologies and Structural Health Monitoring (SHM) systems 3) Explore different types of data analysis methodologies to detect damage with particular emphasis on statistical analysis, cross-correlation analysis and Auto Regressive model with eXogeneous input (ARX) models 4) Compare differences in various types of pressure vessels First an introduction to theoretical pressure vessels, which are used to compare to actual test specimens, is presented. Next, a background review of the test specimens including their applications and importance is discussed. Subsequently, a review of related SHM applications to this study is presented. The theoretical background of the data analysis methodologies used to detect damage in this study are provided and these methodologies are applied in the laboratory using Composite Overwrapped Pressure Vessels (COPVs) to determine the effectiveness of these techniques. Next another study on the Air Force Research Laboratory (AFRL) Tank that is carried out in collaboration with NASA KSC and NASA MSFC is presented with preliminary results. Finally the results and interpretations of both studies are summarized and discussed.

Radiation damage occurs in reactor pressure vessel (RPV) steel, causing microstructural changes such as point defect clusters, interstitial loops, vacancy-solute clusters, and precipitates, that cause material embrittlement. Radiation damage is a crucial concern in the nuclear industry since many nuclear plants throughout the US are entering the first period of life extension and older plants are currently undergoing assessment of technical basis to operate beyond 60 years. The result of extended operation is that the RPV and other components will be exposed to higher levels of neutron radiation than they were originally designed to withstand. There is currently no nondestructive evaluation technique that can unambiguously assess the amount of radiation damage in RPV steels. Nonlinear ultrasound (NLU) is a nondestructive evaluation technique that is sensitive to microstructural features such as dislocations, precipitates, and their interactions in metallic materials. The physical effect monitored by NLU is the generation of higher harmonic frequencies in an initially monochromatic ultrasonic wave, arising from the interaction of the ultrasonic wave with microstructural features. This effect is quantified with the measurable acoustic nonlinearity parameter, beta. In this work, nonlinear ultrasound is used to characterize radiation damage in reactor pressure vessel steels over a range of fluence levels, irradiation temperatures, and material composition. Experimental results are presented and interpreted with newly developed analytical models that combine different irradiation-induced microstructural contributions to the acoustic nonlinearity parameter.