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#SciChallenge2017 Underwater Cyclops - monitoring of reservoirs has never been easier

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Remotely Operated Underwater Vehicles (ROV) for monitoring and maintaining reservoirs have never been used in Hungary before. A lot of water could be saved by using ROV for maintenance of the reservoirs in local water utility companies. We have contacted experts from local water utility companies to find ways to cooperate. They showed interest and started to give ideas how the ROV should be used for water conservation.

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#SciChallenge2017 Underwater Cyclops - monitoring of reservoirs has never been easier

  1. 1. 1 Stockholm Junior Water Prize Hungarian Competition, 2017 Underwater Cyclops - monitoring of reservoirs has never been easier Bence Tóth Miklós Zsigó Bálint Szemerszki Nyíregyháza Center of Vocational Centre Bánki Donát Polytechnical School and Dormitory Nyíregyháza, 2017
  2. 2. 2 CONTENTS Short abstract 3 Statement of work 3 Introduction of the students 3 Extended summary 4 Introduction 4 We are Team Bánkirobot 4 A development schedule 4 The First ROV 5 First meeting with the experts 6 Our aim – Minimize technological water loss 7 A visit to the company’s plant in Kisvárda 7 The story of the company 7 Core activity, quality policy, human resources 8 Property security 9 Proposal to use underwater robot 9 General needs supported by the water utility company 10 Service’s requirement in connection with the project 12 Disinfection 12 Show of the Technical information 12 Conclusion 12 Result 13 APPENDIX 14 Construction 14 Camera and light 14 Power unit 15 Control 15 Computer designed ROV models 16 Control electronics 16 The mounting; Disinfecting tank 17 References 18 Assistants 18
  3. 3. 3 SHORT ABSTRACT Remotely Operated Underwater Vehicles (ROV) for monitoring and maintaining reservoirs have never been used in Hungary before. A lot of water could be saved by using ROV for maintenance of the reservoirs in local water utility companies. We have contacted experts from local water utility companies to find ways to cooperate. They showed interest and started to give ideas how the ROV should be used for water conservation. STATEMENT OF WORK We designed and built the Underwater Cyclops – (ROV). We contacted the local water utility company ’NYÍRSÉGVÍZ ZRT’ and we started our study with researches about reservoir maintenance and we mentioned this solution for maintaining reservoirs. They instantly gave us some ideas about how these Robots should be used among water utility companies. Then we together with the experts of ’NYÍRSÉGVÍZ ZRT’ calculated how much water could be saved by using these ROVs. INTRODUCTION OF THE STUDENTS Bence Tóth (16) I have been a student of the Bánki Donát Polytechnical High Scool School since 2016. I enjoy math, physics and electronics. In the future, I would like to study computing, or engineering studies. I want to be a hardwer developer, but I will always deal with the environment. We have a big apple tree garden and I have to help a lot of for my father. Miklós Zsigó (15) My main interests lie in the fields of mathematics and informatics, but I am also fascinated by some aspects of physics. In the future, I would like to study computing, but I would still be interested in physics. I love sports, like ice hockey and the basketball. Bálint Szemerszki (15) I am working in the Team Bánkirobot since 2016. My favourite subjects are math and physics. I have been playing basketball for 11 years. EXTENDED SUMMARY
  4. 4. 4 In Hungary water utility companies maintain reservoirs according to an annual maintenance plan which includes the cleaning of the surfaces of the reservoirs, equipment inspection and repairs after complete discharge of water from the reservoirs is done. To make this maintenance work more efficient, pictures and videos should be taken prior to the maintenance procedure and experts should analyse them. The utility company would like to get information about the quality of the surfaces of the reservoirs without unnecessary discharge of water from the reservoirs. Should any repairs be made, based on prior examinations, the possible long term maintenance job can be planned and prepared by the company. With the archived records of the regular examinations, photos and videos can be compared so the planning of more extensive maintenance jobs can be more cost-effective. The lifetime of reservoirs can also be determined. Using the remote controlled underwater research robot which is able to perform pre-set duties along planned routes could help saving enormous amounts of water. In addition, it is able to perform tests in a cost-effective way which could not be done by a diver. Furthermore, some tools can be attached to the ROV so it is capable of doing little repairs on the reservoirs. At the moment this concept is almost unknown among experts of utility companies but it would make it possible to maintain reservoirs without unnecessary discharges. In the ideal case, the discharge of several thousand of cubic meters of water can be avoided and great amounts of water can be saved. INTRODUCTION We are the Team Bánkirobot We have been doing robotics since 2004 in our school. We have joined the Robocup community in 2007, participating with high school pupils. In the last years with many difficulties we sucessfully participated in every Robocup event: 2007 (Atlanta) RCJ Soccer team, 2008 (Suzhou) RCJ Soccer, and Rescue Team, 2009 (Graz) RCJ Rescue Team, and Hungarian- Finnish common Rescue team (Fuji), 2010 (Singapore) RCJ Rescue Team, 2011 (Istanbul) RCJ Soccer and Rescue team, 2013 (Eindhoven) RCJ Soccer team. A development schedule We have two engineer teacher to assist, and help. They will help in the CNC programming, and the production of the base parts (omniweel, etc.). The production of the base plate is quite dangerous (cutting, milling, lathe, etc.), so the pupils with no experience needs the assistants. The main mechanical parts will be produced with the help of these engineer teachers. We are doing the CAD
  5. 5. 5 with Autodesk Inventor, then producing and assembling from the drawings. We need a driver circuit to connect the motors and the other peripherals. The PCB design will be made with Eagle CAD. The peripherals will be a display ensuring the fast debugging, and sensor data readout. The PCB CAD, assembly and programming we will ask help from professional experienced robot developer. Students do applied engineering: design, manufacturing preparations, preparation of half-makes, assembly and piloting. These are only partly visualized by students in regular classes, but here they can experience it with the help of professionals. Dissemination is also a very important part of our job. We would like to present our results on professional conferences, innovative and Start-up competitions too. Our pieces of work are usually presented and advertised both in local and national media. Furthermore, exhibitions and freshmen's programs present them. The useful practices developed during working processes are shared on a professional blog in adaptable form with everyone who is interested in it, and everyone can follow the steps of development too. We would also like to organise programmes specifically for girls. It would be very important that the girls appear in different professions. Every year, we participate in the Scientific and Innovative Youth Competition. Every year we have at least one contestant in the second round. There hasn't been a year when a work made and submitted for the competition wouldn’t have been at least complimented. This year, our Smart Firefighter Uniform got the 2nd prize. (https://youtu.be/atqLS31W6yM) The Smart Firefighter Uniform project has been invited to the MakerFair (Rome) exhibition, where it won the Innovation prize. The First ROV Last year we built the first ROV. During the building process, we gained a lot of experience and by using this experience, we decided to build such a device which would meet the requirements of our age.
  6. 6. 6 Figure 1 – The First ROV First meeting with the experts Since there is no sea in Hungary, a submarine research robot can only be used for fun purposes in our rivers and lakes. Due to the international cases, we do believe that there must be a problem, a work process or a research issue where a remote controlled device can be useful. First, we visited the nearby sewage treatment plant , where Krajecz András -the head of the plant- received us. After a short conversation, it turned out that in this place ROV cannot be used, because the visual range of the camera is short in the contaminated water. Due to Krajecz András’ advice, we contacted Hüse Péter -The plant manager of the water supply plant of Kisvárda, who considered our plans to be really promising. We were asked to visit the plant, where we could see and experience how such plant work, what were it’s duties and what legal regulations they are to comply with. We understood the legal regulations, had a look at the water storage pools at the site and we were also introduced to the process which occurs during the maintenance of storage pools. Figure 2. - First meeting with the experts
  7. 7. 7 Our aim – Minimize technological water loss Water loss – in public awareness, most of the time it is described as a network problem in the form of dripping taps or leaking water pipes. From the point of you of water supply companies, the network loss is the difference between the produced and the sold amount of water. To produce drinking water, it is required to possess sufficient amount of water, which depends on many factors, but mainly the quality of the produced water and the quality standards of drinking water. It is necessary to clean the supply system periodically. It is a must water demand, which reduces effectiveness, not only are we to reduce the network loss for environmental reasons In the light of the limited availability of water resources, but we also have to reduce the operating loss. Loss reduction is not a campaign, but an ongoing activity, which requires technological innovation as well. Water loss control represents the efforts of water utilities to provide accountability in their operation by reliably auditing their water supplies and implementing controls to minimize system losses. A visit to the company’s plant in Kisvárda The early spring period made fieldwork possible as well. During the visit, it was the first time the robot had been in the reservoir pool, and the first snapshots were also taken. Figure 3. The reservoir The story of the company NYÍRSÉGVÍZ Zrt. was founded in 1996. 29 local councils and the Hungarian government founded it. The biggest joint owner is now Nyíregyháza with more than 52,8% of the share. The company’s
  8. 8. 8 field of activity has been growing since 2003. The founders took in villages of the county and these villages’ public water utilities were operated by the villages but they realised that they wouldn’t be able to handle it for long. In this way, the employees got experience in taking in counties smoothly before the laws about water utility companies were passed. The field of activity of ’NYÍRSÉGVÍZ ZRT.’ has grown to 86 villages and provides water utility service. At the end of 2015, the number of the customers of the company were more than 490.000. Nowadays -after the integration took place in the sector, Out of the 41 licensed service supplier ’NYÍRSÉGVÍZ ZRT.’ is on the 10th place. Core activity, quality policy, human resources The company’s basic responsibilities are water supply and sewage cleaning . They are very attentive to environmental protection because they want to be able to supply clean drinkning water to future generations. The basic plan of the organisation is to supply clean water, collect and clean the sewage in the most efficient way In the field of ’NYÍRSÉGVÍZ ZRT.’ There is full coverage of water supply and 73% of the field had coverage with sewage canals The company has developed such an integrated control system (MSZ EN ISO 9001:2009; MSZ EN ISO 14001:2005 and MSZ EN ISO 22000:20005) which is lawful and meets the requirements of the European Union. Since the start, the organization has an accredited laboratory which uses modern equipment and educate workers. Every employee of the company tend to create such society that is satisfied with their work and they also try to set an example of an qualitative and economical service with the help of performance, expertise and innovation. Figure 4. The Nyírségvíz ZRT
  9. 9. 9 Property security The key to a perfect service is a planned preventive maintenance, fast troubleshooting, and the necessary renovation of reservoirs. The company’s capital situation has remained in good condition even during the harder economic conditions. Both the shareholders and the company considered the long-term protection of property security of public utilities are really important and by means of efficient operation and management, they insured the financial resources of the renovation of the public utilities When it became possible in 2007, the company changed to asset management contracts concerning utilities run by the government. The organisation wants to improve the satisfaction of customers, employees and joining governments and they also want to insure the proper conditions of the reservoirs. Proposal to use underwater robot The maintenance of the reservoirs, which are integral parts of the water utility company, is the company’s task. This job is performed by ’NYÍRSÉGVÍZ Zrt.’ twice a year according to an annual maintenance plan including the cleaning of the surfaces of the reservoirs, equipment check-ups and repairs after complete discharge of water from the reservoirs. To make this maintenance work more effective pictures and videos should be taken prior to the maintenance procedure and experts should analyse them. Figure 5. The setup The utility company would like to have information about the quality of the surfaces of the reservoirs without unnecessary discharge of water from the reservoirs. Should any repairs be made, based on prior examinations, the possible long term maintenance job can be planned and prepared by the company. With the archived records of the regular examinations, photos and videos can be compared
  10. 10. 10 so that the planning of more extensive maintenance jobs can be more cost effective. The lifetime of reservoirs can also be determined. Figure 6. The first mission General needs supported by the water utility company The water production-, water purification-, drinking water distribution systems typically have the raw water, purified water with low or high reservoirs. These reservoirs like any other infrastructures of water supply needs to be maintained and monitored. Figure 7. – The Cyclops in the reservoirs The reservoirs’ surfaces needs to be repaired or completely renovated because of the time and the quality of the surfaces.
  11. 11. 11 The ’ NYÍRSÉGVÍZ Zrt.’ maintains the low and high reservoirs twice a year. These maintenances are for cleaning these reservoirs as well as checking the conditions of the surfaces. Before the maintenance the water is discharged from the reservoirs. After that experts go into the reservoirs and they execute the cleaning and condition checking duty. The necessity to repair the surfaces are mainly recognised during these maintenances. The main goal of these maintenances is to clean the surfaces. It’s not about completely repairing or renovating every little problems that do not affect the quality of water, but rather the investigation of them. The preparation for the repair of the surfaces that does not affect the quality of water could only happen after the annual maintenance is done and the reservoirs are filled and started up. The project gives a chance for the service to plan the repairs, renovations at the time the maintenance is done by the annual plan. 2 thing opens up by this opportunity: 1. Preparation for the job by an accurate study 2. A minimum of one reservoir’s discharge/fill is saved An accurate study is essential to make the duty professional. This study is necessary to choose the proper type of surface treatment and to choose the perfect material quality. In addition, you can calculate the amount of time which is needed for the task due to the pieces of information given, which can greatly affect the starting time. The saving by the discharge/fill of the reservoirs is not just an economic but an environmental question as well. Every water utility company wants to use the stock of water that is available in the economical way. In the following, I will show you the cost and quantity analysis of the discharge/fill of our project’s test pool. A 500 cubic meters reservoir , preparation for the operation equal 400 cubic meters of clean water. The staff have to pump the water through iron sludge settling reservoir to the affiliated reservoir. The study is done by 3 experts. One of them monitors the main pump and the automatics while the other 2 take pictures and videos of the reservoirs’ surface. This usually takes 1,5 hour. The discharge is done by a gravitational way. While the reservoir fills up, the water goes through filters and the process is done by the raw water making submerged pump.
  12. 12. 12 Service’s requirement in connection with the project Disinfection In order to reach the goal of the project, the robot has to go into the reservoirs under operating conditions. This means a continuous clean water flow into the reservoir from the water cleaning facility and also to the distribution system through the mains pumps. With these conditions, only a sterilized tool can get into the water. Not only the robot but the cables for controlling it and the signal transmission cable also needs to be sterilized. To achieve these conditions you have to follow these steps: The expert who goes into the reservoir is required to own a valid health examination. Experts have to wear the protective suit of the company Make a 30% hypoclorid tincture solution The robot needs to be sprinkled by this tincture The reaction time has to be 5 minutes The cable which controls the robot has to be guided through the solution container while it is working. Show of the Technical information The pictures and videos taken by the robot have to meet the expectations so that these pieces of information could be used to determine the condition of the container To achieve these expectations, mobility, zoom support and proper lightning is indispensable. Furthermore, the engines shouldn’t make high turbulences in the reservoir. It is really important because there are operating conditions during test in the reservoirs, so turbid water mustn’t be present in the distribution system. The pictures and videos which were taken have to be portable and have to be able to be used again any time. Conclusion During the survey, 400 cubic meters of clean water is wasted. To produce 400 cubic meters of water 3 deep-drilling wells and a 21 kWh electric submerged pump is needed. With 1650 l/min water output the wells can produce the water in 4 hours. The monitored waterworks’ unit cost is 172,3 HUF/m3 and thus the cost of the unused water is 68 920 HUF2. Three experts performed the study. With the 2 1 EUR = 310 HUF
  13. 13. 13 preparation and the storage of the pictures and videos the whole study takes up 2 hours. The cost of living labour is 22 500 HUF. Result Having used 500 cubic meters’ reservoir, the technical preparation of surface reconstruction, site survey of 400 cubic meters of unused clean water and further 91 420 HUF is wasted. ’NYÍRSÉGVÍZ Zrt.’ operates a 15 400 cubic meters of high water and a 22450 cubic meters of low water reservoir.
  14. 14. 14 APPENDIX - Underwater Cyclops Construction  Body and the power unit 4mm wide aluminium or POM plastic, the diameter is 140mm, which is 370mm long. The power unit support frame is 10mm wide aluminium or POM material, which is connected to the body. 10-10 screws in the back and the front wall with core end sleeves. M6 screws and self-locking nut to the constriction. the gasket contains a 3mm diameter O ring, which has a groove. In the body there are 2 rails which included the control panel. The panel is completely removable.  Mounting 10x20mm aluminium. It consists of slivered components, 4 pieces of M8 screws.  Camera window and back wall It made 3-4mm wide plexi material, which contains holes and a groove. Camera and light Rotatable IP camera (can rotate about 160 degree) with two axis. 7W LED Angel eye around the camera.
  15. 15. 15 Power unit Modified bilge pump. The socket was made from POM material. Control The external power supply is 12V, and transported with a 8-10 core cable. A cable reel is able to roll up and down the cable. The is a separate joy-stick controller. The camera is ensuring live streaming to a computer.
  16. 16. 16 Computer designed ROV models Control electronics The control electronics are based on Arduino Yun microcontroller. There is 5 power unit which is powered by a 12V and 2200mAh battery and controlled by 5 L298N motor drivers. The arduino sends 1 or 0 to the motor driver (1=5V and 0=GND). If the motor driver gets 5V the bridge circuit opens, and the motor turns on. We used an angel eye, because the camera needed more light to stream nice video. The angel eye is powered by 12V, so we need a relay to control it. We used an Ethernet cable to control the ROV. The cable is connected to the laptop. We can control the ROV with a joy-stick, via the main program. We can store any information in the microSD, card modul.
  17. 17. 17 The mounting Disinfecting tank We need a tank that disinfect the Cyclops and the Ethernet cable, because we would like to use the ROV in clear water. There are three 25mm wide rolling cylinder, and the Ethernet cable goes through between the rollers. The tank is fill with 30% hypochlorite tincture. The tank is 750mm wide and 350mm long.
  18. 18. 18 References  A long-term analysis of water demand http://www.kvvm.hu/cimg/documents/3_tanulmany.pdf  (How long will the world's water resources last?) (Article) http://www.maviz.org/meddig_eleg_a_fold_vizkeszlete  (Water supply and wastewater management) http://www.tankonyvtar.hu/hu/tartalom/tamop412A/2010- 0019_Vizellatas_es_szennyvizkezeles/ch06s03.html  Water purification https://en.wikipedia.org/wiki/Water_purification  Arduino Yun https://www.arduino.cc/  Truly Portable Submersible Robots https://www.deeptrekker.com/  Build an Underwater Robot http://www.instructables.com/id/Build-an-Underwater-robot/  My undervater robot https://www.ted.com/talks/david_lang_my_underwater_robot  Assistants József Tóbiás engineer design and mounting András Krajecz – plant manager of sewage treatment plant Péter Hüse – plant manager of the water supply plant of Kisvárda György Falck CEO Varinex ZRT – 3D printing Károly Vass technical teacher – mounting (NYSZC Bánki Donát Polytechnical School) Sándor Mizsák technical teacher – mounting (NYSZC Bánki Donát Polytechnical School) Sándor Vízi technical teacher – welding (NYSZC Bánki Donát Polytechnical School) Zsálya Borbála Zsigó - Logo design Zsolt Zsigó – mentor (NYSZC Bánki Donát Polytechnical School)

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