1. The Worm: Goals By: Kirill Nikitin, Filip Magda, Matthew Granata, Ian Sutherland, Karl Rosello

2. Problem Statement To create a device and system that diagnoses then repairs internal stress related macro-cracks in existing pipes of varying materials, diameters and geometric complexities through the use of an epoxy. 2

3. Need Statement There are many devises already on the market, however none of the current devices can diagnose where the crack is and then be able to fix it right on the spot. There needs to be a device that will overcome some of the limitations of modern pipe diagnosing devices. Some of the limitations include: Current devices can only work in dry conditions Current devices are not suitable to work underground Current devices are limited to pipes of a specific diameter Current fluid propelled devices move in one direction only 3

4. Design Goals Reliability will be ensured through consistent results through multiple testing. Appropriate materials that can withstand the pressure, the tensile and shear forces of the pistons initially, and over a long time period. This material will also be corrosion resistant. Most of the parts we will be using are standard and easily obtainable. Easy to replace damaged parts. We have been minimizing cost by using what we already have and have access to and by using minimum parts. The product will be able to function in a variety of temperatures and pressures that are common in most factory conditions. 4

5. Design Goals Cont. Maintenance of our product will involve the functionality of: Ultrasonic Sensor Bugs in the Programing/System Epoxy Deployment Mechanical Integrity Motor Camera We will need someone who is skilled and trained to operate the machine properly because it is not user-friendly. Human factors consists of: Controlling the machine through the pipe with a joy stick from the outside of the pipe. Controlling the pneumatic compressor. Retrieving and analyzing data from the Ultrasonic Sensor. 5

6. Costs 6 MaterialQuantityCost 6” Piston6$300 Ultra-Sound Sensor1$250 Epoxy Deploy1$100+ Motor System1$100 Additional Material Costs1$100 3” Piston1$33 Camera1$25 ¼” Aluminum Sheet (3”x12”)1$20 Epoxy Putty1$10 9” PVC Pipe (4 ft)1$0 Total$938

7. Drawing 7

8. 8

9. Calculations Force Piston will exert on pipe: F = pA = pπd 2 /4 F = force exerted (N) p = gauge pressure (N/m 2, Pa) A = full bore area (m 2 ) d = full bore piston diameter (m) 9

10. Faculty Mentor Dimitri Samaras, from the Computer Science Department has agreed to lend us his aid with our project. His area of research is Computer Vision. He is the director of the Image Analysis Lab. Jonathan Sokolov, from the Materials Science & Engineering Department has agreed to assist us in assembling the electronic systems of our machine. 10