Automatic Pipe Routing ToAvoidAirPocketsTo Avoid Air Pockets
Transcript of Automatic Pipe Routing ToAvoidAirPocketsTo Avoid Air Pockets
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ICCAS2013 in Busan
Automatic Pipe Routing To Avoid Air PocketsTo Avoid Air Pockets
Kyushu University Dep of Marine Systems EngineeringKyushu University Dep. of Marine Systems Engineering
Yuto Ando, Hajime Kimura
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Outline
Introduction Introduction1. Approach1. Approach
2. Air Pockets2. Air Pockets
3. Simulations
Conclusion
ICCAS 2013 in Busan 1
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Motivations
Oil or Chemical Plants Microchips
http://www.radioirene.com/
Microchipshttp://www.smtnet.com
http://thumbs.dreamstime.com/
Ship Building
Design of PipelinesICCAS 2013 in Busan 2
Design of Pipelines
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Motivations
Design of Pipe-Line in Ship
Positions of equipment ( valves, etc. )
Piping routes Piping routes
Estimation of safety
Experience of Veterans
A l t f ti t d i
New Approach
Design Complete!
A lot of time to design.
Veterans are decreasing.
ICCAS 2013 in Busan 3
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Motivations
Design of Pipe-Line in Ship
Positions of equipment ( valves, etc. )
Piping routes Piping routes
Estimation of safety
Experience of Veterans
A l t f ti t d i
New Approach
Design Complete!
A lot of time to design.
Veterans are decreasing.
ICCAS 2013 in Busan 3
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Motivations
Design of Pipe-Line in Ship
Positions of equipment ( valves, etc. )
Piping routes Piping routes
Estimation of safety
Experience of Veterans
A l t f ti t d i
New Approach
Design Complete!
A lot of time to design.
Veterans are decreasing.
ICCAS 2013 in Busan 3
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Purpose
Automatic Pipe-Line Design System Automatic Pipe-Line Design System
PID Final DesignAutomatic
DesignSystem
Equipment Placing SystemPlacing System
Pipe-Routes EquipmentLayout
Routing System
4ICCAS 2013 in Busan
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Purpose
Automatic Pipe-Line Design SystemConnector Automatic Pipe-Line Design SystemPump
(Immovable)
Connector(Movable)
PID Final DesignAutomatic
DesignSystem
Valve(Movable)
Equipment Placing SystemPlacing System
Pipe-Routes EquipmentLayout
Routing System
4ICCAS 2013 in Busan
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Outline
Introduction Introduction1. Approach1. Approach
2. Air Pockets2. Air Pockets
3. Simulations
Conclusion
ICCAS 2013 in Busan 5
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Approach of Routing System
Routing of pipelines
Routing in a networkg
6ICCAS 2013 in Busan
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Approach of Routing System
7ICCAS 2013 in Busan
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Approach of Routing System
Directed and W i ht d G h
7
Weighted Graph
ICCAS 2013 in Busan
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Approach of Routing System
Dijkstra’s Methodj
Directed and W i ht d G h
7
Weighted Graph
ICCAS 2013 in Busan
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Approach of Routing System
The OptimizedpPipe Route
Dijkstra’s Methodj
Directed and W i ht d G h
7
Weighted Graph
ICCAS 2013 in Busan
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Pipe Pieces and Items
Pipe Pieces
Straight Elbow Bending Partg g
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Pipe Pieces and Items
Pipe PiecesIn the graphIn the graph
Next nodeCurrent nodenode
Edge
Weight of the Edge = (Manhattan distance + Costs of the Pipe Piece)
9ICCAS 2013 in Busan
x Diameter
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Pipe Pieces and Items
Pipe PiecesIn the graphIn the graph
Next nodeCurrent nodenode
Weight of the Edge = (Manhattan distance + Costs of the Pipe Piece)
9ICCAS 2013 in Busan
x Diameter
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Design Objectives
The shortest path th t kObstacle on the network
Pipe‐Rack Short
Aisle Not winding
A id i l Avoid aisles
Set on pipe racks Set on pipe racks
ICCAS 2013 in Busan 10
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Design Objectives
The shortest path th t kObstacle on the network
Pipe‐Rack Short
Aisle Not winding
S t i k Set on pipe racks
Avoid aisles Avoid aisles
ICCAS 2013 in Busan 10
Change the weight of edges
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Design Objectives
Obstacle
Pipe‐Rack
Aisle
: Light weighted edge( Pi k )( = Pipe-rack )
: Heavy weighted edge( Ai l )
ICCAS 2013 in Busan 10
( = Aisle )
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Design Objectives
Minimize the total length of piping routes
Minimize the number of elbows and bending parts
Avoid aisles as much as possible
Pass through pipe-rack areas as much as possible
ICCAS 2013 in Busan 11
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Design Objectives
Minimize the total length of piping routes
Minimize the number of elbows and bending parts
Avoid aisles as much as possible
Pass through pipe-rack areas as much as possible
ICCAS 2013 in Busan 11
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Design Objectives
Minimize the total length of piping routes
Minimize the number of elbows and bending parts
Avoid aisles as much as possible
Pass through pipe-rack areas as much as possible
ICCAS 2013 in Busan 11
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Design Objectives
Minimize the total length of piping routes
Minimize the number of elbows and bending parts
Avoid aisles as much as possible
Pass through pipe-racks areas as much as possible
ICCAS 2013 in Busan 11
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Design Objectives
Minimize the total length of piping routes
Minimize the number of elbows and bending parts
Avoid aisles as much as possible
Pass through pipe-racks areas as much as possible
= The shortest path in the weighted graph
ICCAS 2013 in Busan 11
p g g p
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Order of Routing
Order of routing in the system = From the largest to the smallest
ObstacleG G
Obstacle
Pipe B
S G
Pipe C
SObstacle
S
ICCAS 2013 in Busan 12
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Order of Routing
Order of routing in the system = From the largest to the smallest
ObstacleG G
Obstacle
Pipe B
Pipe AS G
Pipe C
SObstacle
S
ICCAS 2013 in Busan 12
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Order of Routing
Order of routing in the system = From the largest to the smallest
ObstacleG G
Obstacle
Pipe B
Pipe AS G
Pipe C
SObstacle
S
ICCAS 2013 in Busan 12
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Order of Routing
Order of routing in the system = From the largest to the smallest
ObstacleG G
Obstacle
Pipe B
Pipe AS G
Pipe C
SObstacle
S
ICCAS 2013 in Busan 12
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Order of Routing
From the largest diameter to the smallest diameter
Random choice from pipes with same diameters
Random choice Random choice
ICCAS 2013 in Busan 13
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Outline
Introduction Introduction1. Approach1. Approach
2. Air Pockets2. Air Pockets
3. Simulations
Conclusion
ICCAS 2013 in Busan 14
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What’s “Pocket” ?
U-shaped pipe piece in a vertical directionU shaped pipe piece in a vertical direction
Liquid or gas settle at “Pocket” Drain traps
zNot preferred pipe piece
Pump
Engine
Drain Trapsp
ICCAS 2013 in Busan 15
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What’s “Pocket” ?
U-shaped pipe piece in a vertical directionU shaped pipe piece in a vertical direction
Liquid or gas settle at “Pocket” Drain traps
zUndesirable pipe piece
Pump
Engine
Drain Trapsp
ICCAS 2013 in Busan 15
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Algorithm to avoid “Pockets”
Loading of Start and Goal pointLoading of Start and Goal point
Route without pocketsFound!
Method1 (Restriction Method)
Not Found… : At least one pocket in the route
Found!Method2 (Penalty Method) Route avoiding pockets
as much as possible
Found!
No pipe route
Not Found…
p p
ICCAS 2013 in Busan 16
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Algorithm to avoid “Pockets”
Loading of Start and Goal pointLoading of Start and Goal point
Route without pocketsFound!
Method1 (Restriction Method)
Not Found… : At least one pocket in the route
Found!Method2 (Penalty Method) Route avoiding pockets
as much as possible
Found!
No pipe route
Not Found…
p p
ICCAS 2013 in Busan 16
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Method1: Restriction Method
Restriction MethodRestriction Method
- Delete candidates making U-turn
- Reduce size of network
No pocket in the route
ICCAS 2013 in Busan 17
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Method1: Restriction Method
z
Candidates with the highest costs
ICCAS 2013 in Busan 18
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Method1: Restriction Method
z
Candidates with the highest costs
Remove from candidatesRoute without “Pockets”
ICCAS 2013 in Busan 18
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Simulation of Restriction Method
Solution by Old System SolutionSolution by Old System(Without consideration of Pockets)
Solution by Restriction Method
ICCAS 2013 in Busan 19
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Simulation of Restriction Method
Other test case…
Complex route( Route with at least one Pocket)( )
No solutionby Restriction Method
Pocket is necessary
ICCAS 2013 in Busan 20
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Algorithm to avoid “Pockets”
Loading of Start and Goal pointLoading of Start and Goal point
Route without pocketsFound!
Method1 (Restriction Method)
Not Found… : At least one pocket in the route
Found!Method2 (Penalty Method) Route avoiding pockets
as much as possible
Found!
No pipe route
Not Found…
21
p p
ICCAS 2013 in Busan
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Method2 : Penalty Method
Penalty Method
- Add penalties on edges connecting vertically.
- Search horizontal candidates as priority.p y
Route involves “Pockets” as few as possibleRoute involves Pockets as few as possible.
AddPenalty
ICCAS 2013 in Busan 22
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Method2 : Penalty Method
z
StartStart
Goal
Red arrows : With penaltiesBlue arrows : Normal
Candidates with the highest costs
Avoid moving vertically as much as possible
Increase of search timeRoute avoiding Pockets as much as possible
ICCAS 2013 in Busan 23
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Method2 : Penalty Method
z
StartStart
Goal
Red arrows : With penaltiesBlue arrows : Normal
Candidates with the highest costs
Avoid moving vertically as much as possible
Increase of search timeRoute avoiding Pockets as much as possible
ICCAS 2013 in Busan 23
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Method2 : Penalty Method
z
StartStart
Goal
Red arrows : With penaltiesBlue arrows : Normal
Candidates with the highest costs
Avoid moving vertically as much as possible
Increase of search timeRoute avoiding Pockets as much as possible
ICCAS 2013 in Busan 23
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Simulation of Penalty Method
ICCAS 2013 in Busan
Solution by old System Solution by Penalty Method
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Outline
Introduction Introduction1. Approach1. Approach
2. Air Pockets2. Air Pockets
3. Simulations
Conclusion
ICCAS 2013 in Busan 25
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Simulations
Purpose of simulations
Comparisons of old and new Systems, different mesh sizes,
and orders of routing
Test model
D i S 6 6 6 [ ]• Design Space : 6 x 6 x 6 [m]
• Pipes : 0.8[m] x 1, 0.6[m] x 2,
0.4[m] x 4, 0.3[m] x 6
• Order : From the largest pipe
• Cost of Elbow : 0.1
• Cost of Bending : 0.3
ICCAS 2013 in Busan
• Penalty of vertical edge : x226
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Simulations
Purpose of simulations
Comparisons of old and new Systems, different mesh sizes,
and orders of routing
Test model
D i S 6 6 6 [ ]• Design Space : 6 x 6 x 6 [m]
• Pipes : φ 0.8[m] x 1, φ 0.6[m] x 2,
φ 0.4[m] x 4, φ 0.3[m] x 6
• Order : From the largest pipe
• Cost of Elbow : 0.1
• Cost of Bending : 0.3
ICCAS 2013 in Busan
• Penalty of vertical edge : x226
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Simulation1 (Comparison of Old and New Systems)
Old S t N S t90 minutes 70 minutes
Old System(Without consideration of Pockets)
New System (With Method 1 and 2)
ICCAS 2013 in Busan
Succeeded to avoid making Pockets
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Simulation2 ( Comparison of different orders )
1 (φ 0.9m)1 (φ 0.9m)
2 (φ 0 6 )2 (φ 0.6m) 2 (φ 0.6m) 3 (φ 0.6m)3 (φ 0.6m)
ICCAS 2013 in Busan 28
Order of routing: Strong influence to the final design.
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Simulation3 (Comparison of mesh sizes)Mesh: 0.15 [m]Time: 70 [minutes]
Mesh: 0.25 [m]Time: 30 [minutes]
Small Mesh Size Large Mesh Size
• Accurate Routing
• Long Search Time
• Rough Routing
• Short Search Time
Mesh Size: Strong influence to the routes.ICCAS 2013 in Busan 29
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New Mesh Dividing Method
Regular meshes onlyg y
ICCAS 2013 in Busan 30
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New Mesh Dividing Method
Regular meshes only
: Regular Lines
g y
: Regular Lines
: Additional Lines
Around obstacles, pipes, aisles
In pipe-racks
ICCAS 2013 in Busan 30
On start and goal pointsRegular and additional meshes
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New Mesh Dividing Method
Regular meshes onlyRegular and additional meshes g yg
In short time In long timeIn short time In long time
ICCAS 2013 in Busan 31
Increase of items ( ex. Obstacles ) = Increase of additional meshes
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New Mesh Dividing Method
Regular Mesh System Additional Mesh System
Num. of Meshes in Regular Mesh << Num. of Meshes in Add. Mesh
ICCAS 2013 in Busan 32
Increase of search time!!
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Outline
Introduction Introduction1. Approach1. Approach
2. Air Pockets2. Air Pockets
3. Simulations
Conclusion
ICCAS 2013 in Busan 33
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Conclusion
New automatic pipe routing systemg y
FeaturesMinimize total length,
Minimize number of bending,
Pass through pipe-racks,
Avoid aisles,
Avoid making “Pockets”
- Restriction Method ( Reduce the size of graph)
Penalty Method (Add penalty to the vertical edges)- Penalty Method (Add penalty to the vertical edges)
ICCAS 2013 in Busan 34
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Conclusion
New automatic pipe routing systemg y
FeaturesMinimize total length,
Minimize number of bending,
Pass through pipe-racks,
Avoid aisles,
Avoid making “Pockets”
- Restriction Method ( Reduce the size of graph)
Penalty Method ( Add penalties to the vertical edges )- Penalty Method ( Add penalties to the vertical edges )
ICCAS 2013 in Busan 35
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Future Tasks
Order of Routing
Search Time Ship Hull Search Time
More practical routes
Equipment Placing SystemLarge Curved PipeLarge Curved Pipe
q p g y
This routing system will be opened for free atg yhttp://sysplan.nams.kyushu‐u.ac.jp/gen/index.html
ICCAS 2013 in Busan 36
Thank you!