• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.223-231
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• 2021

In this paper describes the research and development of a pipe robot for pipe rehabilitation construction of old water pipes. After the water supply pipe construction, the pipe is leaking, damaged, and aging due to corrosion. Eventually, resistance to the flow of water in lower supply efficiency and contaminated water such as rusty water, finally in various consumer complaints. In order to solve this problem, rehabilitation construction robot technology is required to secure the construction quality of pipe rehabilitation construction and restore the function of the initial construction period. The developed pipe rehabilitation construction robot required a hydraulic actuator for high traction and was equipped with a small hydraulic supply device. In addition, we have developed a hydraulic cylinder and a link system that supports the pipe inner diameter to develop a single pipe robot corresponding to 500 to 800mm pipe diameter. The analysis and experimental verification of the driving performance and unit function of the developed pipe reconstruction robot are explained, and the result of the integrated performance test of the pipe reconstruction robot at the water supply pipe network site is explained.

• Journal of Korean Society of Water and Wastewater
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• v.25 no.6
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• pp.869-875
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• 2011

Ministry of Environment has been promoting BTL business of the sewer rehabilitation which continues from 2005 up to now. Sewer rehabilitation is classified into three parts : wastewater pipe rehabilitation, rainwater pipe rehabilitation and drainage equipment rehabilitation. Drainage equipment rehabilitation is that drainage pipe connects wastewater pipe directly without water-purifier. In the drainage equipment construction, it is inevitable to have the damage of ground structures(wall, gate and U drain, etc) when an open excavation method is used. Therefore it is necessary to develop non-excavation method to connect drainage pipe and wastewater pipe like jacking method to avoid the damage of ground structure. This paper has conducted an analysis of the non-excavation method using a boring machine attached to backhoe, which is issued the verification certificate of environmental technology according to the Development of and Support for Environmental Technology Act, article.7. The index set in this analysis was sectionalized to the condition of construction, the grade of drainage pipe, the size of excavated hole, the amount of waste cement concrete and asphalt concrete and the benefit effect compared to open excavation method.

• Korean Journal of Hydrosciences
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• v.8
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• pp.31-40
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• 1997

Flow carrying capacity of water distribution systems is getting reduced by deterioration of pipes in the systems. The objective of this paper is to present a managerial decision-making model for the rehabilitation of water distribution systems with a mininum cost. The decisions made by the model also satisfy the requirements for discharge and pressure at demanding nodes in the systems. Replacement cost, pipe break repair cost, and pumping cost are considered in the economic evaluation of the decision along with the break rate and the interest rate to determine the optimal replacement time for each pipe. Then, the hydraulic integrity of the water distribution system is checked for the decision by a pipe network simulator, KYPIPE, if discharge and pressure requirements are satisfied. In case the system does not satisfy the hydraulic requirements, the decision made for the optimal replacement time is revised until the requirments are satisfied. The model is well applied to an existing water distribution system, the Seoul Metropolitan Water Supply System (1st Phase). The results show that the decisions for the replacement time determined by the economic analysis are accepted as optimal and hydraulic integrity of the system is in good condition.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.31 no.4
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• pp.503-509
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• 2021

Objectives: The utility of the system was analyzed by applying the smart safety technology system to the aging pipe rehabilitation facility construction classified as a confined space. Methods: Smart safety management system was applied to a site where the aging pipe rehabilitation work was in progress. The working environment was measured for 25 days, and the toxic gas saturation was analyzed according to the working time and working place. Results: Based on the measured results, two characteristic environmental changes in the confined space were confirmed. First, when working inside an aging pipe, the tendency of carbon dioxide saturation increases with working time and the number of workers. Second, oxygen decreases when working in a space away from the entrance. Conclusions: Various applications of smart safety technology have been confirmed based on the measured data, and this is expected to be useful for environmental characteristic analysis and safety management when applied to a confined space composed with various conditions in the future.

• Journal of Korean Society of Water and Wastewater
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• v.34 no.2
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• pp.149-159
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• 2020

Cured-in-place-pipe(CIPP) is the most adopted trenchless application for sewer rehabilitation to extend the life of the existing sewer without compromising both direct construction and indirect social costs especially applied in the congested urban area. This technology is globally and domestically known to be the most suitable for partial and full deteriorated pipe structure rehabilitation in a sewer system. The typical design of CIPP requires a significant thickness of lining to support loading causing sewage flow interruption and increasing material cost. This paper presents development of a high strength glass fiber composite lining material for the CIPP application and structural test results. The test results exhibit that the new glass fiber composite lining material has 12 times of flexural strength, 6.2 times of flexural modulus, and 0.5 Creep Retention Factor. These test results can reduce lining design thickness 35% at minimum. Even though taking into consideration extra materials such as outer and inner films for actual field applications, the structural capacity of the composite material significantly increases and it reduces 20 percent or more line thickness as compared to the conventional CIPP. We expect that the newly developed CIPP lining material lowers material costs and minimizes flow capacity reduction, and fully replaceable to the conventional CIPP lining materials.

• Journal of Construction Engineering and Project Management
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• v.2 no.1
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• pp.35-44
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• 2012

In the last two decades, several tele-operated and machine-vision-assisted systems have been developed in the construction and maintenance area, such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for the optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans, which are used in the previously developed pavement crack sealing systems. The comparison is based on the computational cost vs. the overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in the productivity improvement of the developed automatic pavement crack sealing system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.7
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• pp.4977-4983
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• 2015

The full depth excavation induces couple of technical and social problems like increase of construction cost and time for excavation and backfill, increase of public complains and delay of traffic, and so force. In order to overcome these problems, lots of laboratory tests were carried out for sewer pipeline of maintenance materials with trenchless methods. The testing materials are PVC strip and then the lab tests were followed by Korean Standard. We will treat the structure safety and pipe integrity of PVC profile more excellent than the profile have application to SPR. There is no side-effect to process and to satisfy the criteria of tensile strength, impact strength and softening temperature. The profile with resin adhesive showed no leakage of water at specific pressure.

• Korean Journal of Construction Engineering and Management
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• v.11 no.4
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• pp.68-79
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• 2010

During the last two decades, several tele-operated and machine-vision-assisted systems have been developed in construction and maintenance area such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans which are used in previously developed pavement crack sealing systems. The comparison is based on computational cost versus overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in productivity improvement of the automatic pavement crack sealing system developed.

• Journal of Korean Society of Water and Wastewater
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• v.33 no.4
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• pp.299-309
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• 2019

Waterworks facilities inevitably experience some amount of leakage even if there is a lot of investment or state-of-the-art technology that is applied such as DMA(District Metered Area) system construction, leakage detection, repair, pipe rehabilitation, etc. The primary reason is the leakage is naturally restored over time. In the UK, this restoration characteristic is defined as NRR(Natural rate of rise of leakage) and used to decision making for prioritizing active leakage control of DMAs. However, this restoration characteristic is well recognized, but researches on NRR in the water distribution system are insufficient in Korea. In this study, the estimation method of NRR was developed suitable for applicating in Korea considering of SCADA data, water infrastructure, and water usage patterns by modification of the UK's NRR method. The proposed method was applied to 9 DMAs and verified it's applicability by comparing with the other water loss performance indicators. It is expected that the proposed method can be used to support decision making for sustainable NRW(Nor-revenue water) management in the water distribution system.

• Journal of Korean Society on Water Environment
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• v.18 no.3
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• pp.303-312
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• 2002

Polly-pigs technique was developed to remove internal rusts and scales from service pipes in the building by using Polly-pigs that were used as various applications in conventional plant pipelines. Results of cleaning experiments on 15mm GSP(Galvanic Steel Pipe) showed that hydraulic cross sectional area was more increased from 3.5% to 15.4% for straight part or elbow parts of several test pieces. Results of optical analysis also showed that rust and scale removed mostly by KDP series(only consisted of Polyurethane) were outside red colored scale ($Fe_2O_3{\cdot}H_2O$), and there was a limitation to the removal of black colored scale($Fe_2O{\cdot}nH_2O$) that was below red colored scale. But it was evaluated that KDPS series coated fine sand with KDP series could remove not only red colored scale but also black colored scale and more increase hydraulic cross sectional areas of 15mm GSP old service pipes from 13.0% to 17.9%. After KDPS series cleaning, hydraulic cross sectional areas of them were recovered from 95.9% to 99.5%. Turning force of Polly-pigs was largely improved by the effect of Helical guide vane(Cleaning v/v) and Rotating wing(Pigs), and the number of pig rotating also more increased sixteen times compared with conventional cleaning system without Helical guide vane and Rotating wing. After KDPC series cleaning of 100mm GSP old service pipes that hydraulic cross sectional areas were 90%, hydraulic cross sectional areas were almost recovered perfectly like new service pipes. Additionally pressure necessary to run Polly-pigs m 100mm GSP was lower and cleaning efficiency also was higher than 15mm GSP cleaning. Therefore it was thought that as the diameter of pipe was more increased, pressure necessary to clean service pipes was more decreased and cleaning efficiency was more increased in Polly-pigs cleaning.