• 로봇학회논문지
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• 제16권3호
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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.

• 상하수도학회지
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• 제25권6호
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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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• 제8권
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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.

• 한국산업보건학회지
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• 제31권4호
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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.

• 상하수도학회지
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• 제34권2호
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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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• 제2권1호
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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.

• 한국산학기술학회논문지
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• 제16권7호
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• pp.4977-4983
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• 2015

개착식 공법은 도로의 굴착에 따른 시간과 비용의 증가, 교통통제로 인한 민원발생 및 교통지정체 등 많은 문제점을 발생시키고 있다. 이러한 문제점을 해결하기 위하여 비굴착공법에 사용 가능한 하수관거 보수자재에 대한 실험을 시행하였다. 사용한 재료는 PVC프로파일이며, 국가표준시험 방법을 적용하여 기본 물성 평가를 시행하였다. 본 기술은 SPR(Sekisui Pipe Rehabilitation) 기술에 적용되는 프로파일보다 구조적 안정성이 높고, pipe integrity를 높일 수 있는 SWP(Spirally Wound Pipe)용 프로파일 구조를 적용하였다. 복합안정제의 함량을 5 phr을 이용하여 배합을 하였다. 시험 결과 복합안정제와 충격보강제를 투입한 경우에도 인장강도, 충격강도 및 연화온도가 표준의 물성을 만족함을 알 수 있었고, 가공시 부하가 없이 가공할 수 있었다. 접착 수지로 단부마감을 한 프로파일은 같은 압력에서 누수가 발생하지 않았다.

• 한국건설관리학회논문집
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• 제11권4호
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• pp.68-79
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• 2010

도로면 크랙실링 공법은 예방적 차원에서 도로면에 발생된 크랙을 초기에 효과적으로 보수할 수 있는 공법으로 국내외에 서는 1990년대 초반부터 기존 도로면 크랙실링 작업의 생산성, 안전성 및 품질의 균일성 확보를 목적으로 크랙실링 자동화 장비의 개발을 위한 지속적인 연구개발 노력을 수행해 왔다. 도로면 크랙실링 자동화 장비를 개발함에 있어 특히 경로계획은 주어진 작업 영역 내에서 개발 장비로 하여금 실링될 크랙 네트워크를 시간 효과적으로 횡단할 수 있도록 하는 운항 정보를 제공하게 되므로 이는 개발 장비의 성능을 결정 짖는 매우 중요한 연구주제라 할 수 있다. 본 연구의 목적은 작업 영역 내 경로계획 데이터의 효과적인 모델링을 통해 크랙실링 자동화 장비의 최적 경로계획 알고리즘을 개발하는 것으로써, 경로 집합전체를 완전 탐색하는 2단계 트리 알고리즘과 크랙의 순열만을 탐색하는 1단계 트리 알고리즘을 개발하였으며, 알고리즘의 성능 측정 및 분석을 통해 최적 경로계획 알고리즘의 적용 범위와 그에 따른 성능 향상 정도를 평가하였다. 이 연구의 결과는 도로면 크랙실링 자동화 장비의 생산성 향상에 크게 기여할 수 있을 것으로 기대된다.

• 상하수도학회지
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• 제33권4호
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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.

• 한국물환경학회지
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• 제18권3호
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• pp.303-312
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• 2002

본 연구에서는 기존 배관설비 분야에서 다양한 용도로 사용되고 있는 Polly-Pigs를 이용한 건물내 급수관의 스케일을 제거하기 위한 공법을 개발하여 이를 평가하였다. 15mm 노후관의 세관실험결과, KDP series에 의해서 직관부 또는 곡관부의 통수능은 3.5~15.4%까지 증가되는 것으로 나타났으며, 육안분석결과 대부분 제거가 이루어진 부분은 적색 스케일($Fe_2O_3{\cdot}3H_2O$)이었으며, 흑색 스케일($Fe_2O_4{\cdot}nH_2O$)의 제거에는 한계가 있는 것으로 나타났다. 그러나 KDP series의 겉표면에서 Fine sand를 coating한 KDPS series에 의해서는 sand의 효과로 노후관의 통수능이 13.0~17.9%까지 증가되어 통수능이 95.9~99.5%까지 높게 회복되는 것으로 나타났으며, 대부분의 흑색 스케일도 크게 제거되는 것으로 나타났다. 또한 Cleaning v/v의 나선형 가이드 베인(Helical guide vane)과 Pigs의 회전날개(Rotating wing)의 영향으로 주행시 Pigs의 회전력은 크게 향상되어 16배이상 회전수가 증가하는 것으로 나타났다. 이로 인해 100mm 급수관의 세관에서는 통수능이 90%인 노후관이 세관 후 통수능이 완전히 회복되는 것으로 나타났다. 또한 15mm 급수관에 비하여 매우 낮은 압력하에서도 세관효과가 높은 것으로 나타나 관경이 클수록 세관에 필요한 세관압력은 크게 감소되며, 세관효과는 증가되는 것으로 나타났다.