• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.670-673
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• 1999

In this paper, we present a robust motion controller based on Adaptive-Fuzzy technique is proposed that multifunctional vehicle(MVR) for two DOF mobile robot can perform detailed inspection of physical conditions of sewage pipes as well as can effectively repair the damaged portions of the inner walls. The main difficulties in controlling this multifunctional robot vehicles lie in the fact that vehicles usually have three degrees of freedom in position and orientation in spite of having only two degrees of freedom for motion control in tracking mode. Decomposition of error between the reference posture and the current posture makes control of speed and steering possible. The Gyro compass part and Inclonometer of the robot is configured in order to realize position of robot. The proposed Adaptive-Fuzzy motion controller has two main characteristics: The one guarantees that the MVR follows the reference trajectory; the other one compensates the dynamics of the MVR. Simulation results are provided to validate the proposed controller. Experiments have been used to verify the effectiveness and robustness of the motion controller.

• Journal of Korean Society of Water and Wastewater
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• v.25 no.2
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• pp.213-221
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• 2011

The purpose of sewer system is to separate rain water from sewage water. Through this, it is possible to prevent the flood and preserve public water territory. For the past few years, many problems of the sewer system have been solved by the execution of sewer rehabilitation project. However, they still exist in sewer system caused by I/I, which are divided into infiltration and inflow. Infiltration means the rain water and underground water that infiltrate through breakage point on pipes, inflow means the water that flows in through misconnection on pipes. This study shows how the I/I calculation has changed according to the new standardized manual and identifies the I/I difference between the new calculation and the existing one. Through the analysis on the two calculation methods we examined the appropriacy of the new method by comparing it to the old one. The result points out that the new standardized manual is more appropriate than the old in aspect of objectivity and reproducibility(establish standardization), rationality(alteration of inflow unit).

• Journal of Power System Engineering
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• v.14 no.5
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• pp.36-40
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• 2010

The ultrasonic guided wave propagates along with the given structure's wall direction. Because of this specific character, the ultrasonic guided waves arc used in many other fields. Especially, it can be readily utilized for nondestructive inspection of various structures that are made up of gas pipes, heat exchanger tubes, and thin plates. Further, the guided wave technology can be readily utilized when inspecting pipes or thin plates which pose high risk of the accident but for which the nondestructive inspection itself is impossible because it is difficult to get to them since they are coated or buried underground. In the other hand, conventional ultrasonic testing such as thickness gauging uses bulk waves and only tests the region of structure immediately below the transducer. As a result of the application about inlet and outlet cooling water line using guided wave test, we conformed that the overall corrosions were in the lower side of the 304.8 mm inlet valve and these corrosions were engaged in not locally but through the lower side of the valve line. In the near future, we can expect that the detectable defect size is smaller than before along with the development of the sensing technology.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.27 no.2
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• pp.131-137
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• 2016

In this paper, a feasibility on a ground-penetrating radar for detecting subsurface cavities near buried pipes has been investigated. The experimental setup was implemented by employing an impulse ground-penetrating radar system, a xy Cartesian coordinate robot, an underground material filled tank, a metal pipe and a simulated cavity model. In particular, the simulated cavity model was constructed by packing Styrofoam chips and balls, which have both similar electrical properties to an air-filled cavity and a solid shape. Through typical three experiments, B-scan data of the radar have been acquired and displayed as 2-D gray-scale images. According to the comparison of B-scan images, we show that the subsurface cavities near the buried pipes can be detected by using the radar survey.

• Environmental Engineering Research
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• v.18 no.1
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• pp.37-43
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• 2013

Water distribution pipes installed underground have potential risks of pipe failure and burst. After years of use, pipe walls tend to be corroded due to aggressive soil environments where they are located. The present study aims to assess the degree of external corrosion of a distribution pipe network. In situ data obtained through test pit excavation and direct sampling are carefully collated and assessed. A statistical approach is useful to predict severity of pipe corrosion at present and in future. First, criteria functions defined by discriminant function analysis are formulated to judge whether the pipes are seriously corroded. Data utilized in the analyses are those related to soil property, i.e., soil resistivity, pH, water content, and chloride ion. Secondly, corrosion factors that significantly affect pipe wall pitting (vertical) and spread (horizontal) on the pipe surface are identified with a view to quantifying a degree of the pipe corrosion. Finally, a most reliable model represented in the form of a multiple regression equation is developed for this purpose. From these analyses, it can be concluded that our proposed model is effective to predict the severity and rate of pipe corrosion utilizing selected factors that reflect the fuzzy soil environment.

• Journal of Korean Society on Water Environment
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• v.29 no.6
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• pp.754-761
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• 2013

Urban floods are usually caused by the lack of drainage capacity. Hence, sewer capacity expansion methodology by replacing small pipes with bigger ones is primarily applied as a flood control measure. However, this approach is often unreasonable because of the costs and time involved. Thus, the installation of underground rainwater storage tanks with the two advantages of flood control and water conservation is proposed. This study compared the effectiveness of flood control by both the sewer expansion methodology and rainwater storage tanks using the Storm Water Management Model. Three cases were simulated in this study. The first case analyzed flood reduction by the storm sewer expansion methodology. The simulation results indicate that the overflow volume from manholes was reduced by 49% with this methodology. The second case analyzed flood reduction by installation of rainwater storage tanks. The simulation results indicate that the overflow volume was reduced by 62%. However, these two cases could not prevent urban floods completely. Hence, the third case analyzed the joint application of the storm sewer expansion methodology and rainwater storage tanks. In this simulation, flooding did not occur. Consequently, the results of this study clearly show that underground rainwater storage tanks are more effective for flood control than capacity expansion of storm sewer. Furthermore, the joint application of these two flood control measures is more effective than their separate application.

• Journal of the Korea Institute of Construction Safety
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• v.3 no.1
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• pp.18-24
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• 2020

The purpose of this study is to propose a system improvement plan to prevent ground sinking accidents. To do this, follow the procedure below. First, it defines terms that are used interchangeably, such as ground subsidence and ground depression. Second, analysis of the current status and cause of ground sink, and the analysis of the correlation between rainfall and ground sink causes, derives priority management causes. Third, we propose a system improvement plan for the cause of priority management. As a result, damage to underground pipes and inadequate underground works were identified as the cause of priority management, and two system improvement plans to manage them were proposed. The results of this study can be used as basic data for improving the system for more effective prevention of underground sink in the future.

• Journal of the Korean Geosynthetics Society
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• v.13 no.1
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• pp.33-40
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• 2014

In general, pipes buried underground can be classified into either rigid or flexible pipe. Glass fiber reinforced thermosetting polymer plastic (GFRP) pipe can be considered as one of typical flexible pipes for which the soil-pipe structure interaction must be taked into account in the design. In this paper, we present the result of an investigation pertaining to the short-term and long-term behavior of buried GFRP pipe. The mechanical properties of the GFRP pipe produced in the domestic manufacturer are determined and the results are reported in this paper. In addition, Ring deflection is measured by the field tests and the finite element analysis. Also, the extrapolation using these techniques typically extends the trend from data gathered over a period of approximately 5,232 hours, to a prediction of the property at 50 years, which is the typical maximum extrapolation time. Therefore, it was investigated that the long-term ring deflection of GFRP pipe estimated by methods for Monod-type.

• Journal of Ocean Engineering and Technology
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• v.27 no.5
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• pp.93-98
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• 2013

Fuel gas is an important energy source that is being increasingly used because of the convenience and clean energy provided. Natural gas is supplied to consumers safely through an underground gas-pipe network made of a polyethylene material. In electrofusion, which is one of the joining methods used, copper wire is used as the heating wire. However, it takes a long time for fusion to occur because the electrical resistance of copper is low. In this study, therefore, electrofusion was conducted by replacing the copper heating wire with carbon fiber to reduce the fusion time and improve the production when joining large pipes. Fusion and tensile tests were performed after the electrofusion joint was made in the polyethylene pipe using carbon fiber. The results showed that the fusion time was shorter and the temperature inside the pipe was higher with an increase in the current value. The ultimate tensile strength of specimens was higher than that of virgin polyethylene pipe, except for polyethylene pipes joined using a current of 0.8 A. The best fusion current value was 0.9 or 1.0 A because of the short fusion time and lack of transformation inside the pipe. Thus, it was shown that carbon fiber can be used to replace the copper heating wire.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.6
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• pp.733-739
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• 2009

Recently it is being increased rapidly to install magnetic marker and RFID tag on the underground utility lines before backfilling to ensure effective it's management. However, due to changes an attitude and damages of sensors. By pressure and vibration during soil compacting, detecting rate is significantly reduced as well as it allows to use only one line of various pipes since it has an unique frequency. Also it is required too long time to reach to target point with an non-accurate navigational GPS receiver and hard to update existing data base with a manual input of new data in the field. To improve these problems, the researcher developed the field management system that apply with ball typed self-levelling marker which is free from the changes of attitude for sensors during compaction as well as has various radio frequency applicable to many kind of pipes and ensure fast positioning to target point using an incorporated system with PDA based DGPS receiver which allows loading a field GIS software and RFID detector. Further, it provides with viewing all of RFID data on the DGPS receiver screen directly and also input new data to existing data base in the field automatically.