• 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.

• 상하수도학회지
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• 제30권6호
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• pp.725-736
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• 2016

There is a growing concern on the improvement of water distribution pipeline for multi-regional water supply system in Korea along with its aging infrastructure. Rehabilitation of large diameter pipeline is more efficient in cost and time compared to replacement with trenching. The procedure for rehabilitation are diagnosis, cleaning, spraying coating material, and final inspection. The internal state of pipeline was carefully diagnosed and got C grade, which required rehabilitation. We found that 17,274,787,000 Korean won could be saved after pipe surface coating because of increased C coefficient of Hazen-Williams equation. Optimal coating material was D polyurea. We also found optimal distance between spraying nozzle and pipe wall to be 70 - 80 cm, which were critical factors for coating quality. This study also illustrated the time for spray drying to be more than 30 min. These results could be used in the quality control process during rehabilitation of aged pipelines.

• Journal of Advanced Marine Engineering and Technology
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• 제36권7호
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• pp.894-901
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• 2012

For more efficient use of the high pressure water-jet in rehabilitation of the water pipes, we have studied the water-jet cleaning motion of the in-pipe robot with screw drive. The mathematical models of the water-jet in the straight and the curved pipe (90 degrees elbow), representative features of the water mains, were designed to understand the water-jet motion and simulations have been performed. Furthermore the experiments has been conducted to validate the simulations by using the prototype in-pipe robot in the 3-D pipeline. The simulation results show that the water-jet motion in the straight pipe has a constant water-jet interval, whereas the motion in the curved pipe is changed by its position. By the comparison of the simulation and the experimental results, we have demonstrated that the simulations successfully estimate the water-jet motion inside the water pipes. Therefore in-pipe robot operators can predict a water-jet motion for a target water pipe through the simulation and flexibly make a proper water-jet motion by changing the robot configurations before a cleaning work.

• 한국수자원학회논문집
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• 제36권1호
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• pp.45-59
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• 2003

본 연구에서는 상수관의 개량사업을 보다 효율적으로 실시 할 수 있는 방법으로 국내 실정에 적합한 상수관로의 노후도 조사방법을 이용하여 매설된 관의 노후도를 예측 근거한 최적 개량 모형을 제시하였다. 노후도 예측 모형은 확률론적 신경망 이론을 바탕으로 관별 노후도 정도를 5개 등급으로 구분하며 산정된 관별 노후도 등급 및 관경을 바탕으로 최대 잔존수명을 산정하였다. 최적 개량 모형은 관의 유지보수, 갱생, 교체의 시기 및 비용을 산정하는 것으로 최단경로흐름을 응용한 정수계획법을 이용하여 제시하였다. 또한 개발된 최적 개량 모형은 보다 현실적인 모형을 구축하기 위해 예산제약 유무에 따라 2가지 구분하여 모형을 제시하였다. 따라서, 본 연구에서 제안된 모형은 상수관로의 관리를 위해 보다 정량적인 방법으로 활용할 수 있을 것이다.

• 상하수도학회지
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• 제16권6호
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• pp.686-699
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• 2002

The purpose of this study is to estimate deterioration factors and weighting factors in pipe network which each local self-governments takes rehabilitation and replacement work present time. Deterioration factors in pipe network are able to effected of specific province or location related with water supply. Most of water supply pipes are laid under the ground, it is hard to quantify deterioration degree of water system. Moreover, the timing and economic limitation and insufficient information on the spot survey gives a difficulty to look over how old water supply system is. Accordingly, this study collects and analyses five data as the laying environment, visual analysis, analysis of soil contents, analysis of pipe material, and questionary survey data in water pipe of A city. The deterioration factor estimates 14 factors with excavation and experimental analysis and 9 factors without excavation and experimental analysis. Also, the weighting factors are estimated by using the multiple linear regressions and the linear programming. The estimated deterioration factor and weighting results are compared the analysis result of visual, pipe material, and soil contents with the Probabilistic Neural Network Model. Consequently, the model results of estimated 9 factors in this study and 14 factors show the 1-2% difference. The result show that the proposed model could be used to decide the deterioration condition of pipe line with real excavation and experimental analysis.

• 상하수도학회지
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• 제20권6호
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• pp.799-811
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• 2006

As an alternative measure to replace reactive stance with proactive one, a risk based management scheme has been commonly applied to enhance public satisfaction on water service by providing a higher creditable solution to handle a rehabilitation problem of pipe having high potential risk of leaks. This study intended to examine the feasibility of a simulation model to predict a recurrence probability of pipe leaks. As a branch of the data mining technique, probabilistic neural network (PNN) algorithm was applied to infer the extent of leaking recurrence probability of water network. PNN model could classify the leaking level of each unit segment of the pipe network. Pipe material, diameter, C value, road width, pressure, installation age as input variable and 5 classes by pipe leaking probability as output variable were built in PNN model. The study results indicated that it is important to pay higher attention to the pipe segment with the leak record. By increase the hydraulic pipe pressure to meet the required water demand from each node, simulation results indicated that about 6.9% of total number of pipe would additionally be classified into higher class of recurrence risk than present as the reference year. Consequently, it was convinced that the application of PNN model incorporated with a data base management system of pipe network to manage municipal water distribution network could make a promise to enhance the management efficiency by providing the essential knowledge for decision making rehabilitation of network.

• 상하수도학회지
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• 제22권4호
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• pp.405-409
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• 2008

This technical paper is proposing a sound concept in the application of the rehabilitation method of the water supply steel pipe in the large diameter ranged from 1,800mm to 3,500mm. There were conducted the experimental tests for the specimens as well as the real steel pipe of diameter 2,200mm. The water pressure ejected from nozzle tip should be at least 2,500bar to have the satisfied surface profiles required in the design criterion. The most difficult thing is to keep the water pressure at the nozzle tip as 2,500bar during the consecutive work in the interval of the work site more than 1km. It is found that the method suggested in this study is adequate method to meet the specified design criteria. The results of this study provide the useful information how to setup the equipments for the successful work. This method also provides not only the omission of the blasting process but also the effect of the budget reduction.

• 한국수자원학회논문집
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• 제36권1호
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• pp.61-74
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• 2003

본 연구(II)는 연구(I)에서 제안한 상수관로의 노후도 예측에 근거한 최적 개량 모형을 A시를 대상으로 이를 적용하였다. 노후도 예측 모형은 굴착 및 실험이 필요한 14개 항목과 굴착 및 실험이 필요하지 않은 9개 항목을 구분하여 각각 관의 노후도 등급을 산정하였다. 노후도 예측 모형 적용 결과 항목개수에 따른 등급의 차는 l~2% 이내로 굴착 및 실험을 하지 않고도 노후도 예측이 가능한 것으로 나타났다. 최적 개량 모형은 노후도 항목별 최대 잔존수명과 제약조건 유무로 구분하여 적용하였다. 적용결과 항목별 최대 잔존수명의 증가에 따라 개량 시기 및 비용이 증가하였다. 또한 예산제약을 제외한 모형과 비교해서 예산제약을 고려한 모형이 모든 항목에서 비용이 증가되었다. 이는 예산제약을 고려할 경우 실제 주어진 최대 잔존수명 기간이내 매년 발생하는 예산의 최대 금액을 넘지 않은 대신에 매년 비슷한 비용으로 개량을 실시하기 때문인 것으로 판단되었다.

• 상하수도학회지
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• 제24권2호
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• pp.183-193
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• 2010

Well planned rehabilitation order of pipes is essential for efficient maintenance and management of Water Distribution Systems. In this study, not only deterioration rate of pipes but also structural and nonstructural failure which causes abnormal condition of WDS is considered to determine rehabilitation order. Probabilistic Neural Network is used for calculating deterioration rate at present and the importance of pipes is computed under structural and nonstructural failure by using Pipe by Pipe Failure Analysis and Effect Index. Utopian Approach, one of the Multi-Criteria Decision Making methods, is used for assessment of final rehabilitation order based on distance measure between utopian point and alternative one. Developed model in this study shows that it gives more reliable results than existing methods considering hydraulic relative importance does in application to real networks. In this point, the newly developed model, which gives advantages over existing models, can make a credible decision and simple application.