• 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.

• Journal of Korean Society of Water and Wastewater
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• v.30 no.6
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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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• v.36 no.7
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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.

• Journal of Korea Water Resources Association
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• v.36 no.1
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• pp.45-59
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• 2003

The method in this study, which is more efficiency than the existing method, propose the optimal rehabilitation model based on the deterioration prediction of the laying pipe by using the deterioration survey method of the water distribution system. The deterioration prediction model divides the deterioration degree of each pipe into 5 degree by using the probabilistic neural network. Also, the optimal residual durability is estimated by the calculated deterioration degree in each pipe and pipe diameter. The optimal rehabilitation model by integer programming base on the shortest path can calculate a time and cost of maintenance, rehabilitation, and replacement. Also, the model is divided into budget constraint and no budget constraint. Consequently, the model proposed by the study can be utilized as the quantitative method for the management of the water distribution system.

• Journal of Korean Society of Water and Wastewater
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• v.16 no.6
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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.

• Journal of Korean Society of Water and Wastewater
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• v.20 no.6
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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.

• Journal of Korean Society of Water and Wastewater
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• v.22 no.4
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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.

• Journal of Korea Water Resources Association
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• v.36 no.1
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• pp.61-74
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• 2003

This study(II) apply to the A city by using the optimal rehabilitation model based on the deterioration prediction of the water distribution system proposed the study(I). The deterioration prediction model divides factors into 14 factors with digging and experiment and 9 factor without digging and experiment and calculate the deterioration degree. The application results of the deterioration prediction model show that a difference of the deterioration degree according to factor numbers is within 1~2%. Also, the model can predict the deterioration degree of each pipe without digging and experiment. The optimal rehabilitation model is divided into the optimal residual durability of each deterioration factor and budget constraint or not. The application result is as follow: the rehabilitation time and cost increase according to the increasing of the optimal residual durability. When compared the model with budget constraint and model without budget constraint, the former model increase the cost of total contents. In case of budget constraint, the increasing tendency is concluded that the pipe rehabilitation is executed in same budget every year in condition that every rehabilitation cost do not exceed the every year budget within the optimal residual durability.

• Journal of Korean Society of Water and Wastewater
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• v.24 no.2
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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.