• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.123-129
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• 2012

Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, the impurities which are stuck to the inner face of the pipe are removed (diameter: 300 mm or 400 mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), an in-pipe cleaning robot of GACF with the 6-link sliding mechanism will be proposed, which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300 mm. In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn(R) when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS$^{(R)}$ Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.

• Nuclear Engineering and Technology
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• v.25 no.3
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• pp.353-360
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• 1993

Many types of pipe whip restraints are installed to protect the structural components from the anticipated pipe whip phenomena of high energy lines in nuclear power plants. It is necessary to investigate these phenomena accurately in order to design the pipe whip restraints properly and/or to evaluate the acceptability of the pipe whip restraint design. Various research programs have been conducted in many countries to develop analytical methods and to verify the validity of the methods. In this study, various types of finite elements in ANSYS[1], the general purpose finite element computer program, was used to simulate the postulated pipe whips to obtain impact loads and the calculated results were compared with the specific experimental results from the sample pipe whip test for the U-shaped pipe whip restraints. Some calculational models, having the gap element or the spring element between the pipe whip restraint and the pipe line, give reasonably good transient responses of the restraint forces compared with the experimental results, and could be useful in evaluating the acceptability of the pipe whip restraint design.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.3 s.258
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• pp.322-330
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• 2007

This paper quantifies the effect of a bend angle of a pipe bend on plastic loads, via small strain and large strain FE limit analyses using elastic-perfectly plastic materials. To consider the effect of the attached straight pipe, two limiting cases are considered. One case corresponds to the pipe bend without the attached straight pipe, and the other to that with a sufficiently long attached straight pipe. For the former case, the FE results suggest that the limit load is not affected by the bend angle for both in-plane bending and internal pressure. For the latter case, however, the bend angle affects plastic loads. An interesting finding is that the plastic load smoothly changes from the limit load of the straight pipe when the bend angle approaches zero to the plastic load of the $90^{\circ}$ pipe bend when the bend angle approaches 90 degree. Based on such observations, closed-form plastic load solutions are proposed for the pipe bend with an arbitrary bend angle under in-plane bending and internal pressure.

• Journal of Korean Society of Water and Wastewater
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• v.22 no.6
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• pp.609-617
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• 2008

Water pipes are supposed to deliver the predetermined demand safely to a certain point in water distribution system. However, pipe burst or crack can be happened due to so many reasons such as the water hammer, natural pipe ageing, external impact force, soil condition, and various environments of pipe installation. In the present study, the reliability model which can calculate the probability of pipe breakage was developed regarding unsteady effect such as water hammer. For the reliability model, reliability function was formulated by Barlow formula. AFDA method was applied to calculate the probability of pipe breakage. It was found that the statistical distribution for internal pressure among the random variables of reliability function has a good agreement with the Gumbel distribution after unsteady analysis was performed. Using the present model, the probability of pipe breakage was quantitatively calculated according to random variables such as the pipe diameter, thickness, allowable stress, and internal pressure. Furthermore, it was found that unsteady effect significantly increases the probability of pipe breakage. If this reliability model is used for the design of water distribution system, safe and economical design can be accomplished. And it also can be effectively used for the management and maintenance of water distribution system.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.13 no.1
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• pp.54-60
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• 2017

When a sudden rupture occurs in high energy lines, ejection of inner fluid with high temperature and pressure causes blast wave as well as thrust forces on the ruptured pipe itself. The present study is to examine pipe whip behaviors and blast wave phenomena under postulated pipe break conditions. In this context, typical numerical models were generated by taking a MSL (Main Steam Line) piping, a steam generator and containment building. Subsequently, numerical analyses were carried out by changing break locations; one is pipe whip analyses to assess displacements and stresses of the broken pipe due to the thrust force. The other is blast wave analyses to evaluate the broken pipe due to the blast wave by considering the pipe whip. As a result, the stress value of the steam generator increased by about 7~21% and von Mises stress of steam generator outlet nozzle exceeded the yield strength of the material. In the displacement results, rapid movement of pipe occurred at 0.1 sec due to the blast wave, and the maximum displacement increased by about 2~9%.

• 한국지구물리탐사학회:학술대회논문집
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• 2003.11a
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• pp.214-220
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• 2003

Pipe jacking is a name for a method to excavate a tunnel by pushing pipe into the ground from an especial pit. Size of tunnels in this method is different from under 900mm (microtunneling) to more than 3,000mm. Method of excavation is also different from hand digging to use of any kind of tunnel boring machines such as slurry and earth pressure balance (EPB) machines. Slurry pipe jacking was firmly established as a special method for the nondisruptive construction of the underground tunnels in urban area. During the pipe jacking and microtunneling process, the jacking load is an important parameter, controlling the pipe wall thickness, need to and location of intermediate jacking station, selection of jacking frame and lubrication requirements. The main component of the jacking load is due to frictional resistance. In this paper the skin friction between pipe surface and surrounding condition also lubricant quality based on a few fundamental tests, were considered. During this study unconfined compressive strength test, dynamic friction measurement test and direct shear box test were raised for one of the largest diameter slurry pipe jacking project in Fujisawa city in Japan. It could be concluded that in slurry pipe jacking, prediction of frictional forces are mainly dependent on successful lubrication, its quality and lubricant strength parameters. Conclusions from this study can be used for the same experiences.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.1
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• pp.26-32
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• 2003

The vibrational system of this study is consisted of a rotating cantilever pipe and the flow in the pipe. The equation of motion is derived by using Lagrange equation. The influences of the rotating angular velocity and the velocities of fluid flow in the pipe have been studied on the dynamic characteristics of a rotating cantilever pipe by numerical method. The tip-amplitude of axial vibration and maximum tip-deflection of axial direction of cantilever pipe are directly proportional to the velocity of fluid and rotating angular velocity of pipe In the steady state. respectively The bending tip-amplitude of cantilever pipe is inversely proportional to the velocity of fluid in the steady state. When the rotating angular velocity is 5 rad/s, the velocity of fluid increase with increasing the natural frequency of axial vibration at second mode and third mode, but the natural frequency axial direction of first mode is decreased. The natural frequency of lateral direction is decreased due to increase of the rotating angular velocity. It identifies that the Influence of velocity of fluid give much variation lower mode of vibration in lateral direction. And the Influence of velocity of fluid give much variation higher mode of vibration in axial direction.

• Journal of Mechanical Science and Technology
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• v.15 no.11
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• pp.1533-1540
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• 2001

A high-temperature sodium stainless steel heat pipe was fabricated and its performance has been investigated. The working fluid was sodium and it was sealed inside a straight tube container made of stainless steel. The amount of sodium occupied approximately 20% of the total volume of the heat pipe and its weight was 65.7gram. The length of a stainless steel container is 1002mm and its outside diameter is 25.4mm. Performance tests were carried out in a room air condition under a free convective environment and the measured temperatures are presented. The start-up behavior of the heat pipe from a frozen state was investigated for various heat input values between 600W and 1205W. In steady state, axial temperature distributions of a heat pipe were measured and its heat transfer rates were estimated in the range of vapor temperature from 50$0^{\circ}C$ to 63$0^{\circ}C$. It is found that there are small temperature differences in the vapor core along the axial direction of a sodium heat pipe for the high operating temperatures. But for the range of low operating temperatures there are large temperature drops along the vapor core region of a sodium heat pipe, because a small vapor pressure drop makes a large temperature drop. The transition temperature was reached more rapidly in the cases of high heat input rate for the sodium heat pipe.

• Journal of Korean Society of Water and Wastewater
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• v.26 no.5
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• pp.669-683
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• 2012

The water supply pipes are buried across wide range of areas, so it is hard to spot them using excavation and takes a large amount of expense. Thus, there is a high risk for direct research and application, accompanying many difficulties in implementation of them. Therefore, it is more economical and convenient to use indirect evaluation variables than direct evaluation of the buried pipes in assessing the degree of pipe deterioration. To assess the degree of pipe deterioration using the indirect evaluation variables, it should be done first to identify how and to what extent they affect the degree of deterioration. This study measured the evaluation variables for pipe deterioration using the pipe endoscope and analyzed the measurement results and the degree of impact on the pipes. In addition, this study attempted to evaluate the adequateness of the pipe deterioration evaluation using the indirect variables based on the analysis results. The evaluation variables measured through the pipe endoscope were the thickness of sediments, size of scale, degree of desquamation and condition of connections. For the indirect evaluation variables, the data such as the property data from GIS pipe network map as well as the material, diameter, age and pipe lining material of the pipe, road type, leakage frequency, average water velocity and water pressure using the leakage repair records was collected. Using the collected data, this study comparatively analyzed the indirect evaluation variables for the degree of pipe deterioration and the results from the pipe endoscope to choose appropriate variables for pipe deterioration evaluation and calculated the weights of the indirect variables on the degree of deterioration. The results showed that the order of the impact of indirect variables on deterioration was pipe age > pipe lining material > road type > leakage frequency > average water velocity with their weights of 0.45, 0.20, 0.15, 0.10, and 0.10, respectively. Conclusively, the results suggest that the measures of sediment thickness, scale size, degree of desquamation and condition of connections are appropriate for the evaluation of pipe deterioration and sufficient for the analysis of the impact of the indirect variables on deterioration.

• Journal of Korean Society on Water Environment
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• v.23 no.1
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• pp.87-96
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• 2007

In this paper a methodology of identifying individual pipes according to the internal and external characteristics of pipe is developed, and the methodology is applied to a case study water distribution pipe break database. Using the newly defined individual pipes the hazard rates of the cast iron 6 inch pipes are modeled by implementing the proportional hazards modeling approach for consecutive pipe failures. The covariates to be considered in the modeling procedures are selected by considering the general availability of the data and the practical applicability of the modeling results. The individual cast iron 6 inch pipes are categorized into seven ordered survival time groups according to the total number of breaks recorded in a pipe to construct distinct proportional hazard model (PHM) for each survival time group (STG). The modeling results show that all of the PHMs have the hazard rate forms of the Weibull distribution. In addition, the estimated baseline survivor functions show that the survival probabilities of the STGs generally decrease as the number of break increases. It is found that STG I has an increasing hazard rate whereas the other STGs have decreasing hazard rates. Regarding the first failure the hazard ratio of spun-rigid and spun-flex cast iron pipes to pit cast iron pipes is estimated as 1.8 and 6.3, respectively. For the second or more failures the relative effects of pipe material/joint type on failure were not conclusive. The degree of land development affected pipe failure for STGs I, II, and V, and the average hazard ratio was estimated as 1.8. The effects of length on failure decreased as more breaks occur and the population in a GRID affected the hazard rate of the first pipe failure.