Inspection Of Underground Pipelines Research Articles

Improving the Navigation System of Underground Pipe Defect Detection Device

This article addresses the issue of noise and drift in microelectromechanical gyroscopes and their impact on measurement accuracy in engineering applications. The use of a complementary filter is proposed to combine information from the accelerometer and gyroscope to reduce inaccuracies. Research shows that the accelerometer has better result repeatability, which is important for obtaining stable measurements. At the same time, the gyroscope may be more effective in measuring translational movements. The selection of sensor sensitivities and proper parameter tuning are crucial aspects. A developed system is capable of effectively filtering and measuring the angle of an object, and the use of a complementary filter improves measurement accuracy. The proposed approach can be successfully utilized for accurately detecting the angle of position of a measurement setup in defect inspection of underground pipelines.

Quantitative Detection Technology for Geometric Deformation of Pipelines Based on LiDAR.

This paper introduces a novel method for enhancing underground pipeline inspection, specifically addressing limitations associated with traditional closed-circuit television (CCTV) systems. These systems, commonly used for capturing visual data of sewer system deformations, heavily rely on subjective human expertise, leading to limited accuracy in detection. Furthermore, their inability to perform quantitative analyses of deformation extent hampers overall inspection effectiveness. Our proposed method leverages laser point cloud data and employs a 3D scanner for objective detection of geometric deformations in underground pipe corridors. By utilizing this approach, we enable a quantitative assessment of blockage levels, offering a significant improvement over traditional CCTV-based methods. The key advantages of our method lie in its objectivity and quantification capabilities, ultimately enhancing detection reliability, accuracy, and overall inspection efficiency.

PIPE TRAVERSING ROBOT

As technology advances, the demand for automated systems has increased exponentially. The development of robotic systems has made it possible to explore and operate in remote and hazardous environments. One such application is the inspection of underground pipelines, which requires a mobile robot that can traverse inside the pipeline, inspecting and repairing any damage that may occur. For the rover, the diameter of the pipe is required minimum diameter of the pipe is 274mm and the maximum diameter of the pipe is 324 mm. The rover is equipped with advanced sensor cameras, and communication systems that allow it to transmit real-time data to operators. The system operates on a track-driven mechanism that provides stability and agility to traverse through the pipeline. The rover's design also includes a modular and lightweight structure that allows for easy deployment and transportation. The system can operate autonomously or can be controlled remotely by operators, providing greater flexibility in the inspection process.

Parametric Analysis of Correlation Functions for Acoustic Monitoring and Assessment of Underground Piping at NPPs

Monitoring and assessment of the technical condition of underground pipelines of process systems important to safety is a relevant task of the ageing management process for existing NPPs. Methods applied in other industries having underground pipelines (oil/gas/public utilities) could be considered. The paper is devoted to theoretical issues of overcoming the interfering redundancy contained in the mutually correlated functions of the acoustic method for inspection of underground pipelines. The method has been tested in intensive leak inspection of urban heating pipelines and potentially could be beneficial for detecting leaks in the early stages of their occurrence in underground pipelines of the essential service water system at NPPs.

Discussion on Underground Pipeline Inspection and Trenchless Repair Technology

Discussion on Underground Pipeline Inspection and Trenchless Repair Technology

Effect of high nitrate contamination of groundwater on human health and water quality index in semi-arid region, South India

The specific objective of the present is to evaluate the human health issue due to the continuous consumption of nitrate-contaminated groundwater among the various age groups of people. In the study, 40 groundwater samples were collected during the post-monsoon season, and the major ions were analysed in a laboratory. Chadha plot revealed that weathering of parent rocks, ion exchange process and leaching of salts from the rocks are primary sources of groundwater contamination. Nitrate concentration varied from 24 to 78 mg/L with a mean of 46.45 mg/L. Nitrogen pollution index (NPI) value divulged that 40% and 17.5% of sample locations are moderately and significantly polluted due to elevated nitrate concentration in groundwater. The human health risk assessment model revealed that health issues are among the various age groups which are infants > kids > children > aged peoples > adults. The nitrate’s identified sources are leaching of salts from the rocks, using synthetic fertilizers, uncovered septic tanks and improper disposal of household waste from the residential area. Therefore, periodic inspection of water supply, health check-up and inspection of underground pipelines are the remedial measures that should be taken to reduce the severe effects of nitrate-contaminated drinking water in the study area.

Development of quadruped robot for inspection of underground pipelines in nuclear power plants

Structural integrity of seawater pipelines in nuclear power plants is a very important issue. In accordance with the operating technical guidelines, the human operators directly enter the pipe and inspect it at every maintenance test. However, in this regard, safety issues such as narrow space and harmful gas are emerging every year. In response to these needs, a quadruped robot that can inspect underground pipes and assist workers has been developed. The robot has an articulated robotic arm that can receive an impact sound of hammering a pipe wall to test pipe integrity. The state of the pipe was examined using a Convolutional Neural Network algorithm. On the other hand, moving in a plumbing environment requires stable walking ability. To determine the gait sequence, a hierarchical gait controller is proposed. The hybrid controller, which consists of joint impedance and torque control, calculated from Model Predictive Control, can switch the gait modes comparing the reference and the current foot contact condition at each control cycle.

Guest Editorial: Non‐Destructive Testing

Guest Editorial: Non‐Destructive Testing

Determination Scheme for Accurate Defect Depth in Underground Pipeline Inspection by Using Magnetic Flux Leakage Sensors

The magnetic flux leakage-type nondestructive testing has been applied for the highly efficient inspection of defects in ferromagnetic materials such as underground gas pipelines. In the system, the magnetic field is applied to magnetize a steel pipe so as to induce the leakage signal in the vicinity of defects on the pipe. From the measured sensor signals, decomposing or estimating sizes and shapes of defects are necessary. For the maintenance, the depth estimation is the most important procedure for the management of a safety accident. However, the previous depth estimation contains high error rate inevitably because the depth signal implies the width and length error simultaneously. This paper focused on the enhanced algorithm for the depth sizing in various defects by using the decoupling algorithm to enhance the accuracy of defect depth. Estimated results show good agreements with measured ones.

Node Localization in Robotic Sensor Networks for Pipeline Inspection

Robotic sensor networks provide an effective approach for underground pipeline inspection. Such networks are comprised of sensor nodes (SNs) and relay nodes (RNs) carried by robots for information sensing and communication, and are able to perform accurate and realtime inspection, especially in adverse environments. SN localization is critical in such networks because localization results can be used not only for locating and pinpointing leaks, but also for maneuvering mobile SNs in a pipeline of complex configuration. However, both the underground operational environment and the limited resources of the SNs pose significant challenges for SN localization. This paper presents algorithms for SN localization in robotic sensor networks for underground pipeline inspection. Specifically, self-localization of underground in-pipe SNs were investigated by taking into account SN movement dynamics, and using the measurements of the SN’s velocity and the received signal strength (RSS) of the radio signal from aboveground RNs. Depending on the availability of the RSS at the SN, different localization algorithms based on the Kalman filter are proposed for different scenarios. Simulation results show the efficacy of the proposed algorithms. The framework also provides insight into the design of robotic sensor networks for the inspection and maintenance of other types of pipeline systems, such as oil and gas pipelines.

Channel-Aware Relay Node Placement in Wireless Sensor Networks for Pipeline Inspection

Wireless sensor networks (WSNs) provide an effective approach for underground pipeline inspection. Such WSNs comprise sensor nodes (SNs) and relay nodes (RNs) for information sensing and communication. WSNs can perform accurate and realtime inspection, especially in adverse environments. However, transmitting information between underground and aboveground nodes is very challenging. First, in-pipe SNs conducting controlled maneuvers underground are mobile. Second, SNs need to transmit the information wirelessly to aboveground base stations (BSs). In addition, radio propagation is complex because radio waves travel in a multi-medium environment. Finally, the SNs have limited energy supply. Therefore, proper deployment of a WSN is critical to providing reliable communications and efficient inspection. This paper presents a channel-aware methodology for deploying aboveground RNs in WSNs for underground pipeline inspection. Specifically, first, the paper provides a path loss model for radio propagation over multiple transmission media. Then, based on the path loss model a method is developed for optimum placement of the RNs so as to minimize the energy use of SNs and allow reliable communications. This method takes into account characteristics of the wireless channels, power consumption constraint, pipeline coverage requirement, and the limit of the number of the RNs. We provide an algorithm for optimization of RN placement and SN's power consumption. Simulation results show the efficacy of the proposed framework.

Electromagnetic method and procedures of nondestructive inspection of the corrosion protection of underground pipelines

A triune mathematical model of an electromagnetic field is proposed, and procedures of fast noncontact inspection of underground pipelines are proposed. Methods and devices are developed for the determination of the distribution of cathodic protection current and the transition resistances of protective coatings in different sections of underground pipelines. The technology of integral, differential, and local inspections of main pipelines is described.