I n this paper a multijoint robot for sewer inspection tasks is presented. I n order to increase the operating scope the robot has been made able to run round or over obstacles, to follow sewage branches and is aimed to work wirelessly unlike most other sewer inspection robots. As a result of the wireless approach the robot has to carry an energy resource and must be able to act autonomously. I...

Owing to overflows from combined sewer pipe systems, water quality of receiving waters, including urban rivers, has become worse year by year. Appropriate countermeasures that can mitigate the overflows, therefore, must be developed promptly. The authors have investigated a distributed simulation model of water quality and stormwater runoff in urban sewer pipe systems. First, a surface routing ...

This paper presents a new and alternative method (in the context of urban drainage) for probabilistic hydrodynamical analysis of drainage systems in general and especially prediction of combined sewer overflow. Using a probabilistic shell it is possible to implement both input and parameter uncertainties on an application of the commercial urban drainage model MOUSE combined with the probabilis...

Going home after a housing co-op meeting, a friend offered to walk me to the bus stop. ‘‘I’m going to show you something’’ he said ‘‘and you won’t believe you’ve passed it so many times and never seen it before’’. As we rounded a corner he halted and I saw what I thought to be the base of a lamppost. Then I looked up, having to tilt my head back to see that this ‘lamp post’ was headless and at ...

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Visual inspection by a human operator has been mostly used up till now to detect cracks in sewer pipes. In this paper, we address the problem of automated detection of such cracks. We propose a model which detects crack fractures that may occur in weak areas of a network of pipes. The model also predicts the level of dangerousness of the detected cracks among five crack levels. We evaluate our ...

Hydrogen sulfide, which is produced by sewer biofilms as a result of sulfate reduction under anaerobic conditions, has since long been identified as a major cause of corrosion and odour problems in a sewer system. Dosing of various types of chemicals to wastewater is widely used by the water industry as a control measure for these problems. Oxygen/air, nitrate salts, iron salts and magnesium hy...

This paper describes the use of wavelet entropy as a feature extractor for robust classification of cracks in sewer pipe structures. Video image data was acquired using an infrared camera in an experimental sewer pipe setup. Video frames were partitioned into 64 ∗ 64 pixel sections. 1,885 ’crack’ and 1,675 ’clean’ (non-crack) sections were manually classified. Each section was transformed to a ...