The paper sketches KURT, an autonomous robot platform prototype that is able to navigate inside a network of sewage pipes. KURT is a six-wheeled device; it has modular, layered hardware and control architectures. Its sensor connguration consists mostly of stationary and one exible ultrasound sensors and of two inclinometers. In experiments run in a test sewerage system consisting of concrete pi...

Extensive studies of the hydraulics pipes have focused on limiting cases, such as fully-developed laminar or turbulent flow through long conduits and accelerating an orifice, for which there exist laws relating pressure drop rate. We carry out experiments smooth, circular dimensions rates that interrogate intermediate conditions between well-studied limits. Organizing this information in terms ...

During oil-well production, there are often cracks, breaks, and perforation corrosion on the screen pipe that can significantly deteriorate sand control strength. To repair damaged pipes, we developed a technique originating from tube hydroforming, feasibility of was systematically investigated. First, elastoplastic mechanics patch tubes during hydroforming process analyzed to investigate formi...

Abstract Pipe re-sizing of water distribution networks (WDNs) aims at improving the service performance to required level, while minimizing cost replacing pipes in network. The main challenge comes from identification most effective re-size a large number interacting components. Performing global search over all WDNs does not guarantee feasible and efficient solution due enormous space, even by...

In emerging network technologies designed to support a variety of services, it is common to find that the packet switching service is implemented on top of a facility network. For example, in typical narrowband ISDN architectures, the packet switches installed a t some of the central offices (CO’s) a re interconnected with trunks derived from an underlying channelized facility network. Likewise...