This paper presents a novel model for predicting the sediment transport rate during flushing operation in sewers. The was developed using Evolutionary Polynomial Regression Multi-Objectiv...

Crack detection is an important application for Ground penetrating radar (GPR) to examine the concrete road or building structure conditions. The layer of rebars or utility pipes that typically exist inside the concrete structure can generate stronger scattering than small concrete cracks to affect detection effectiveness. In GPR image, the signature patterns of regularly distributed rebars or ...

Lake Utterslev is situated in a densely built-up area of Copenhagen, and is heavily eutrophicated from combined sewer overflows. At the same time the lake suffers from lack of water. Therefore, a 5,000 m2 vertical flow wetland system was constructed in 1998 to reduce the phosphorus discharge from combined sewer overflows without reducing the water supply to the lake. During dry periods the cons...

Adaptation has become an important aspect of robot design. The work here describes the perception and motion control of MAKRO an autonomous robot for sewer inspection from the point of view of MAKRO’s adaptation to specific features of the sewer environment. Two features are crucial for MAKRO’s adaptation. First, narrow sewer pipes connected into a unified system via junctions, compose a graph-...

This research undertaken at the University of Sheffield aims to provide a better understanding of the interaction above/below ground urban floods. A newly constructed unique experimental facility has been developed in the water lab, and it includes a sewer system, composed by 3 main pipes, 6 manholes and a CSO (Combined Sewer Overflow), and a preliminary urban surface with the slope 1/1000. Thi...

The combined modeling and control task for a multi-joint sewer inspection system is described. The robot, called MAKRO1.1 is of worm-like shape and designed for pipes of 30 to 60 cm width. Since the control of more than 20 degrees of freedom is not a simple task, we need simulation of the robots kinematics before and during every run. In this case, our simulation of the robot’s motions is fast ...

The root cause of odor and corrosion in collection systems is sulfide, which is produced from sulfate by bacteria residing in a slime layer on the submerged portion of sewer pipes and structures. Once released from the wastewater as hydrogen sulfide gas, odor and corrosion problems begin. Another type of bacteria utilizes hydrogen sulfide gas to produce sulfuric acid that causes the destruction...

The usage of tethered, remotely controlled robot platforms in sewer pipes has become widely accepted. Research and development in engineering have moved the original application field of merely visual inspection to manipulative tasks such as the actual repair of pipe sections, installation of cable, e.g. for communication. Despite all engineering advances in the mechanical design of the platfor...