corrosion makes huge economic and ecologic damage all over the world. biologic corrosion of sewer pipes is considered as a serious limitation in economic perspectives. to prevent biologic corrosive damage, lining techniques can be applied by materials and aggregate resistant to attack bacterially in sewer pipes. the role of bacteria is that they convert sulfur compounds into sulfuric acid which...

In this paper, a stochastic finite element method (SFEM) is employed to investigate the probability of failure of cementitious buried sewer pipes subjected to combined effect of corrosion and stresses. A non-linear time-dependant model is used to determine the extent of concrete corrosion. Using the SFEM, the effects of different random variables, including loads, pipe material, and corrosion o...

In this paper we address the problem of automatic measurement of the shape of sewer pipes. We describe a method for recovering the interior shape of a sewer pipe from a video sequence that is acquired by a fish-eye lens camera moving inside the pipe. The method is based on solving the general structure-from-motion problem by tracking interest points across successive video frames. Here the inte...

This paper addresses the problem of navigation of an autonomous robot when it moves in a modern concrete sewer. The robot must keep its orientation within mostly cylindrical sewer pipes. This implies a geometrical constraint on the environment in which the robot operates. We present a hybrid vision system that consists of (a) an optical camera and (b) a laser crosshair projector generating a cr...

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...

The expense of repair and maintenance of private and public sewage systems in Germany runs to about 100 billion US $. This primarily affects concrete pipes and brickwork sewers. Approximately 40 per cent of the damage can be attributed to corrosion by biogenous sulfuric acid attack as a result of long flow periods and insufficient ventilation of waste water. The report deals with investigations...

Reinforced concrete pipe (RCP) has been one of the most common pipes for medium to large diameter utility systems including sanitary sewer, and storm drainage systems. RCP typically has superior structural properties combining high compressive strength from concrete and tensile strength from reinforced steel. RCP tends to deteriorate over time due to hydrogen sulfide (H2S) gas in sewage and man...

The enormity of the problem of deteriorating pipeline infrastructure is widely apparent. Since a complete rebuilding of the piping system is not financially realistic, municipal and utility operators require the ability to monitor the condition of buried pipes. Thus, reliable pipeline assessment and management tools are necessary to develop long term cost effective maintenance, repair, and reha...

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 ...

Assessing the condition of underground pipelines such as water lines, sewer pipes, and telecommunication conduits in an automated and reliable manner is vital to the safety and maintenance of buried public infrastructure. In order to fully automate the condition assessment of buried pipes, it is necessary to develop a robust defect analysis and interpretation system. This paper presents the dev...