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Description
This study aims to develop a technology for detecting leaks in water pipelines by deploying a robot inside the pipeline and controlling it to explore areas suspected of leaks. The robot design considers fluid dynamics to ensure stable operation inside the pipeline, which is validated through experimental testing. Additionally, visual and auditory sensors are utilized to collect information inside the pipeline, while a hydrophone is used to measure and analyze leak sounds and their frequency characteristics. To overcome the limitations of a heavy cable, a communication method utilizing optical communication is used. For robot control, a PD controller is designed for both horizontal and vertical fins to ensure the robot passes through the desired points in 3D space.
References
[1] Kumar, S. S., Abraham, D. M., Behbahani, S. S., Matthews, J. A., & Iseley, T. (2020). Comparison of Technologies for Condition Assessment of Small-Diameter Ductile Iron Water Pipes. Journal of Pipeline Systems Engineering and Practice, 11(4). https://doi.org/10.1061/(asce)ps.1949-1204.0000456
[2] Mergelas, B. J., & Henrich, G. (2005). Leak Locating Method for Pre-Commissioned Transmission Pipelines: North American Case Studies. Leakage 2005 - Conference Proceedings. http://rash.apanela.com/tf/leakage/Leak%20Locating%20Method%20for%20Pre-Commissioned%20Transmission%20Pipelines.pdf
[3] Turney, M. S. (2010). Head to Head Comparison of Large Diameter Leak Detection Methods in Denver, CO. https://doi.org/10.1061/41138(386)90
[4] Zhang, Z. P., Mi, W., Du, J., Wang, Z., Wei, W., Zhang, Y., Yang, Y., & Ren, Y. (2022). Design and Implementation of a Modular UUV Simulation Platform. Sensors, 22(20), 8043. https://doi.org/10.3390/s22208043
| Keywords | in-pipe water leakage, robotics, control strategies, ROS(Robot Operating System) |
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