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Evaluation of Underground Pipelines Inspection Methods: A Systematic Review

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26 August 2024

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26 August 2024

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Abstract
This paper explores various methods for inspecting gravity pipes. It emphasizes that understanding the initial process of pipe prioritization is crucial before discussing inspection methods. Given the extensive gravity pipeline systems in use today, inspecting all suspected pipelines without prioritization would be extremely costly and time-consuming, especially in a large country like India. Therefore, the paper highlights the importance of using algorithms and analysis tools to prioritize which pipelines need inspection. It also describes innovative inspection techniques, such as wave and sound analysis, which can improve inspection efficiency. The research provides an overview of the pipe inspection process and discusses cost-saving algorithms that can enhance field efficiency.
Keywords: 
Subject: Engineering  -   Civil Engineering

Introduction

Pipeline inspection has been practiced since the early 1900s, primarily focusing on gravity pipelines due to their accessibility and size. Some storm and sewer systems can reach heights of over 83 feet, making them essential to monitor. For systems exceeding 10 feet, a confined space entry permit allows certified employees to conduct manual inspections. For smaller systems, specialized equipment is used to detect structural damage [1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20].
Before discussing inspection methods, it’s important to prioritize which pipelines to inspect. In the U.S., there are over 600,000 miles of gravity-fed sewer pipelines, necessitating a system to identify where professional attention is needed. This paper provides an overview of methods to rank pipeline sections and discusses various inspection techniques, such as cameras on wheels and systems using radio and electrical frequencies [18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36].
Robotic systems have been developed for more efficient and autonomous inspections. Some systems inspect the pipe structure and bedding conditions using material and sound frequencies. The final inspection type focuses on pipe bedding to assess changes in support, influenced by factors like water table levels and surface voids [30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50].
Combining pipe status ratings with inspections helps private and governmental bodies make informed decisions about pipeline rehabilitation or replacement. However, subsurface infrastructure often receives low priority due to the high perceived liability costs. Ignoring deteriorating systems poses significant risks, but advancements in inspection tools aim to mitigate the financial and safety impacts of critical failures [35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55].

Methodology

The research for this paper followed a three-stage process to ensure a swift return of relevant information. Adhering to a research methodology helps both the presenter and the reader trust that the information is accurate and not speculative. Many unchecked and untested articles can lead to misleading conclusions if presented as facts. Therefore, a set of criteria was established to ensure the research is both accessible and reliable [55,56,57,58,59,60].
In the first stage, sources were accepted if their titles included the words: Gravity, Sewer, Storm, or Inspection. This broad inclusion allowed for a wide range of relevant sources. The second criterion was that all accepted studies had to be peer-reviewed, ensuring the material had been vetted by multiple professionals. The third criterion required that the information be available online or in easily accessible books. The fourth and final criterion was that all material had to be published in the 21st century, focusing on recent equipment and procedures.
The first stage resulted in 200 sources. The second stage involved filtering out sources that were not applicable to the research, such as those focused on sewer construction, which, despite containing relevant keywords, did not pertain to the study. This stage aimed to refine the research to include only useful information. After this stage, 185 relevant sources remained.
The third and final stage involved reviewing the abstracts or summaries of these sources to ensure their relevance to the paper. This step was crucial to avoid presenting misleading or inappropriately applied material. The final count of sources was 200, which were then reviewed and applied to the paper. Not all sources needed to be used, but they were available for potential inclusion. This three-stage methodology was developed to ensure efficient use of time and a reliable information pool for the study [60,61,62,63,64,65,66,67,68,69,70].

Results and Discussion

There are several methods to prioritize gravity-fed water systems to determine where to allocate resources for potential damage inspections. These methods emerged out of necessity due to the vast number of pipelines in use, making it challenging to decide where to focus resources first. One standard used for prioritization models is the Sewerage Rehabilitation Manual. Additionally, two other methodologies mentioned in the literature involve assessing “impact factors” or using Bayesian belief networks [70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90].
These approaches have been used for about two decades and have shown relative success compared to other methods. Most predictive methods rely on well-known algorithms to provide realistic results due to the numerous variables involved in proper prioritization. Specifically, in a risk-based decision-making process for selecting pipes to inspect, it is essential to balance economic, technical, and management criteria [90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110].
Algorithms like the Multi-Objective Genetic Algorithm (MOGA) are used to identify a set of Pareto-optimal inspection programs, helping users quickly find the most critical pipes to inspect for failure. However, these systems are not without faults. In 2009, a paper titled “An effective multi-objective approach to prioritization of sewer pipe inspection” tested the accuracy of MOGA [110,111,112,113,114,115,116,117,118,119,120]. The authors found that the system lacked continuity between results, even with similar pipe costs. Despite its widespread use, they aimed to provide further analysis and optimization of the system. They concluded that a prioritization scheme could expose the most critical pipes to satisfy a given set of objective functions simultaneously, based on the post-processing of solutions returned by the global OPTIMOGA search [120,121,122,123,124,125].

Case Study

A case study highlights the importance of innovation in pipeline prioritization. Assuming any single algorithm is perfect can lead to inefficiencies. Further methods focus on analyzing pipeline deterioration, which varies widely due to factors like flexural loading, water table levels, and corrosive environments [125,126,127,128,129,130]. These variables complicate prioritization based solely on deterioration.
In Japan, a study used a multi-dimensional analysis process called “Quantification Theory Type II,” which assigns quantities to qualitative data, enabling comparisons and computations [130,131,132,133]. This method has been successful in bridge deterioration analysis, although bridges are more uniform than pipelines.
The case study collected data from 4,793 pipes, including installation dates, pipe types, and earth cover depth. They normalized the pipeline sizes to a 30-meter scale, the average length in the area, and prioritized pipelines based on historical damage. This, combined with Quantification Theory Type II, produced reliable formulas.
However, the study’s results are specific to Tokyo’s high-density environment. The authors note that while the methodology can be adapted to other cities, local factors like soil properties and water levels must be considered. Another system produces sub-models showing the likelihood and consequences of failure, aiding in prioritization by highlighting critical pipes [133,134,135,136,137,138].

Sugeno Fuzzy Inference System (S-FIS)

This tool stands out because it uses ArcGIS to provide detailed spatial information about the pipe system, enhancing accuracy and offering a visual perspective. The model employs the Sugeno Fuzzy Inference System (S-FIS), which can integrate with other algorithms, allowing it to work seamlessly with ArcGIS. The main advantage of combining it with ArcGIS is the creation of a “risk map,” which helps municipalities identify sewer pipelines at risk of failure and plan inspection programs more effectively, especially with limited funds [120].
These risk maps are useful for directing resources to the most critical sections of the pipeline. Additionally, the system offers a benefit ratio that compares the benefits of repair against the consequences of failure. This feature is particularly helpful for users who need to assess whether the consequences of a pipeline failure outweigh the likelihood of it happening. The consequence of failure tool calculates various costs associated with sewer pipeline failures, including direct costs for repairs and indirect costs like traffic disruptions and work delays. It also considers the benefits of avoiding pipeline failures in monetary terms [125,126,127,128,129,130].
This allows users to make well-informed decisions, potentially saving significant costs by avoiding high failure expenses. However, the system is not flawless; while it can reasonably predict failures, it cannot do so with complete accuracy due to the many factors influencing pipeline deterioration. The study found that the mean absolute error for the deterioration model ranged between 0.56 and 1.06 for different condition ratings [125,126,127,128,129,130]. After integrating an economic sub-model into the Sugeno Fuzzy Inference System, the system provided more reliable results. The study concluded that using this tool could achieve a 77% cost savings compared to actual inspection orders [124,125,126,127,128,129,130,131]. This cost-saving tool is crucial for low-funded projects, helping users identify which pipelines to inspect for potential repairs before incurring high inspection costs.

Importance of the Method

Now that we understand the importance of prioritizing pipeline systems to save on costly repairs, let’s delve into the methods for inspecting gravity-fed pipe systems. These methods vary significantly but are crucial for saving time, money, and effort by allowing on-site inspections. This enables contractors to assess the severity and location of problems accurately.
One notable innovation from 2002 involved using picture analysis to quickly identify problem areas. This method utilized a laser profiler and a CCD camera to measure the surface geometry of drained sewer sections [99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121]. The system used a structured light source to form a ring pattern, allowing the program to assess the pipe’s geometry. This setup, mounted on the KARO robot, enabled the detection of pipe deformations and obstacles.
The process involved projecting circular light patterns, which were read by a calibrated CCD camera and stored in a computer. Algorithms analyzed these frames, detecting changes in light intensity as indicators of pipeline issues. However, alignment issues between the laser and camera could cause false readings. To address this, clustering methods like the Hough transform and a non-iterative algorithm based on least squares minimization were used to fit the elliptic images to a conic equation, improving accuracy [99,100,101].
Further advancements include the automatic analysis of sewer pipe status using unrolled monocular fisheye images. This method helps detect and classify potential damages by using unrolled and stitched images as input for detection algorithms [70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90]. Fisheye cameras with a 185-degree visual track capture these images, which are then processed to create high-quality, unwrapped sections for analysis.
Another significant development is the use of CCTV robots for pipe inspection. These robots, tethered to a control center, face limitations in inspection range and obstacle navigation. To overcome this, a Japanese research team developed the KANTARO robot, a fully autonomous, untethered robot designed for pipes with diameters of 200-300 millimeters [60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80]. This robot allows operators to focus on the inspection process without the constraints of tethered systems.
These innovations, from laser profilers to autonomous robots, enhance the efficiency and accuracy of pipeline inspections, leading to significant cost savings and encouraging more investment in pipeline maintenance.

Inspection Problems

With these challenges in mind, the team set out to develop a fully autonomous sewer pipe inspection robot. They began by creating a prototype of a passive-active intelligent, fully autonomous, untethered robot with advanced sensor and mechanism architecture. Named KANTARO, this robot features a novel passive-active intelligent moving mechanism (nSIR mechanism) that allows it to navigate straight pipes and various bends without needing controller intelligence or sensor readings [50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70]. This adaptability is crucial, especially in residential areas where feed lines can be irregularly added, causing design discontinuities.
The research team integrated several monitoring systems and an algorithm that enables KANTARO to analyze pipe sections. The robot uses a proprietary algorithm to classify images into three categories: Landmarks, Faulty Images, and Non-Faulty Images. This classification is facilitated by a laser scanner mounted on the robot, which measures along a spiral inside the pipe. The resolution of this spiral depends on the robot’s speed and the turn rate of the reflection. To reduce data processing on the E.B. module, the laser scanner is enhanced to detect navigational landmarks like manholes and pipe joints independently, using a powerful microprocessor (SH-2) for measuring distance, scanning angle, linearizing, filtering, and modeling data [50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70].
This system allows users to download information across various platforms, categorizing and providing faster results, ultimately saving money. Other innovative systems can analyze long pipe distances, such as using long-range microwaves to detect pipe thinning. However, this method was tested only on brass and stainless-steel pipes, limiting its applicability to non-metal pipes like PVC or concrete. The principle behind this technology involves propagating microwaves inside a pipe to inspect its inner surface, as microwaves travel inside metallic pipes with minimal attenuation, making it suitable for rapid, long-range inspections [50,51,52,53,54,55].
Using this method where applicable can result in significant cost savings. The discussed system can analyze a pipe system up to 26.5 meters (87 feet) long in a single instance, reducing costs across all job areas.

Conclusions and Future Recommendations

The various methods of pipe inspection are crucial for assessing the condition of pipeline systems. However, the key to innovation in this field involves a two-phase process. The first phase focuses on analyzing pipeline deterioration using models tailored to specific areas. This helps engineers and users understand the pipeline’s lifecycle and allocate resources effectively. By applying the right algorithms, users can anticipate and prioritize pipeline sections while also considering the financial costs, leading to more efficient resource use.
The second phase involves innovating pipeline inspection methods. The goal is to develop systems that require minimal user intervention while providing reliable results. The trend is moving towards fully autonomous robots that can operate within gravity-fed systems, recognize failures, and categorize them. These robots can analyze longer pipe sections, increasing efficiency.
One of the most promising innovations is the microwave inspection system, which can quickly inspect long sections of pipe. Although it currently works best with certain pipe materials, ongoing research is likely to expand its applicability, making it a cost-effective solution. As the field gains more attention, further research and development will be necessary to create new techniques and equipment, encouraging investment in pipeline maintenance.
Investing in sonar and wave analysis methods is also crucial. As pipeline deterioration becomes a more recognized issue, having quick systems to analyze long pipe sections for defects and accurately categorize them will streamline the renovation process. Autonomous robots will continue to be a significant research area, applicable to many fields. For gravity-fed pipeline research, focusing on wave and sound analysis will be essential.

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