A hybrid linear model for real-time optimization-based control of a combined sewer network has been developed to be used for the minimization of pollution during storm events. The model takes into account delays and attenuation in sewers together with piecewise linear approximations for flow over weirs, overflows in junctions and flow re-entering the network after overflows. Using the proposed ...

In this work, a control-oriented sewer network model is presented based on a hybrid linear modeling framework. The model equations are described independently for each network element, thus allowing the model to be applied to a broad class of networks. A parameter calibration procedure using data obtained from simulation software that solves the physically-based model equations is described and...

Many older cities have “combined” sewer systems that collect both sewage and stormwater runoff in the same pipe for transport to a wastewater treatment plant. During heavy rainfalls, these combined systems can become overloaded, and water utilities must discharge the excess— what’s known as a combined sewer overflow (CSO)—into rivers and other water bodies, which may be the local source of drin...

AbsfmdI n this paper we discuss the delivery of cacheable streaming content in a network with mobile nodes. Caching and regional replication are important techniques for traffic localizatioo and reduction in load on the network and the content sewer. However traditional caching schemes alone cannot suffice for localization of streaming multimedia traffic in oetworlw with mobile nodes. This is m...

We present an overview of a project that aimed to develop and implement computer vision techniques capable of extracting quantitative, three-dimensional descriptions of the shape of the surveyed pipe from sequences of images captured by an uncalibrated camera moving along a small-bore urban sewer. The resulting techniques are capable of use both on-line, during actual sewer surveys, and offline...

I n this paper a multijoint robot for sewer inspection tasks is presented. I n order to increase the operating scope the robot has been made able to run round or over obstacles, to follow sewage branches and is aimed to work wirelessly unlike most other sewer inspection robots. As a result of the wireless approach the robot has to carry an energy resource and must be able to act autonomously. I...

Owing to overflows from combined sewer pipe systems, water quality of receiving waters, including urban rivers, has become worse year by year. Appropriate countermeasures that can mitigate the overflows, therefore, must be developed promptly. The authors have investigated a distributed simulation model of water quality and stormwater runoff in urban sewer pipe systems. First, a surface routing ...

This paper demonstrates the successful autonomous classification of rotary laser scanner data retrieved by an autonomous robot traversing a sewer pipe system. Rotary laser scanner serve dual purposes of fault detection and navigation. The present aim was to devise a robust landmark detection method for use in the robot’s navigation system. A standard feed forward neural network with 6 hidden ne...

In this study, model predictive control (MPC) of large-scale sewage systems is addressed, considering several inherent continuous/discrete phenomena (overflows in sewers and tanks) and elements (weirs) in the system. This fact results in distinct behaviour depending on the dynamic state (flow/volume) of the network. These behaviours cannot be neglected nor can be modelled by a pure linear repre...

This paper presents a new and alternative method (in the context of urban drainage) for probabilistic hydrodynamical analysis of drainage systems in general and especially prediction of combined sewer overflow. Using a probabilistic shell it is possible to implement both input and parameter uncertainties on an application of the commercial urban drainage model MOUSE combined with the probabilis...