Search Results (46)

Sewer pipelines are essential urban infrastructure that play a key role in sanitation and disaster prevention. Regular condition assessments are necessary to detect defects early and determine optimal maintenance timing. However, traditional visual inspection using closed-circuit television (CCTV) footage is time-consuming, labor-intensive, and dependent on subjective human judgment. To address these limitations, this study develops a convolutional neural network (CNN)-based sewer defect classification model and analyzes how data quality—such as mislabeled or redundant images—affects model accuracy. A large-scale public dataset of approximately 470,000 sewer images was used for training. The model was designed to classify non-defect and three major defect categories. Based on the ResNet50 architecture, the model incorporated dropout and L2 regularization to prevent overfitting. Experimental results showed the highest accuracy of 92.75% at a dropout rate of 0.2 and a regularization coefficient of 0.01. Further analysis revealed that mislabeled, redundant, or obscured images within the dataset negatively impacted model performance. Additional experiments quantified the impact of data quality on accuracy, emphasizing the importance of proper dataset curation. This study provides practical insights into optimizing data-driven approaches for automated sewer defect detection and high-performance model development. Full article

The inspection of sewer pipes in the UK is costly, and if not inspected regularly, they are costly and disruptive to repair. This paper presents the Mega-Joey, a novel miniature, tether-less robot platform that is capable of autonomously navigating and assessing confined spaces, such as small-diameter underground pipelines. This paper also discusses a novel decentralized event-based-broadcasting autonomous exploration algorithm designed for exploring such pipe networks collaboratively. The designed robot is able to operate in pipes with an inclination of up to 20 degrees in dry and up to 10 degrees in wet conditions. A team of Mega-Joeys was used to explore a test network using the proposed algorithm. The experimental results show that the team of robots was able to explore a 3850 mm long test network within a faster period (36% faster) and in a more energy-efficient manner (approximately 54% more efficient) than a single robot could achieve. Full article

We present a set of algorithms for automatically determining the best locations for lift stations and pressurized pipes in sewer networks. These algorithms are integrated into an optimization framework for automatic sewer network planning. The algorithms are developed based on graph theory and metaheuristic optimization to optimize the allocation of lift stations and pressure pipes. The proposed algorithms are applied to a real large-scale test case in Paranatinga, Brazil, and the results are compared with an existing design. This comparison highlights the algorithms’ effectiveness in designing cost-efficient sewer networks in areas with complex terrain. Full article

A recent evaluation of the UWWTD confirmed that overflows from combined systems and surface water runoff are a significant pressure of the aquatic environment in terms of pollution. Increasing urbanization, climate change, and the evolution of pollutants suggest that CSOs may worsen in the future, impacting on the ecological status of rivers. In the Italian case study, an urban drainage model of the Bologna sewer network is applied to quantify the pollution load discharged from CSOs, which represents the main parameter for the design of treatment technology. Full article

In urban areas with a flat terrain, pumping stations must be included to elevate wastewater and avoid extreme excavation depths. These systems are characterized by high operational costs due to the pump’s power consumption. The present work presents a methodology for the optimal design of sewer networks including pumping stations, whose objective function is to minimize the construction and operation costs of the system. The methodology was tested on three sewer benchmark networks using two cost functions proposed in the literature. In all the sewer benchmarks, the cost achieved in the present work was compared with the best costs reported in the literature. Full article

A global shift towards renewable energy production, driven primarily by the challenges posed by climate change, is currently underway. In this context, the utilization of heat recovery from municipal wastewater emerges as a promising green technology. Notably, the advantage of implementing energy recovery in sewers, as opposed to wastewater treatment plants (WWTPs), lies in the higher temperature of the wastewater and its proximity to potential heat users. Despite these benefits, concerns arise regarding the potential adverse effects on biological wastewater treatment processes downstream of the heat recovery section, particularly during colder seasons. This paper seeks to assess the impact of a heat recovery system along the sewer network on the efficiency of biological wastewater treatment processes. The methodology involves a modeling analysis of a real sewage network in Italy. Under typical northern Italy climate conditions, the results demonstrate the feasibility of heat recovery in sewers for WWTPs designed with a sludge residence time under aerobic conditions (SRT_aer) greater than 13 days. In such cases, the nitrification process remains relatively unaffected. However, for lower SRT_aer values, a case-specific feasibility assessment is recommended to evaluate the overall process efficiency comprehensively. Full article

The first flush (FF) phenomenon is commonly associated with a relevant load of pollutants, raising concerns about water quality and environmental management in agro-urban areas. An FF event can potentially transport contaminated water into a receiving water body by activating combined sewer overflow (CSO) systems present in the drainage urban network. Therefore, accurately characterizing FF events is crucial for the effective management of sewer systems and for limiting environmental degradation. Given the ongoing controversy in the literature regarding the delineation of FF event occurrences, there is an unavoidable necessity for further investigations, especially experimental-based ones. This study presents the outcomes of an almost two-year field campaign focused on assessing the water quantity and quality of two combined sewer systems in Northern Italy. For this purpose, various hydro-meteorological variables, including precipitation, flow rate, temperature, and solar radiation, in addition to water quality analytics, were measured continuously to capture stormwater events. Throughout the monitoring period, sixteen stormwater events were identified and analyzed using five indices usually adopted in the literature to identify FF occurrences. The results indicate that there is a strong positive correlation between the mass first flush ratios calculated for nutrients and three factors, including maximum rainfall intensity, maximum flow rate, and antecedent dry weather period. Furthermore, rainfall duration was found to possess a strong negative correlation with the mass first flush ratios calculated for nutrients. However, for the same rainfall event, the occurrence of FF has never been unanimously confirmed by the indices examined in this study. Moreover, different macro-groups of pollutants can behave differently. Thus, it becomes apparent that relying solely on a priori analyses, without the support of data from experimental monitoring campaigns, poses a risk when designing actions for the mitigation of FF occurrences. Full article

In the field of defect detection in sewers, some researches focus on high accuracy. However, it is challenging for portable on-site devices to provide high performance. This paper proposes a lightweight sewer defect detection model, You Only Look Once (YOLO) v5-Sewer. Firstly, the backbone network of YOLOv5s is replaced with a stacked MobileNetV3 block. Secondly, the C3 module of the neck of YOLOv5s is improved with a C3-Faster module. Thirdly, to compensate for the accuracy loss due to the lightweight network, a channel attention (CA) and convolutional block attention module (CBAM) are added to the proposed method. Finally, the Efficient Intersection over Union (EIOU) is adopted as the localization loss function. Experimental validation on the dataset shows that YOLOv5-Sewer achieves a 1.5% reduction in mean Average Precision (mAP) while reducing floating-point operations by 68%, the number of parameters by 55%, and the model size by 54%, compared to the YOLOv5s model. The detection speed reaches 112 frames per second (FPS) with the GPU (RTX 3070Ti). This model successfully implements a lightweight design while maintaining the detection accuracy, enhancing its functionality on low-performance devices. Full article

Wastewater pipelines are largely buried underground, and techniques for assessing and visualizing their condition are critical for planning and rehabilitation. This paper introduces a framework for integrating Geographic Information System (GIS), 3D-creation platform, augmented reality (AR) techniques, and machine learning algorithms for the dynamic visualization of the condition of sewer networks. A sewer network in Ålesund City, Norway, was used as a case study, and the developed framework was implemented on an Android OS and Microsoft HoloLens. The results show the potential applications of the integrated framework of GIS, AR, and 3D models for sewer condition visualization. The positioning accuracy of the application for 2D objects is equivalent to that of well-designed GPS receivers (approximately 1–3 m), depending on the handheld device used. Loading and locating 3D objects will be limited by the performance of the devices used. Full article

This paper presents research results on the development of an original cost prediction model for construction costs in sewerage projects. The focus is placed on fast cost estimates applicable in the early stages of a project, based on fundamental information available during the initial design phase of sanitary sewers prior to the detailed design. The originality and novelty of this research lie in the application of artificial neural network ensembles, which include a combination of several individual neural networks and the use of simple averaging and generalized averaging approaches. The research resulted in the development of two ensemble-based models, including five neural networks that were trained and tested using data collected from 125 sewerage projects completed in the Czech Republic between 2018 and 2022. The data included information relevant to various aspects of projects and contract costs, updated to account for changes in costs over time. The developed models present satisfactory predictive performance, especially the ensemble model based on simple averaging, which offers prediction accuracy within the range of ±30% (in terms of percentage errors) for over 90% of the training and testing samples. The developed models, based on the ensembles of neural networks, outperformed the benchmark model based on the classical approach and the use of multiple linear regression. Full article

Extreme rainfall events cause an increase in the flow into aging sewer networks, which can lead to Sanitary Sewer Overflows (SSOs). This literature review presents a complete assessment of the application of Water Sensitive Urban Design (WSUD) approaches as mitigation strategies for reducing rainfall-induced SSOs. The review highlights the various WSUD techniques identified in past studies for reducing sewer overflows. In these studies, it was identified that permeable pavements, green roofs, raingardens/bio-retention cells and rainwater tanks were the most popular WSUD strategies that have been extensively used in the past for the mitigation of sewer overflows. WSUD or “green” approaches also have enormous environmental, social and economic benefits when compared to the conventional “gray” approaches for sewer overflow mitigation. However, there have been limited studies conducted in the past that highlight and quantify the benefits of WSUD approaches for sewer overflow mitigation, particularly when such strategies are applied at a large scale (e.g., city scale). This review has identified the modelling software, SWMM, to be the most widely applied tool that has been used in the literature for WSUD modelling. It was also identified that with climate change-induced extreme rainfall events on the increase, WSUD-based “green” strategies alone may not be enough for the mitigation of sewer overflows. A suitable sewer overflow mitigation strategy could be green or a hybrid green-gray strategy, which would need to be identified based on a detailed context specific analysis. Full article

Identifying the location and estimating the magnitude of urban pluvial flooding events is essential to assess their impacts, particularly in areas where data are unavailable. The present work focused on developing and exemplifying a tool to evaluate urban pluvial flooding based on open-access information. The tool has three separate submodules: (1) sewer network generation and design; (2) hydrodynamic model development; (3) urban pluvial flood evaluation. Application of the first two modules in two catchments and comparison of these results with real data indicated that the tool was able to generate systems with realistic layouts and hydraulic properties. Hydrodynamic models derived from this data were able to simulate realistic flow dynamics. The third module was evaluated for one of the study cases. The results of this indicated that the current approach could be used to identify flood areas and associated flood depths during different rainfall scenarios. The outcomes of this study could be used in a wide variety of contexts. For example, it could provide information in areas with data scarcity or uncertainty or serve as a tool for prospective planning, design, and decision making. Full article

Wastewater collection, transport, and treatment systems are essential to ensure human and environmental well-being. The Escuela Superior Politécnica del Litoral (ESPOL), has been implementing various sanitary sewerage systems; however, population growth has given rise to discussion on the installed capacity versus the necessary capacity for the future population in the sustainable management of water resources. Therefore, this study aimed to develop a sanitary sewerage master plan by analysing the existing situation and applying technical criteria for the sustainable use of wastewater on a university campus. The methodology consisted of (i) evaluation and diagnosis of the area studied through data collection and processing, (ii) design of the sanitary sewerage system considering area-expansion zones, and (iii) SWOT analysis of a proposal to enhance wastewater transport and treatment systems. The proposal contemplates designing a sanitary sewer system that will manage the collection, transport, and treatment of wastewater over 15 years for 5667 inhabitants located in three expansion zones with occupation periods of 5, 10, and 15 years. The sewerage system comprises a pipe network 1.19 km long and 200 mm in diameter, transporting 12.37 L/s of wastewater generated to two treatment systems that guarantee efficient depuration and subsequent reuse. This design was complemented by a SWOT analysis of the existing sanitation system developed by experts in the area, which included optimising existing treatment systems and reusing wastewater for irrigation of green areas as tertiary treatment within the circular economy. The methodology used in the study allows us to offer a tool for efficiently managing wastewater on a university campus, guaranteeing human well-being, and promoting the circular economy of water. Full article

Wastewater has significant potential as a source of clean energy. This energy can be used both within external sewer networks and on the scale of individual residential buildings, and the use of shower heat exchangers appears to be the most reasonable solution. However, in the case of Poland, the problem is still the unwillingness of society to use this type of solution, caused mainly by the lack of space for the installation of vertical drain water heat recovery (DWHR) units and the low efficiency of horizontal units. In response to this issue, the efficiency of a new compact shower heat exchanger designed to be mounted below the shower tray, as well as its linear counterpart, was investigated under various operating conditions. In addition, the financial efficiency of using the compact DWHR unit with average water consumption for showering was evaluated. For this purpose, discount methods were used to estimate the financial efficiency of investments. The study showed that the compact shower heat exchanger has higher efficiency than its linear counterpart. Depending on the temperature of cold water and the flow rate of both media through the heat exchanger, it achieves efficiencies ranging from 22.43% to 31.82%, while the efficiency of the linear DWHR unit did not exceed 23.03% in the study. The financial analysis showed that its use is particularly beneficial when the building uses an electric hot water heater. The investment’s sensitivity to changes in the independent variables is small in this case, even with low water consumption per shower. The only exceptions are investment outlays. Therefore, the compact DWHR unit is a clean energy device, which in many cases is financially viable. Full article

Modelling of stormwater networks and the related object (combined sewer overflows, diversion chambers, retention tanks) is a complex task requiring colleting of data with appropriate time and spatial resolution as well as application of adequate models. Often there is a need to find balance between the costs of conducting measurement (period, resolution) and the uncertainty of the model results. This paper presents an overview of simulation tools for sewerage networks modelling, related objects, as well as low-impact development (LID) systems in relation to the hydrodynamic and statistical models. Consecutive stages of data collection, sources of data uncertainty, limitations resulting from the adopted measurement methodology, as well as their influence on the simulation results and possible decision-making using the developed hydrodynamic or statistical model, are discussed. Attention is drawn to the optimization methods enabling reduction in the uncertainty of statistical models. The methods enabling the analysis of model uncertainty, as well as evaluation of its influence on the calculation results pertaining to stormwater hydrographs, retention tank capacity and combined sewers overflows, are also discussed. This is a very important aspect in terms of optimizing construction works in the sewerage network and designing their appropriate dimensions to achieve the assumed hydraulic effects. Full article