A novel method for the remote condition assessment of buried pipelines using low-frequency axisymmetric waves

“Mapping the Underworld” is a large multi-disciplinary, multi-university research programme taking place in the UK, which aims to revolutionize the way we undertake streetworks. Within this programme, a number of vibration-based techniques for remotely detecting and locating buried pipes have been developed. Relying either on the direct excitation of a pipe as it comes up to the surface or excitation of the ground in the vicinity of a buried pipe, mapping the ground surface vibration response allows information to be gathered concerning the pipe’s exact position. However, contained within this surface response is often information which could, if utilized appropriately, provide insights into the condition of the pipe as well as its location. Furthermore, critical information regarding the condition of the ground in which a pipe is buried could, in some circumstances, be gleaned. In this paper, how this additional information might be extracted, used and eventually exploited is explored. Providing the basis for work currently being undertaken in a new programme, “Assessing the Underworld”, example results are presented which demonstrate the immense potential of the proposed methods

Remote pipeline assessment and condition monitoring using low-frequency axisymmetric waves: a theoretical study of torsional wave motion

Waves that propagate at low frequencies in buried pipes are of considerable interest in a variety of practical scenarios, for example leak detection, remote pipe detection, and pipeline condition assessment and monitoring. Particularly useful are the n=0, or axisymmetric, modes in which there is no displacement (or pressure) variation over the pipe cross section. Previous work has focused on two of the three axisymmetric wavetypes that can propagate: the s=1, fluid-dominated wave; and the s=2, shell-dominated wave. In this paper, the third axisymmetric wavetype, the s=0 torsional wave, is studied. Whilst there is a large body of research devoted to the study of torsional waves and their use for defect detection in pipes at ultrasonic frequencies, little is known about their behaviour and possible exploitation at lower frequencies. Here, a low-frequency analytical dispersion relationship is derived for the torsional wavenumber for a buried pipe from which both the wavespeed and wave attenuation can be obtained. How the torsional waves subsequently radiate to the ground surface is then investigated, with analytical expressions being presented for the ground surface displacement above the pipe resulting from torsional wave motion within the pipe wall. Example results are presented and, finally, how such waves might be exploited in practice is discussed

Wave propagation in rods with an exponentially varying cross-section - modelling and experiments

In this paper we analyse longitudinal wave propagation in exponentially tapered rods from both a theoretical and an experimental perspective. The tapering introduces significant changes to the behaviour of the rod. The longitudinal wave does not propagate from zero frequency, its cut-off frequency depending on the coefficient in the exponent. The analytical description of this phenomenon is well established, however little experimental workhas been published to date. After a brief review of the classical solution of the exponential rod equation, we derive a methodology allowing the wavenumbers to be estimated from a set of equally spaced dynamic responses. Our approach is verified numerically against a finite element simulation and validated experimentally, both showing very good agreement. To further explain the results and provide an outlook for future work, we present a finite element model of the tapered rod embedded in an infinite solid medium. We conclude with a discussion on the effects of the surrounding medium on the behaviour of the structure and resulting characteristicfeatures of the wavenumber

The detection of vertical cracks in asphalt using seismic surface wave methods

Assessment of the location and of the extension of cracking in road surfaces is important for determining the potential level of deterioration in the road overall and the infrastructure buried beneath it. Damage in a pavement structure is usually initiated in the tarmac layers, making the Rayleigh wave ideally suited for the detection of shallow surface defects. This paper presents an investigation of two surface wave methods to detect and locate top-down cracks in asphalt layers. The aim of the study is to compare the results from the wellestablished Multichannel Analysis of Surface Waves (MASW) and the more recent Multiple Impact of Surface Waves (MISW) in the presence of a discontinuity and to suggest the best surface wave technique for evaluating the presence and the extension of vertical cracks in roads. The study is conducted through numerical simulations alongside experimental investigations and it considers the cases for which the cracking is internal and external to the deployment of sensors. MISW is found to enhance the visibility of the reflected waves in the frequency wavenumber (f-k) spectrum, helping with the detection of the discontinuity. In some cases, by looking at the f-k spectrum obtained with MISW it is possible to extract information regarding the location and the depth of the cracking

3D Buried Utility Location Using A Marching-Cross-Section Algorithm for Multi-sensor Data Fusion

We address the problem of accurately locating buried utility segments by fusing data from multiple sensors using a novel marching-cross-section (MCS) algorithm. Five types of sensors are used in this work: Ground Penetrating Radar (GPR), Passive Magnetic Fields (PMF), Magnetic Gradiometer (MG), Low Frequency Electromagnetic Fields (LFEM), and Vibro-acoustics (VA). As part of the MCS algorithm, a novel formulation of the extended Kalman filter (EKF) is proposed for marching existing utility tracks from a scan cross section (scs) to the next one; novel rules for initializing utilities based on hypothesized detections on the first scs and for associating predicted utility tracks with hypothesized detections in the following scss are introduced. Algorithms are proposed for generating virtual scan lines based on given hypothesized detections when different sensors do not share common scan lines, or when only the coordinates of the hypothesized detections are provided without any information of the actual survey scan lines. The performance of the proposed system is evaluated with both synthetic data and real data. The experimental results in this work demonstrate that the proposed MCS algorithm can locate multiple buried utility segments simultaneously, including both straight and curved utilities and can separate intersecting segments. By using the probabilities of a hypothesized detection being a pipe or a cable together with its 3D coordinates, the MCS algorithm is able to discriminate a pipe and a cable close to each other. The MCS algorithm can be used for both post and on-site processing. When it is used on site, the detected tracks on the current scs can help to determine the location and direction of the next scan line. The proposed “multi-utility multi-sensor” system has no limit to the number of buried utilities or the number of sensors, and the more sensor data used the more buried utility segments can be detected with more accurate location and orientation

3D buried utility location using a marching-cross-section algorithm for multi-sensor data fusion

We address the problem of accurately locating buried utility segments by fusing data from multiple sensors using a novel Marching-Cross-Section (MCS) algorithm. Five types of sensors are used in this work: Ground Penetrating Radar (GPR), Passive Magnetic Fields (PMF), Magnetic Gradiometer (MG), Low Frequency Electromagnetic Fields (LFEM) and Vibro-Acoustics (VA). As part of the MCS algorithm, a novel formulation of the extended Kalman Filter (EKF) is proposed for marching existing utility tracks from a scan cross-section (scs) to the next one; novel rules for initializing utilities based on hypothesized detections on the first scs and for associating predicted utility tracks with hypothesized detections in the following scss are introduced. Algorithms are proposed for generating virtual scan lines based on given hypothesized detections when different sensors do not share common scan lines, or when only the coordinates of the hypothesized detections are provided without any information of the actual survey scan lines. The performance of the proposed system is evaluated with both synthetic data and real data. The experimental results in this work demonstrate that the proposed MCS algorithm can locate multiple buried utility segments simultaneously, including both straight and curved utilities, and can separate intersecting segments. By using the probabilities of a hypothesized detection being a pipe or a cable together with its 3D coordinates, the MCS algorithm is able to discriminate a pipe and a cable close to each other. The MCS algorithm can be used for both post-and on-site processing. When it is used on site, the detected tracks on the current scs can help to determine the location and direction of the next scan line. The proposed “multi-utility multi-sensor” system has no limit to the number of buried utilities or the number of sensors, and the more sensor data used, the more buried utility segments can be detected with more accurate location and orientation.</p

An objective spinal motion imaging assessment (OSMIA): reliability, accuracy and exposure data

BACKGROUND: Minimally-invasive measurement of continuous inter-vertebral motion in clinical settings is difficult to achieve. This paper describes the reliability, validity and radiation exposure levels in a new Objective Spinal Motion Imaging Assessment system (OSMIA) based on low-dose fluoroscopy and image processing. METHODS: Fluoroscopic sequences in coronal and sagittal planes were obtained from 2 calibration models using dry lumbar vertebrae, plus the lumbar spines of 30 asymptomatic volunteers. Calibration model 1 (mobile) was screened upright, in 7 inter-vertebral positions. The volunteers and calibration model 2 (fixed) were screened on a motorised table comprising 2 horizontal sections, one of which moved through 80 degrees. Model 2 was screened during motion 5 times and the L2-S1 levels of the volunteers twice. Images were digitised at 5fps. Inter-vertebral motion from model 1 was compared to its pre-settings to investigate accuracy. For volunteers and model 2, the first digitised image in each sequence was marked with templates. Vertebrae were tracked throughout the motion using automated frame-to-frame registration. For each frame, vertebral angles were subtracted giving inter-vertebral motion graphs. Volunteer data were acquired twice on the same day and analysed by two blinded observers. The root-mean-square (RMS) differences between paired data were used as the measure of reliability. RESULTS: RMS difference between reference and computed inter-vertebral angles in model 1 was 0.32 degrees for side-bending and 0.52 degrees for flexion-extension. For model 2, X-ray positioning contributed more to the variance of range measurement than did automated registration. For volunteer image sequences, RMS inter-observer variation in intervertebral motion range in the coronal plane was 1.86 degreesand intra-subject biological variation was between 2.75 degrees and 2.91 degrees. RMS inter-observer variation in the sagittal plane was 1.94 degrees. Radiation dosages in each view were below the levels recommended for a plain film. CONCLUSION: OSMIA can measure inter-vertebral angular motion patterns in routine clinical settings if modern image intensifier systems are used. It requires skilful radiography to achieve optimal positioning and dose limitation. Reliability in individual subjects can be judged from the variance of their averaged inter-vertebral angles and by observing automated image registration