This technique provided a means to create support for the pipe while it was still in service, Greenberger notes. Once the support saddles were completed, the pipe between the saddles was excavated. To install the box culverts, small portions of each pipe were excavated at 10-ft (3-m) spans, and concrete support saddles were cast in place around these portions of the pipe while the remaining pipe was left in its existing bedding. Three of the coated steel pipelines were subsequently fitted with ICCP systems at areas along the route that were considered to be particularly corrosive. ![]() When the highway was built, the portions of coated steel pipe that crossed under it were replaced with bar-wrapped steel cylinder concrete pressure pipe with poured concrete along the sides. Corrosion protection for the steel components of the concrete cylinder pipe is provided by an internal concrete lining and external mortar coating. The fifth one was bar-wrapped steel cylinder concrete pressure pipe, which is comprised of a welded steel cylinder with steel reinforcing bars wrapped around the cylinder to provide strength. The box culvert was determined to be less costly than constructing a split casing around the intact pipe.įour of the pipelines, when originally installed, were made of steel with a dielectric coating. A practical and economical solution was to build a box culvert around the ~80-ft (24-m) portion of each pipeline that crossed under the light rail while the pipes remained in service. “It would be an extensive job to get the water out of these pipes, and we didn’t want to take the conduit out of service,” he adds. In this particular instance, Greenberger explains, the five carrier pipelines would need to be drained and have segments removed for a casing pipe to be installed. Typically, cased pipelines comprise a carrier pipe inserted into a larger diameter casing pipe. “The new threat was stray current corrosion from the light rail,” he says. To protect the pipes in the transit corridor where they crossed underneath the light-rail tracks, construction of the line included retrofitting the pipelines with a precast concrete box culvert casing and installing an impressed current cathodic protection (ICCP) system.Īccording to NACE International member Stuart Greenberger, senior engineer with the Portland Water Bureau, the main reasons for installing the box culvert casings were to protect the pipes from the increased soil load resulting from grade changes made to accommodate the train tracks, facilitate pipe operation and maintenance without disturbing the tracks, and electrically distance the pipes from close coupling with the light-rail system. The transit corridor was considered a high-consequence area because a pipe failure could disrupt both light-rail and highway traffic. PyojinKim created a set of helpful scripts to work with data collected with the App in Matlab.When a light-rail line was constructed parallel to an existing interstate highway near Portland Oregon, it crossed five pressurized, large-diameter (60-in ) steel water transmission pipelines that carry drinking water into the city from nearby reservoirs. If you find any issues with this project or bugs in the Stray Scanner app, you can open an issue on this repository. This has to be done with your ROS distribution sourced, as it requires some ros packages, such as sensor_msgs, cv_bridge and rosbag. Python create_rosbag.py -out ros.bag will create a rosbag from your scene. It will create a file depth_video.mp4 inside the dataset folder. Python make_video.py will combine depth maps into a video. -mesh-filename save the mesh from RGB-D integration into the given file. ![]() -voxel-size= sets the voxel size in meters for RGB-D integration.-integrate will run the data through the Open3D RGB-D integration pipeline and visualize the resulting mesh.-trajectory shows a black line for the trajectory of the camera.-every= determines how often the coordinate frame is drawn.-frames shows the camera pose coordinate frames.Only points having confidence higher or equal to the given value are shown. -confidence= there are three levels of confidence for the depth outputs: 0, 1 and 2.
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