Optimal charging station placement for autonomous robots in drinking water networks

Drinking water utilities and commercial vendors are developing battery-powered autonomous robots for the internal inspection of pipelines. However, these robots require nearby charging stations next to the pipelines of the water distribution networks (WDN). This prompts practical questions about the...

Full description

Saved in:
Bibliographic Details
Published inJournal of hydroinformatics Vol. 25; no. 6; pp. 2253 - 2267
Main Authors Castro-Gama, Mario, Hassink-Mulder, Yvonne
Format Journal Article
LanguageEnglish
Published London IWA Publishing 01.11.2023
Subjects
Boundary conditions
Charging
charging stations
Drinking water
Energy consumption
Inspection
Integer programming
Linear programming
Network topologies
Optimization
Pipes
Placement
Redundancy
Robots
Shortest-path problems
Topology
Water distribution
Water engineering
Water utilities
Online AccessGet full text
ISSN1464-7141
1465-1734
1465-1734
DOI10.2166/hydro.2023.040

Cover

Abstract Drinking water utilities and commercial vendors are developing battery-powered autonomous robots for the internal inspection of pipelines. However, these robots require nearby charging stations next to the pipelines of the water distribution networks (WDN). This prompts practical questions about the minimal number of charging stations and robots required. To address the questions, an integer linear programming optimization is formulated, akin to set covering, based on the shortest path of the charging stations to each node along a pipeline. The optimization decisions revolve around designating nodes as charging stations, considering the maximum distance (δmax) at which a robot can cover a hard constraint. For optimal placement, two objective formulations are proposed: (i) minimize the total number of stations, representing total cost; and (ii) maximize the total redundancy of the system. The methodology is applied to three WDN topologies (i.e. Modena, FiveReservoirs, and E-Town). Results show the influence of topology on the total number of stations, the number of robots, and the redundancy of the charging stations network. A trade-off between δmax and total number of stations emphasizes robot battery capacity's significance.
AbstractList Drinking water utilities and commercial vendors are developing battery-powered autonomous robots for the internal inspection of pipelines. However, these robots require nearby charging stations next to the pipelines of the water distribution networks (WDN). This prompts practical questions about the minimal number of charging stations and robots required. To address the questions, an integer linear programming optimization is formulated, akin to set covering, based on the shortest path of the charging stations to each node along a pipeline. The optimization decisions revolve around designating nodes as charging stations, considering the maximum distance (δmax) at which a robot can cover a hard constraint. For optimal placement, two objective formulations are proposed: (i) minimize the total number of stations, representing total cost; and (ii) maximize the total redundancy of the system. The methodology is applied to three WDN topologies (i.e. Modena, FiveReservoirs, and E-Town). Results show the influence of topology on the total number of stations, the number of robots, and the redundancy of the charging stations network. A trade-off between δmax and total number of stations emphasizes robot battery capacity's significance mariocastrogama. HIGHLIGHTS A new method for the selection of locations of optimal charging locations for monitoring robots.; Application of two different formulations for solving the problem, each with its advantages and disadvantages.; It allows utilities to solve business-related questions on the subject.;
Drinking water utilities and commercial vendors are developing battery-powered autonomous robots for the internal inspection of pipelines. However, these robots require nearby charging stations next to the pipelines of the water distribution networks (WDN). This prompts practical questions about the minimal number of charging stations and robots required. To address the questions, an integer linear programming optimization is formulated, akin to set covering, based on the shortest path of the charging stations to each node along a pipeline. The optimization decisions revolve around designating nodes as charging stations, considering the maximum distance (δmax) at which a robot can cover a hard constraint. For optimal placement, two objective formulations are proposed: (i) minimize the total number of stations, representing total cost; and (ii) maximize the total redundancy of the system. The methodology is applied to three WDN topologies (i.e. Modena, FiveReservoirs, and E-Town). Results show the influence of topology on the total number of stations, the number of robots, and the redundancy of the charging stations network. A trade-off between δmax and total number of stations emphasizes robot battery capacity's significance.
Author Hassink-Mulder, Yvonne
Castro-Gama, Mario
Author_xml – sequence: 1
  givenname: Mario
  orcidid: 0000-0002-9081-2672
  surname: Castro-Gama
  fullname: Castro-Gama, Mario
– sequence: 2
  givenname: Yvonne
  surname: Hassink-Mulder
  fullname: Hassink-Mulder, Yvonne
BookMark eNqFkEtLAzEURoMo-Ny6DrieNq9J2qWILxBcqOtwJ5Np006TMclQ-u-ddsSFIK4Swv1O7nfO0bEP3iJ0TcmEUSmny10dw4QRxidEkCN0RoUsC6q4OD7cRaGooKfoPKUVIYzyGT1Db69ddhtosVlCXDi_wClDdsHjrgVjN9Zn3ISIoc_Bh03oE46hCjlh53EdnV_vM1vINmJv8zbEdbpEJw20yV59nxfo4-H-_e6peHl9fL67fSkMVzwXVakYEVVjgZZUznnFLTHSWMvoTFlSS8FkzQAIzIYORDYVVHPKFOFWNYYzfoGeR24dYKW7OPSIOx3A6cNDiAsNMTvTWq1oJWo-fMCAClDl3ApliBHzUspSGjWwpiOr9x3sttC2P0BK9N6vPvjVe7968DskbsZEF8Nnb1PWq9BHPxTWnJVMCc5pOUyJccrEkFK0jTZuFJwjuPZv-ORX7J9tvgBGEp6O
CitedBy_id crossref_primary_10_2166_hydro_2024_107
Cites_doi 10.1007/BF01586000
10.1016/j.orl.2004.04.002
10.1177/1729881416663668
10.1287/ijoc.6.4.445
10.1137/0201010
10.1137/0211045
10.1002/2016WR018944
10.1002/wrcr.20175
10.1016/j.proeng.2016.07.414
10.1287/opre.11.6.863
10.1007/s00291-003-0130-x
10.1287/opre.9.6.849
10.1007/s11269-016-1372-0
10.1007/BF01386390
10.1016/j.envsoft.2014.01.028
10.1002/2016WR020071
10.1016/S0022-0000(74)80044-9
10.3390/w13020131
10.1007/978-1-4684-2001-2_9
10.3390/s20195584
ContentType Journal Article
Copyright Copyright IWA Publishing 2023
Copyright_xml – notice: Copyright IWA Publishing 2023
DBID AAYXX
CITATION
7QH
7UA
AEUYN
AFKRA
ATCPS
AZQEC
BENPR
BHPHI
BKSAR
C1K
CCPQU
DWQXO
F1W
GNUQQ
H96
HCIFZ
L.G
PATMY
PCBAR
PHGZM
PHGZT
PKEHL
PQEST
PQQKQ
PQUKI
PRINS
PYCSY
ADTOC
UNPAY
DOA
DOI 10.2166/hydro.2023.040
DatabaseName CrossRef
Aqualine
Water Resources Abstracts
ProQuest One Sustainability
ProQuest Central UK/Ireland
Agricultural & Environmental Science Collection
ProQuest Central Essentials
ProQuest Central
Natural Science Collection
Earth, Atmospheric & Aquatic Science Collection
Environmental Sciences and Pollution Management
ProQuest One Community College
ProQuest Central
ASFA: Aquatic Sciences and Fisheries Abstracts
ProQuest Central Student
Aquatic Science & Fisheries Abstracts (ASFA) 2: Ocean Technology, Policy & Non-Living Resources
SciTech Premium Collection
Aquatic Science & Fisheries Abstracts (ASFA) Professional
Environmental Science Database
Earth, Atmospheric & Aquatic Science Database
ProQuest Central Premium
ProQuest One Academic
ProQuest One Academic Middle East (New)
ProQuest One Academic Eastern Edition (DO NOT USE)
ProQuest One Academic
ProQuest One Academic UKI Edition
ProQuest Central China
Environmental Science Collection
Unpaywall for CDI: Periodical Content
Unpaywall
DOAJ Directory of Open Access Journals
DatabaseTitle CrossRef
Aquatic Science & Fisheries Abstracts (ASFA) Professional
ProQuest Central Student
ProQuest One Academic Middle East (New)
ProQuest Central Essentials
SciTech Premium Collection
ProQuest One Community College
ProQuest Central China
Water Resources Abstracts
Environmental Sciences and Pollution Management
Earth, Atmospheric & Aquatic Science Collection
ProQuest Central
ProQuest One Sustainability
Natural Science Collection
ProQuest Central Korea
Agricultural & Environmental Science Collection
ProQuest Central (New)
ProQuest One Academic Eastern Edition
Earth, Atmospheric & Aquatic Science Database
Aqualine
Environmental Science Collection
Aquatic Science & Fisheries Abstracts (ASFA) 2: Ocean Technology, Policy & Non-Living Resources
ProQuest One Academic UKI Edition
ASFA: Aquatic Sciences and Fisheries Abstracts
Environmental Science Database
ProQuest One Academic
ProQuest One Academic (New)
DatabaseTitleList
Aquatic Science & Fisheries Abstracts (ASFA) Professional
CrossRef
Database_xml – sequence: 1
  dbid: DOA
  name: DOAJ Directory of Open Access Journals
  url: https://www.doaj.org/
  sourceTypes: Open Website
– sequence: 2
  dbid: UNPAY
  name: Unpaywall
  url: https://proxy.k.utb.cz/login?url=https://unpaywall.org/
  sourceTypes: Open Access Repository
– sequence: 3
  dbid: BENPR
  name: ProQuest Central
  url: http://www.proquest.com/pqcentral?accountid=15518
  sourceTypes: Aggregation Database
DeliveryMethod fulltext_linktorsrc
Discipline Geography
EISSN 1465-1734
EndPage 2267
ExternalDocumentID oai_doaj_org_article_71b4d33e02a14a759e47c0c4956656c7
10.2166/hydro.2023.040
10_2166_hydro_2023_040
GroupedDBID 0R~
4.4
5GY
7XC
8CJ
8FE
8FH
AAJMC
AAJVE
AAYXX
ABFYC
ABLGR
ACGFO
AECGI
AENEX
AEUYN
AFKRA
AFRAH
AJXRC
ALMA_UNASSIGNED_HOLDINGS
ATCPS
BENPR
BHPHI
BKSAR
CCPQU
CITATION
CS3
D1J
DU5
EBS
GEUZO
GROUPED_DOAJ
H13
HCIFZ
HFPTO
HZ~
L7B
O9-
OK1
P2P
PATMY
PCBAR
PHGZM
PHGZT
PUEGO
PYCSY
R0Z
RHI
~02
7QH
7UA
AZQEC
C1K
DWQXO
F1W
GNUQQ
H96
L.G
PKEHL
PQEST
PQQKQ
PQUKI
PRINS
ADTOC
AGVJA
EJD
UNPAY
ID FETCH-LOGICAL-c373t-b57204bfea151693b3e0c6cee2187e0d6426d2aa0a873406fbab912703e7fc323
IEDL.DBID BENPR
ISSN 1464-7141
1465-1734
IngestDate Fri Oct 03 12:41:07 EDT 2025
Wed Oct 01 15:49:00 EDT 2025
Tue Sep 23 02:41:18 EDT 2025
Thu Apr 24 23:04:45 EDT 2025
Wed Oct 01 04:47:12 EDT 2025
IsDoiOpenAccess true
IsOpenAccess true
IsPeerReviewed true
IsScholarly true
Issue 6
Language English
License cc-by-nc-nd
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c373t-b57204bfea151693b3e0c6cee2187e0d6426d2aa0a873406fbab912703e7fc323
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ORCID 0000-0002-9081-2672
OpenAccessLink https://doaj.org/article/71b4d33e02a14a759e47c0c4956656c7
PQID 3252743315
PQPubID 2044529
PageCount 15
ParticipantIDs doaj_primary_oai_doaj_org_article_71b4d33e02a14a759e47c0c4956656c7
unpaywall_primary_10_2166_hydro_2023_040
proquest_journals_3252743315
crossref_citationtrail_10_2166_hydro_2023_040
crossref_primary_10_2166_hydro_2023_040
ProviderPackageCode CITATION
AAYXX
PublicationCentury 2000
PublicationDate 2023-11-01
20231101
PublicationDateYYYYMMDD 2023-11-01
PublicationDate_xml – month: 11
  year: 2023
  text: 2023-11-01
  day: 01
PublicationDecade 2020
PublicationPlace London
PublicationPlace_xml – name: London
PublicationTitle Journal of hydroinformatics
PublicationYear 2023
Publisher IWA Publishing
Publisher_xml – name: IWA Publishing
References (2024011710284051600_HYDRO-D-23-00040C7) 2016; 30
(2024011710284051600_HYDRO-D-23-00040C11) 2009
(2024011710284051600_HYDRO-D-23-00040C26) 1972
(2024011710284051600_HYDRO-D-23-00040C30) 2017
(2024011710284051600_HYDRO-D-23-00040C20) 2017; 53
(2024011710284051600_HYDRO-D-23-00040C16) 1959; 1
(2024011710284051600_HYDRO-D-23-00040C24) 1974; 9
2024011710284051600_HYDRO-D-23-00040C31
(2024011710284051600_HYDRO-D-23-00040C46) 2011; 21
(2024011710284051600_HYDRO-D-23-00040C29) 2003; 25
(2024011710284051600_HYDRO-D-23-00040C13) 2008; 112
2024011710284051600_HYDRO-D-23-00040C33
(2024011710284051600_HYDRO-D-23-00040C39) 2016
(2024011710284051600_HYDRO-D-23-00040C18) 1961; 9
(2024011710284051600_HYDRO-D-23-00040C19) 1963; 11
2024011710284051600_HYDRO-D-23-00040C34
2024011710284051600_HYDRO-D-23-00040C17
(2024011710284051600_HYDRO-D-23-00040C23) 1982; 11
(2024011710284051600_HYDRO-D-23-00040C40) 2003
(2024011710284051600_HYDRO-D-23-00040C43) 2020; 20
(2024011710284051600_HYDRO-D-23-00040C8) 2016; 154
(2024011710284051600_HYDRO-D-23-00040C41) 2009; 16
(2024011710284051600_HYDRO-D-23-00040C10) 1971
H2O-Techniek (2024011710284051600_HYDRO-D-23-00040C21) 2019
(2024011710284051600_HYDRO-D-23-00040C37) 1972; 1
2024011710284051600_HYDRO-D-23-00040C1
(2024011710284051600_HYDRO-D-23-00040C27) 2018; 144
(2024011710284051600_HYDRO-D-23-00040C32) 2022; 9
(2024011710284051600_HYDRO-D-23-00040C36) 2016; 52
(2024011710284051600_HYDRO-D-23-00040C38) 2016; 13
2024011710284051600_HYDRO-D-23-00040C5
(2024011710284051600_HYDRO-D-23-00040C6) 2011; 13
(2024011710284051600_HYDRO-D-23-00040C4) 2021; 13
(2024011710284051600_HYDRO-D-23-00040C3) 1995; 71
(2024011710284051600_HYDRO-D-23-00040C12) 2006; 149
2024011710284051600_HYDRO-D-23-00040C44
2024011710284051600_HYDRO-D-23-00040C45
2024011710284051600_HYDRO-D-23-00040C28
(2024011710284051600_HYDRO-D-23-00040C42) 1998
(2024011710284051600_HYDRO-D-23-00040C47) 2014; 55
(2024011710284051600_HYDRO-D-23-00040C25) 2012; 138
(2024011710284051600_HYDRO-D-23-00040C2) 2005; 33
(2024011710284051600_HYDRO-D-23-00040C15) 2014
(2024011710284051600_HYDRO-D-23-00040C35) 1994; 6
(2024011710284051600_HYDRO-D-23-00040C22) 2015; 18
(2024011710284051600_HYDRO-D-23-00040C14) 1974
(2024011710284051600_HYDRO-D-23-00040C48) 2013; 49
(2024011710284051600_HYDRO-D-23-00040C9) 1972; 98
References_xml – volume: 71
  start-page: 221
  year: 1995
  ident: 2024011710284051600_HYDRO-D-23-00040C3
  article-title: Presolving in linear programming
  publication-title: Mathematical Programming
  doi: 10.1007/BF01586000
– volume: 33
  start-page: 42
  year: 2005
  ident: 2024011710284051600_HYDRO-D-23-00040C2
  article-title: Branching rules revisited
  publication-title: Operations Research Letters
  doi: 10.1016/j.orl.2004.04.002
– volume: 13
  start-page: 172988141666366
  year: 2016
  ident: 2024011710284051600_HYDRO-D-23-00040C38
  article-title: An inspection of pipe by snake robot
  publication-title: International Journal of Advanced Robotic Systems
  doi: 10.1177/1729881416663668
– volume: 6
  start-page: 445
  year: 1994
  ident: 2024011710284051600_HYDRO-D-23-00040C35
  article-title: Preprocessing and probing techniques for mixed integer programming problems
  publication-title: ORSA J. Computing
  doi: 10.1287/ijoc.6.4.445
– volume: 1
  start-page: 146
  year: 1972
  ident: 2024011710284051600_HYDRO-D-23-00040C37
  article-title: Depth-first search and linear graph algorithms
  publication-title: SIAM Journal on Computing
  doi: 10.1137/0201010
– year: 2019
  ident: 2024011710284051600_HYDRO-D-23-00040C21
– ident: 2024011710284051600_HYDRO-D-23-00040C34
– volume: 11
  start-page: 555
  year: 1982
  ident: 2024011710284051600_HYDRO-D-23-00040C23
  article-title: Approximation algorithms for the set covering and vertex cover problems
  publication-title: SIAM Journal on Computing
  doi: 10.1137/0211045
– volume: 52
  start-page: 6171
  year: 2016
  ident: 2024011710284051600_HYDRO-D-23-00040C36
  article-title: A proposal of optimal sampling design using a modularity strategy
  publication-title: Water Resources Research
  doi: 10.1002/2016WR018944
– volume: 98
  year: 1972
  ident: 2024011710284051600_HYDRO-D-23-00040C9
  article-title: Graph-theoretic models for pipe network analysis
  publication-title: Journal of Hydraulics Division
– volume: 16
  start-page: 715
  year: 2009
  ident: 2024011710284051600_HYDRO-D-23-00040C41
  article-title: ZI round, a MIP rounding heuristic
  publication-title: Journal of Heuristics
– volume: 49
  start-page: 2093
  year: 2013
  ident: 2024011710284051600_HYDRO-D-23-00040C48
  article-title: A graph decomposition-based approach for water distribution network optimization
  publication-title: Water Resources Research
  doi: 10.1002/wrcr.20175
– volume: 154
  start-page: 19
  year: 2016
  ident: 2024011710284051600_HYDRO-D-23-00040C8
  article-title: A graph theoretical sectorization approach for energy reduction in water distribution networks
  publication-title: Procedia Engineering
  doi: 10.1016/j.proeng.2016.07.414
– volume: 138
  start-page: 208
  year: 2012
  ident: 2024011710284051600_HYDRO-D-23-00040C25
  article-title: Revisiting optimal water-distribution system design: issues and a heuristic hierarchical approach
  publication-title: Journal of Water Resources Planning and Management
– volume: 11
  start-page: 863
  year: 1963
  ident: 2024011710284051600_HYDRO-D-23-00040C19
  article-title: A linear programming approach to the cutting stock problem – part II
  publication-title: Operations Research
  doi: 10.1287/opre.11.6.863
– start-page: 319
  volume-title: Field and Service Robotics
  year: 2017
  ident: 2024011710284051600_HYDRO-D-23-00040C30
  article-title: Towards automatic robotic NDT dense mapping for pipeline integrity inspection
– ident: 2024011710284051600_HYDRO-D-23-00040C44
– volume: 112
  start-page: 3
  year: 2008
  ident: 2024011710284051600_HYDRO-D-23-00040C13
  article-title: Valid inequalities for mixed integer linear programs
  publication-title: Mathematical Programming B
– volume: 25
  start-page: 575
  year: 2003
  ident: 2024011710284051600_HYDRO-D-23-00040C29
  article-title: Advanced preprocessing techniques for linear and quadratic programming
  publication-title: OR Spectrum
  doi: 10.1007/s00291-003-0130-x
– volume: 149
  start-page: 63
  year: 2006
  ident: 2024011710284051600_HYDRO-D-23-00040C12
  article-title: Revival of the Gomory cuts in the 1990's
  publication-title: Annals of Operations Research
– volume: 9
  start-page: 849
  year: 1961
  ident: 2024011710284051600_HYDRO-D-23-00040C18
  article-title: A linear programming approach to the cutting-stock problem
  publication-title: Operations Research
  doi: 10.1287/opre.9.6.849
– volume-title: Integer Programming
  year: 1998
  ident: 2024011710284051600_HYDRO-D-23-00040C42
– volume-title: Design of an Inspection Robot for Small Diameter Gas Distribution Mains
  year: 2014
  ident: 2024011710284051600_HYDRO-D-23-00040C15
– volume: 30
  start-page: 3689
  year: 2016
  ident: 2024011710284051600_HYDRO-D-23-00040C7
  article-title: Enhancing knowledge in water distribution networks via data assimilation
  publication-title: Water Resources Management
  doi: 10.1007/s11269-016-1372-0
– volume: 1
  start-page: 269
  year: 1959
  ident: 2024011710284051600_HYDRO-D-23-00040C16
  article-title: A note on two problems in connexion with graphs
  publication-title: Numerische Mathematik
  doi: 10.1007/BF01386390
– volume: 55
  start-page: 143
  year: 2014
  ident: 2024011710284051600_HYDRO-D-23-00040C47
  article-title: An efficient decomposition and dual-stage multi-objective optimization method for water distribution systems with multiple supply sources
  publication-title: Environmental Modelling & Software
  doi: 10.1016/j.envsoft.2014.01.028
– volume: 53
  start-page: 3407
  year: 2017
  ident: 2024011710284051600_HYDRO-D-23-00040C20
  article-title: Network structure classification and features of water distribution systems
  publication-title: Water Resources Research
  doi: 10.1002/2016WR020071
– volume: 9
  start-page: 256
  year: 1974
  ident: 2024011710284051600_HYDRO-D-23-00040C24
  article-title: Approximation algorithms for combinatorial problems
  publication-title: Journal of Computer and System Sciences
  doi: 10.1016/S0022-0000(74)80044-9
– volume: 144
  start-page: 04018023
  year: 2018
  ident: 2024011710284051600_HYDRO-D-23-00040C27
  article-title: Combining skeletonization, setpoint curves, and heuristic algorithms to define district metering areas in the battle of water networks district metering areas
  publication-title: Journal of Water Resources Planning and Management
– volume: 13
  start-page: 131
  year: 2021
  ident: 2024011710284051600_HYDRO-D-23-00040C4
  article-title: Sectorization for water distribution systems with multiple sources: A performance indices comparison
  publication-title: Water
  doi: 10.3390/w13020131
– volume-title: Proceedings of the Third Annual ACM Symposium on Theory of Computing – STOC ‘71
  year: 1971
  ident: 2024011710284051600_HYDRO-D-23-00040C10
  article-title: The complexity of theorem-proving procedures
– volume: 9
  year: 2022
  ident: 2024011710284051600_HYDRO-D-23-00040C32
  article-title: Autonomous control for miniaturized mobile robots in unknown pipe networks
  publication-title: Frontiers in Robotics and AI
– volume: 13
  start-page: 219
  year: 2011
  ident: 2024011710284051600_HYDRO-D-23-00040C6
  article-title: On the optimal design of water distribution networks: a practical MINLP approach
  publication-title: Optimization and Engineering
– ident: 2024011710284051600_HYDRO-D-23-00040C33
– start-page: 85
  volume-title: Complexity of Computer Computations
  year: 1972
  ident: 2024011710284051600_HYDRO-D-23-00040C26
  article-title: Reducibility among Combinatorial Problems
  doi: 10.1007/978-1-4684-2001-2_9
– ident: 2024011710284051600_HYDRO-D-23-00040C31
– volume-title: Graph Theory with Application to Engineering and Computer Science
  year: 1974
  ident: 2024011710284051600_HYDRO-D-23-00040C14
– ident: 2024011710284051600_HYDRO-D-23-00040C17
– volume: 21
  start-page: 1
  year: 2011
  ident: 2024011710284051600_HYDRO-D-23-00040C46
  article-title: Complex network analysis of water distribution systems
  publication-title: Chaos
– ident: 2024011710284051600_HYDRO-D-23-00040C5
– volume: 20
  start-page: 5584
  year: 2020
  ident: 2024011710284051600_HYDRO-D-23-00040C43
  article-title: Robot localization in water pipes using acoustic signals and pose graph optimization
  publication-title: Sensors
  doi: 10.3390/s20195584
– ident: 2024011710284051600_HYDRO-D-23-00040C1
– ident: 2024011710284051600_HYDRO-D-23-00040C45
– start-page: 2016123
  year: 2016
  ident: 2024011710284051600_HYDRO-D-23-00040C39
  article-title: Robots inspecting drinking water pipes
  publication-title: H2O Water Matters
– ident: 2024011710284051600_HYDRO-D-23-00040C28
– year: 2003
  ident: 2024011710284051600_HYDRO-D-23-00040C40
  article-title: A micro snake-like robot for small pipe inspection. MHS2003
– volume-title: Introduction to Algorithms
  year: 2009
  ident: 2024011710284051600_HYDRO-D-23-00040C11
– volume: 18
  start-page: 77
  year: 2015
  ident: 2024011710284051600_HYDRO-D-23-00040C22
  article-title: Water distribution network sectorisation using graph theory and many-objective optimisation
  publication-title: Journal of Hydroinformatics
SSID ssj0021381
Score 2.3158014
Snippet Drinking water utilities and commercial vendors are developing battery-powered autonomous robots for the internal inspection of pipelines. However, these...
SourceID doaj
unpaywall
proquest
crossref
SourceType Open Website
Open Access Repository
Aggregation Database
Enrichment Source
Index Database
StartPage 2253
SubjectTerms Boundary conditions
Charging
charging stations
Drinking water
Energy consumption
Inspection
Integer programming
Linear programming
Network topologies
Optimization
Pipes
Placement
Redundancy
Robots
Shortest-path problems
Topology
Water distribution
Water engineering
Water utilities
SummonAdditionalLinks – databaseName: DOAJ Directory of Open Access Journals
  dbid: DOA
  link: http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1LS8QwEA7iZb2IT1xf5CDopdo0abI9qigiqAcVvIW8isLaXbpdZP-9M013WQ_ixWsZSvhmkvkmmQchJ1J4FngpE1eKLBF5bhIrVZoANbeFV-ARPBY4PzzKu1dx_5a_LY36wpyw2B44AnehmBWe85Bmhgmj8iII5VKHvB6oiGvryNNBMQ-mulCL8XY8KRwDmG0oWGzXmDEpL95nvsaqv4yfp3jlseSO2q79P6hmb1qNzezLDIdLXud2g6x3dJFexmVukpVQbZFeN7n8fbZNnp9gz3-CSNvyCPwQncTHddpmW-HdHwVeSs20wfIFiPNpPbKjZkI_KurrODmBfgHjrGkVU8InO-T19ubl-i7pBiUkjiveJDbHUTO2DIbhsxe3AJeT4P7Af6uQeogxpM-MSc1AcfDgpTW2wCdnHlTpeMZ3yWo1qsIeoaFgBoIgZxUoj1ngD4UUNuTepDaA8vokmeOlXddFHIdZDDVEE4ivbvHViK8GfPvkdCE_jv0zfpW8QvgXUtj3uv0A1qA7a9B_WUOfHM6Vp7vNONE8yyH25pzlfXK2UOgfy9n_j-UckDX8X6xdPCSrTT0NR0BiGnvc2us3u1ntlg
  priority: 102
  providerName: Directory of Open Access Journals
– databaseName: Unpaywall
  dbid: UNPAY
  link: http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1Lj9MwELaW7mFPvBFFC_IBCS5u4_i1OS6I1QqJBQmKlpPlVyhQkioPVd1fzzhOKxaB4MAtssZWPDPxfI493yD0VHJPAyslcSXPCRfCECtVRgCa28IriAg-Jji_uZDnC_76UlweoI_7XJiNWSeOiGGZ_rqcjxoka1_u6AZyKuV8ufVNzN7L2QwccU4hEPKMQY_YBC0z6HADHUoBGH2CDhcX704_pVSjeAFxKGkJz4JQxXhic_zNsNei1UDqfw2JHvXV2mw3ZrX6KSid3UKb3XTSXZRvs76zM3f1C9Pj_5_vbXRzxLH4NA1zBx2E6i46GkuqL7f30Pu3sBh9B5GBiwkCJG7TqT8eroHFn5IYADM2fRfzKuq-xU1t667FXyrsm1TSAW8ACje4SnfV2_tocfbqw8tzMlZwII4p1hErYg0cWwZD43kcsyxkTkJcBmChQuZh8yN9bkxmTsAKmSytsUU8C2dBlY7l7AGaVHUVHiIcCmpgd-asAq-iFoBNIbkNwpvMBvCqKSI7S2k30pvHKhsrDducqEA9KFBHbWlQ1xQ928uvE7HHHyVfRMPvpSIh99BQN5_1aC2tqOWewfRyQ7lRoghcuczF7ScgZgevd7xzGz2uEq1muchVTFkTU_R870p_eZ1H_y56jCZd04fHAJs6-2T8Bn4AOVcUHA
  priority: 102
  providerName: Unpaywall
Title Optimal charging station placement for autonomous robots in drinking water networks
URI https://www.proquest.com/docview/3252743315
https://iwaponline.com/jh/article-pdf/doi/10.2166/hydro.2023.040/1317403/jh2023040.pdf
https://doaj.org/article/71b4d33e02a14a759e47c0c4956656c7
UnpaywallVersion publishedVersion
Volume 25
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVAON
  databaseName: DOAJ Directory of Open Access Journals
  customDbUrl:
  eissn: 1465-1734
  dateEnd: 20241231
  omitProxy: true
  ssIdentifier: ssj0021381
  issn: 1465-1734
  databaseCode: DOA
  dateStart: 20210101
  isFulltext: true
  titleUrlDefault: https://www.doaj.org/
  providerName: Directory of Open Access Journals
– providerCode: PRVPQU
  databaseName: ProQuest Central
  customDbUrl: http://www.proquest.com/pqcentral?accountid=15518
  eissn: 1465-1734
  dateEnd: 20241102
  omitProxy: true
  ssIdentifier: ssj0021381
  issn: 1465-1734
  databaseCode: BENPR
  dateStart: 19990701
  isFulltext: true
  titleUrlDefault: https://www.proquest.com/central
  providerName: ProQuest
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwhV1Lb9QwELbK9lAuFU-xUCofkOBiGseOTQ4ItahVhcRSASuVk-VXKNKSbLNZVfvvmXGSpRyAY6JR5MzY8_A8PkJeKBl4FJVivpI5k0VhmVM6Y-CauzJosAgBG5w_ztT5XH64LC53yGzshcGyylEnJkUdGo935EciLyCAEoIX75bXDFGjMLs6QmjYAVohvE0jxu6Q3RwnY03I7snp7OLzNgTjIsGWgnrAKkTJ-zGOOVfq6GoTWuwGzMXrDK9CbpmpNM3_Dxd0b10v7ebGLha3rNHZPbI_uJH0uJf7fbIT6wdkb0A0v9o8JF8-gS74CSRpFBLYJ7rqk-40VWHhnSAFf5XadYdtDRD_07ZxTbeiP2oa2h5Rgd6AJ9rSui8VXz0i87PTr-_P2QCgwLzQomOuQAgaV0XLMR0mnIiZV2AWwa7rmAWIPVTIrc3sGy3AslfOuhJT0SLqyotcPCaTuqnjE0JjyS0ER95pECp34FeUSrpYBJu5CEKdEjbyy_hhujiCXCwMRBnIX5P4a5C_Bvg7JS-39Mt-rsZfKU-Q_VsqnIedXjTtdzMcL6O5k0HA7-WWS6uLMkrtM4_RHzisHpZ3MArPDId0ZX5vqSl5tRXof5bz9N9fekbuImXfrXhAJl27js_Bbenc4bAXD1PYD0_z2cXxt18gzO8y
linkProvider ProQuest
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1Lb9QwELaq9rBcEE-xpYAPILiExrFjk0OFKLTa0nZB0Eq9Gb9CkZZkSbJa7Z_jtzGTx1IOwKnXaBI54_HMN7ZnPkKeSuFZ4LmMXC6SSKSpiaxUcQTQ3GZeQUTwWOB8OpWTc_H-Ir3YID-HWhi8Vjn4xNZR-9LhHvkuT1JIoDhn6ev5jwhZo_B0daDQMD21gt9rW4z1hR3HYbWEFK7eO3oH8_0sSQ4Pzt5Oop5lIHJc8SayKfK02DwYhmdG3PIQOwmxA4KfCrEHgC59YkxsXikO4S-3xmZ4XsuDyh3HxgcQArYEFxkkf1v7B9OPn9YpH-MtTSq4I7z1KFjXNjJhUu5ernyF1YcJfxnj1suVsNiyB_wBeUeLYm5WSzObXYl-h7fIzR620jednd0mG6G4Q0Y9g_rl6i75_AF8z3cQaVsvQTykdXfIT9tbX7gHSQEfU7NosIyiXNS0Km3Z1PRbQX3VMTjQJSDfihbd1fT6Hjm_FlXeJ5tFWYQHhIaMGUjGnFVgRMwCjsmksCH1JrYBjGhMokFf2vXdzJFUY6Yhq0H96la_GvWrQb9j8nwtP-_6ePxVch_Vv5bC_tvtg7L6qvvlrBWzwnP4vcQwYVSaBaFc7DDbBIDsYHg7w-Tp3inU-rcJj8mL9YT-Zzjb__7SEzKanJ2e6JOj6fFDcgPf6iold8hmUy3CI4BMjX3c2yUlX657KfwCH-8pIg
linkToPdf http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1Lb9QwELaqVqJcEE-xUMAHEFzMxnESk0OFKO2qpbBUQKXeXL9CkZZkSbJa7V_kVzGTOEs5AKdeV94oGY9nvvE8PkKeZonjXhQZs0USsyRNNTOZjBhAc5M7CR7BYYPzh2l2eJq8O0vPNsjPoRcGyyoHm9gZaldZvCMfiziFAEoIno6LUBZxsj95Pf_BkEEKM60DnYYONAtutxs3Fpo8jv1qCeFcs3u0D3v_LI4nB1_eHrLAOMCskKJlJkXOFlN4zTF_JIzwkc3Aj4AjlD5yANYzF2sd6VdSgCssjDY55m6Fl4UVOAQB3MEWJr_ASGztHUxPPq3DPy46ylQwTVgBmfB-hGTMs2x8sXI1diLG4mWE1zCXXGTHJPAH_N1elHO9WurZ7JInnNwkNwKEpW96nbtFNnx5m2wHNvWL1R3y-SPYoe-wpBvDBL6RNn3Cn3YVYHgfSQErU71osaWiWjS0rkzVNvRbSV3dsznQJaDgmpZ9mXpzl5xeiSjvkc2yKv19Qn3ONQRm1khQKG4A0-RZYnzqdGQ8KNSIsEFeyobJ5kiwMVMQ4aB8VSdfhfJVIN8Reb5eP-9nevx15R6Kf70KZ3F3P1T1VxWOtpLcJE7A58WaJ1qmuU-kjSxGngCWLbzezrB5KhiIRv1W5xF5sd7Q_7zOg38_6Qm5BkdCvT-aHj8k1_FPfdPkDtls64V_BOipNY-DWlJyftUn4RfAeC1R
linkToUnpaywall http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1Lj9MwELaW7mFPvBFFC_IBCS5u4_i1OS6I1QqJBQmKlpPlVyhQkioPVd1fzzhOKxaB4MAtssZWPDPxfI493yD0VHJPAyslcSXPCRfCECtVRgCa28IriAg-Jji_uZDnC_76UlweoI_7XJiNWSeOiGGZ_rqcjxoka1_u6AZyKuV8ufVNzN7L2QwccU4hEPKMQY_YBC0z6HADHUoBGH2CDhcX704_pVSjeAFxKGkJz4JQxXhic_zNsNei1UDqfw2JHvXV2mw3ZrX6KSid3UKb3XTSXZRvs76zM3f1C9Pj_5_vbXRzxLH4NA1zBx2E6i46GkuqL7f30Pu3sBh9B5GBiwkCJG7TqT8eroHFn5IYADM2fRfzKuq-xU1t667FXyrsm1TSAW8ACje4SnfV2_tocfbqw8tzMlZwII4p1hErYg0cWwZD43kcsyxkTkJcBmChQuZh8yN9bkxmTsAKmSytsUU8C2dBlY7l7AGaVHUVHiIcCmpgd-asAq-iFoBNIbkNwpvMBvCqKSI7S2k30pvHKhsrDducqEA9KFBHbWlQ1xQ928uvE7HHHyVfRMPvpSIh99BQN5_1aC2tqOWewfRyQ7lRoghcuczF7ScgZgevd7xzGz2uEq1muchVTFkTU_R870p_eZ1H_y56jCZd04fHAJs6-2T8Bn4AOVcUHA
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Optimal+charging+station+placement+for+autonomous+robots+in+drinking+water+networks&rft.jtitle=Journal+of+hydroinformatics&rft.au=Castro-Gama%2C+Mario&rft.au=Hassink-Mulder%2C+Yvonne&rft.date=2023-11-01&rft.pub=IWA+Publishing&rft.issn=1464-7141&rft.eissn=1465-1734&rft.volume=25&rft.issue=6&rft.spage=2253&rft_id=info:doi/10.2166%2Fhydro.2023.040&rft.externalDBID=HAS_PDF_LINK
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1464-7141&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1464-7141&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1464-7141&client=summon