MIT Leak Detector: Modeling and Analysis Toward Leak-Observability

Leakage is the most important factor for unaccounted losses in any pipe network around the world. However, most state-of-the-art leak detection systems have limited applicability, lack in reliability and depend on user experience for data interpretation. In addition, most of them are not scalable to the network level because inspection is slow. In this study, we present a new autonomous in-pipe leak sensing system; the 'MIT leak detector.' We start by describing the fundamental concept behind detection, and present the proposed design. The detection principle in based on the presence of a pressure gradient in the neighborhood of any leak in a pressurized pipe. This phenomenon is translated into force measurements via a carefully designed and instrumented mechanical embodiment. In addition, an analytic dynamic model of the robotic detector is derived. Further study and analysis show that the proposed system can sense leaks at any angle around the circumference of the pipe by utilizing two force measurements at specific locations. Finally, a prototype is built and experiments are conducted in order validate the observability concepts discussed in this paper.