Automated Bridge Scour InspectionFSU/FAMU College of Engineering

Team 7

Needs Assessment and Project Scope

09/29/2010

Members:

Ryan Szoke EE (Project Manager)– Power, sensors

Drew Doan CPE (Recorder) – Microprocessors, image processing

Dezmond Moore CPE (Treasurer)– Data collection, programming

Griffin Francis ME– Controls, odometry, locomotion

Matthew Kent ME– Platform design, motors

What is Bridge Scour?

- Erosion of material at splash zone- Costly phenomenon- Inadequate inspection methods

Simulated Scour Zone

- Develop and Design an autonomous robotic system to inspect bridge foundations using SONAR technology to monitor scour conditions

Our Goal

Our Objective

- Develop autonomous platform- Provide adequate inspection data- Long-term monitoring

3D SONAR Image

Naismith Marine Services

High priority of required capabilities

- Movement with respect to bridge substructure

- Use sonar to inspect/record scour-3D-image- Autonomous operation

Lower Priority of Required Capabilities

- System easily portable- Deployed by few technicians

Higher Priority of Desired Capabilities

- Capture video during inspection- Lighting for visibility for camera video- Safety line

Lower Priority of Desired Capabilities

- Easy maintenance - Easy operation by a trained technician- Withstand rough currents/debris- Can be deployed on various bridge

substructures - Attractive robot design

User Operation

- Device is deployed at surface- Installation via existing guide-rail- System is started- Autonomous scan of scour zone

User Operation

- Possible video inspection- Device returns to surface for extraction- Device is attached to interface for analysis- Contour map obtained from data

Functional Requirements

- Utilize SONAR sensors for mapping - Adequate memory storage- Observes scour in coarse/medium sand- Operates in waterways with depths up to 30 ft- Withstand flow velocities of 3.5 m/s- SONAR resolution of approximately 1.0 ft

Non-Functional Requirements

- Sufficient battery life for run sequence- Allows testing of multiple SONAR sensors- Utilize LabVIEW, C-programming, or similar

Constraints

- Utilization of existing substructure - Waterproof - Robust to environment- Adequately sized and constrained for

inspection- Cost less than $3,000

General Test Plan- Device deployed by team- Simulate bridge substructure- Simulate scour conditions- Autonomous scan of scour region- Removal of device- Use interface for mapping- Compare mapping with simulated condition

Testing Outcomes* Device deployed by team

- System is easily portable - Attachment to substructure

- Deployable by a few technicians- Low maintenance design

Testing Outcomes

* Simulate bridge substructure

- Move with respect to substructure- Deployable on various substructures- Operates in waterways with depths up to 30 ft

Testing Outcomes* Simulate scour conditions

- Utilize SONAR sensors for mapping- Adequate memory storage - Observes scour in coarse/medium sand

Testing Outcomes* Autonomous scan of scour region

- Provide data for 3D contour map- Capture video during inspection- Lighted scan region

Testing Outcomes* Removal of device

- Tethered via safety line- Allows testing of multiple SONAR sensors

Testing Outcomes* Use interface for mapping

- Easily operated by single technician- Utilize LabVIEW, C-programming, or similar

Testing Outcomes* Compare mapping with simulated condition

- Provide data for 3D contour map - Long-term monitoring

Final Thoughts

References

National Cooperative Highway Research Program (NCHRP) Synthesis 396: Monitoring Scour Critical Bridges

US Geological Survey