Automated Bridge Scour Inspection FSU/FAMU College of Engineering Team 7 Needs Assessment and...
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Transcript of Automated Bridge Scour Inspection FSU/FAMU College of Engineering Team 7 Needs Assessment and...
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