Research and Development Improved Lock/Navigation Structure Inspections (underwater) Improved...
Transcript of Research and Development Improved Lock/Navigation Structure Inspections (underwater) Improved...
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Research and Development
Improved Lock/Navigation Structure Inspections
(underwater)
Improved Lock/Navigation Structure Inspections
(underwater)
Presented by : Richard Haskins (601) 634 2931
Alternate POC: Jim Evans (601) 634 2535
Engineering Research and Development CenterU.S. Army Corp of Engineers 3909 Halls Ferry RdVicksburg, MS 39180
ftp://erdcftp.erdc.usace.army.mil/pub/itl/Imaging%20System/Imaging%20Files/
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Research and Development
Didson Sonar TransducerDidson Sonar Transducer
Didson: Background InformationDidson: Background Information
• Developed at University of
Washington for the DOD
• Combines high frequency transducer
arrays and mechanical focusing to
produce video output
• Energy focused in transmission and
reception (Fan beam shape)
• Applications and resolution
beyond traditional
sonar
Focussensor
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Research and Development
Deployment and Data Integration
Underwater Imaging System
•Electric Motor (closed loop trolling)
• Power Generator
•Wide Screen Real Time Display
•On-Board GPS
•Pan and Tilt Control (Joystick)
•Acoustic Camera Control
•Data Storage (DVD)
•ROV
Didson pole mount
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Research and Development
Understanding the Didson’s Output
Perceived ‘camera’ location
Didson
Z axis ~ time
Perceived Light location
Z axis ~ time
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Research and Development
Horizontal Orientation Vertical Orientation
Matching camera and target orientationMatching camera and target orientation
Didson beam-width and resolution are lowest along the narrow dimension of the acoustic lens.
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Research and Development
Acoustical Image of Lower Casing End-
Plate
Photo of Upper Casing End-
Plate
Vertical Orientation
ERDC/St.Louis/Louisville Districts Field Demo
(18 March 02 - Cape Girardeau and Olmstead Lock and Dam)
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Research and Development
Limestone RocksObjects on concrete floor
Horizontal Orientation
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Research and Development
3d model photo Didson Video
Video of blocks being rotated Photograph of Targets
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Research and Development
Manually created composite
Vegetation
Early Overlays (manual)
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Research and Development
Automated Overlay and Mosaic
River Bank Matting Resolution improved through frame averaging
Raw Frame
Processed
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Research and Development
Improved Archive Format and Resolution
Images of Mississippi River Bank Matting
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Research and Development
Enhanced Mosaiced Views of various rocks and debris
Cast Shadows •measure distances•Plane Alignments
Cast Shadows •measure distances•Plane Alignments
Fish (moving) Mosaic AMosaic B
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Research and Development
Broken Concrete PlateBroken Concrete PlateInspections:
• DeteriorationDeterioration• Impact damageImpact damage• Settlement Settlement • Scour / DebrisScour / Debris
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Research and Development
Underwater Positioning andInspections of Structures
Buoy
ImagingSystem
Remotely Operated Vehicle
Target Applications
•outlet works•conduits •toe drains •penstocks •pipelines•dam faces•Gates•Locks
“In the Wet Construction”
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Research and Development
Photogrammetry and 3d visualizationPhotogrammetry and 3d visualization
• Real Time 3D Video (15 fps)Video (15 fps)Yaw, pitch, rollYaw, pitch, rollX,Y,Z (gps)X,Y,Z (gps)
• Post Prossed example (High resolution) (decreased shadowing) (depth enhancement)
FUTURE OBJECTIVES• Photogrammetry • 3D model extraction (VRML)• GIS insertion
scan 1
scan 2
Delay
StereoscopicLCD Shutters (crystal eyes)
Future
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Research and Development
High Resolution Acoustic Imaging Camera
SummaryWhere we are NOW:
1) Improving the image using advanced
signal processing.
2) Integrating camera system into a common platform (boat)
3) Transfer information on the technology to the Corps of Engineers Districts and Divisions through workshop participation, Users Group, Site surveys, and web sites.
ftp://erdcftp.erdc.usace.army.mil/pub/itl/Imaging%20System/Imaging%20Files/