VOTERS - Northeastern University · • Automatic quantitative pavement surface analysis, indicates...
Transcript of VOTERS - Northeastern University · • Automatic quantitative pavement surface analysis, indicates...
VOTERSVersatile Onboard Traffic Embedded
Roaming Sensorsg
OverviewEnd of Year One NIST Site Visit
Ming L. Wang, Director
This work was performed under the support of the U.S. Department of Commerce, National Institute of Standards and Technology Technology Innovation Program Cooperative Agreement Number 70NANB9H9012
Northeastern University
Feb. 25th, 2010 | 1 www.neu.edu/votersP R O P R I E T A R Y
Technology, Technology Innovation Program, Cooperative Agreement Number 70NANB9H9012
Overview OutlineOverview Outline
VOTERS Vi i• VOTERS Vision
• Management
• Technical Highlights
• OutreachOutreach
• Summary
Feb. 25th, 2010 | 2 www.neu.edu/votersP R O P R I E T A R Y
Vi iVision
Reliable, safe, and cost effective highwayeffective highway maintenance system
A systems approach
Feb. 25th, 2010 | 3 www.neu.edu/votersP R O P R I E T A R Y
Reasons for Infrastructure Vulnerability
• Poor or incomplete knowledgeknowledge
• Lack of data prevents critical decision making
• Current condition inCurrent condition in disrepair
• Lack of fund to repair
Feb. 25th, 2010 | 4 www.neu.edu/votersP R O P R I E T A R Y
Benefits of VOTERS SystemBenefits of VOTERS System
• Added value of VOTERS to existing and improved g pinfrastructure management systems
• Goal to make maintenance decision easier through more f l i f tiuseful information
– Denser spatial and temporal coverage
– Measurements providing useful information currently not usedp g y
• If some information (e.g. potholes, poor roadways) made public, it could make entities in charge of planning and management of maintenance more acco ntablemanagement of maintenance more accountable
• Raise awareness of how cost effects road and bridge conditions
Feb. 25th, 2010 | 5 www.neu.edu/votersP R O P R I E T A R Y
• Innovative Solutions for Infrastructure Management
• Use Vehicles of Opportunity as economic and safe fleet of sensor systems
• Collect reliable geo‐referenced multi‐sensor data sets with dense spatial and temporal coverage
• Provide added value information for pavement and bridge deck management
Feb. 25th, 2010 | 6 www.neu.edu/votersP R O P R I E T A R Y
VOTERS ‐ YEAR 1VOTERS YEAR 1
• Theme: Start R&D and Engineering on allTheme: Start R&D and Engineering on all individual VOTERS components (except MAP)
– Significant technical progress in many areasg p g y– Specifications for all subsystems are nearing completion
• Welcome Trilion Quality Systems to the VOTERS Joint Venture– In process added optical sensor system to VOTERS as important sensor subsystem
Feb. 25th, 2010 | 7 www.neu.edu/votersP R O P R I E T A R Y
ManagementManagement
Feb. 25th, 2010 | 8 www.neu.edu/votersP R O P R I E T A R Y
Areas of Responsibility
Management & Administrative Support Huston
Wang
Director: Ming L. Wang
Deputy Director:
TrilionBirken
Deputy Director: Sara Wadia‐Fascetti
Program Manager:J ff D ht
Trilion
Yu
Jeff Doughty
Consultants:• Infrasense
l
Rappaport
Supporting Organizations
• G. McDaniel• D. Busuioc
Trilion
Feb. 25th, 2010 | 9 www.neu.edu/votersP R O P R I E T A R Y
Management and Evaluation ProcessesManagement and Evaluation Processes
• Regular team meetings joining JV partners andRegular team meetings joining JV partners and consultants
• Progress will also be monitored by GANTT charts
• Evaluation will be governed by decision points
Feb. 25th, 2010 | 10 www.neu.edu/votersP R O P R I E T A R Y
Evaluation will be governed by decision points
Technical Highlightsg g
Feb. 25th, 2010 | 11 www.neu.edu/votersP R O P R I E T A R Y
VOTERS SYSTEM DIAGRAMVOTERS SYSTEM DIAGRAM
TEAS
GEARS
TEASe
RADAR Materials Characterization
DataRegistration
OnboardProcessing
MAP
BOSSCharacterization
SLiMR
SupportingSensor Systems
Processing
SOPRA
Feb. 25th, 2010 | 12 www.neu.edu/votersP R O P R I E T A R Y
Sensing Technologies TEASe: Tire Excited Acoustic Sensing• Adaptation of SONAR concepts to road surface analysis. Assesses subsurface
conditions.conditions.
GEARS: Gigahertz Electromagnetic Array Roaming Sensor • Radar system built to operate under vehicles at driving speed for on-the-fly
i i A b f di iinterpretation. Assesses subsurface conditions.
SLiMR: Surface Looking Millimeter Wave Radar• Automatic quantitative pavement surface analysis indicates pavement health• Automatic quantitative pavement surface analysis, indicates pavement health
(surface profile and crack density/porosity), ice, water, oil cover.
SOPRA: Surface Optical Profilometry Roadway Analysis• Phase profilometry technology uses digital pictures illuminated by periodic
shadows to profile road surfaces. Map roadway and bridge deck surface andobserve active cracking.
Feb. 25th, 2010 | 13 www.neu.edu/votersP R O P R I E T A R Y
Design Goals ClarifiedDesign Goals ClarifiedDetecting VOTERS Sensor Subsystem
Defect Category Primary Secondary Tertiary
ace Surface Contour SOPRA TEASe SLiMR
Surface Texture SOPRA/TEASe SLiMR
Surf
Surface Texture SOPRA/TEASe SLiMRSurface Condition(Materials Covering Roadway) SLiMR SOPRADebonding TEASe ‐ GEARSConcrete Subsurface TEASe GEARS
ubsurface
Concrete Subsurface TEASe GEARS ‐Rebar and Corrosion GEARS Lens GEARS ‐Roadway Layers GEARS ‐ TEASeSubsurface Moisture GEARS ‐ ‐
Su Expansion Joint Condition TEASe GEARS ‐Crack Activity SOPRA ‐ ‐
Density ‐ TEASe ‐
Feb. 25th, 2010 | 14 www.neu.edu/votersP R O P R I E T A R Y
Measured Acoustic Wave from Road Vibrations
4
5Microphone time history
6
8Acceleration time history
Pressure peak predicted from plane wave acoustic model
and acceleration peak
1
2
3
re (P
a)re (P
a)
0
2
4
ion
(g)
on (g)
-2
-1
0
Air
pres
suPressur
-8
-6
-4
-2
Acc
eler
at
Accelerometer is 0.5 m from the impact
Accelerati
-0.5 0 0.5 1 1.5 2 2.5
x 10-3
-4
-3
Time (s)Time (s)
-0.5 0 0.5 1 1.5 2 2.5
x 10-3
-12
-10
Time (s)
impact
Time (s)
Long Rayleigh wavelength
Feb. 25th, 2010 | 15 www.neu.edu/votersP R O P R I E T A R Y
Acoustic Sensor for Subsurface DamageAcoustic Sensor for Subsurface Damage
• Robust acoustic signature • Wireless sensor design for gdetected for subsurface road damage
gdynamic tire pressure
microPa)
Resonance Feature ~ 200 Hz
Debonded Sensor inside tire
e (dB re 20
Pressure
Frequency (Hz)
Feb. 25th, 2010 | 16 www.neu.edu/votersP R O P R I E T A R Y
GEARSGEARS• Technical challenges, initial specifications,
d l ti th id tifi d
Pulse Generator Circuit Board
and solution paths identified
• Pulse Generator – Strip line units developed,including controllable pulse shaping and high‐ Measured Gaussian Pulseg p p g gfrequency up conversion, signal amplified and launched through ultra‐wideband antenna
D t t i ti Picosecond Pulsar Metal Plate vs No• Demonstrate innovative,high performance, full‐waveform signal sampling 0.005
0.01
0.015
0.02
V)Picosecond Pulsar Metal Plate vs No
Plate Under Concrete Slab subtracted
Plate
No Plate
of launched signal
-0.02
-0.015
-0.01
-0.005
00 2 4 6 8 10 12 14
Volta
ge (V
Feb. 25th, 2010 | 17 www.neu.edu/votersP R O P R I E T A R Y
-0.025 Time (nanoseconds)
Novel Antenna Concepts for GPR FocusingAdding a delay line: td
•Focusing Lens Rebar Detector•Low profile Vivaldi feed elementLow profile Vivaldi feed element•Compact offset parabolic mirror
Alternative P b l id
Truck Undercarriage
Feed
Paraboloids
Collimated Rays
Feb. 25th, 2010 | 18 www.neu.edu/votersP R O P R I E T A R Y
Adjusted GEARS PlanAdjusted GEARS Plan
Feb. 25th, 2010 | 19 www.neu.edu/votersP R O P R I E T A R Y
SLiMR: Custom Built and COTS Radars• Distinguishes water‐infiltrated and Ice‐
coated roadway• Alerts on change in pavement condition• Alerts on change in pavement condition
with changing position
T ittTransmitter
Power
RF Reflectivity of Road Surfaces
12141618
Receiver
Power
02468
10
seline
sphaltsphaltsphalttated
phaltmin cre
tecre
te
crete
crete
rete rete
mV
Tx antenna Rx antenna
Base
Dry Asp
Dry Asp
Dry Asp
Dry Asphalt r
otatWet A
sp
Wet asphalt a
fter 3
mDry
concrDry
concrWet C
oncrWet C
oncr
~6mm ice on co
ncre
~6mm ice on co
ncre
Feb. 25th, 2010 | 20 www.neu.edu/votersP R O P R I E T A R Y
RADAR MATERIALS CHARACTERIZATION
GEARS
RADAR MATERIALS
TEASe
DataRegistration
Onboard
MAP
BOSS
– Dielectric database: 663 data points from 45 journal papers (until Feb. 21, 2010)
E i t l t f ilit C t t d CHARACTERIZATION
SLiMR
SupportingSensor Systems
Processing
ORSPA
BOSS
SOPRA
– Experimental measurement facility: Contact and non‐contact methods for 0.1 GHz to 20 GHz
– Theoretical investigation: Dielectric mixture d l f t h d th h i t
PCC specimens
models for two‐phase and three‐phase mixtures
PCC specimens
1 GHz5 GHz20 GHz 1 GHz 5 GHz 20 GHz
w/c = 0.35 w/c = 0.40
/
w/c = 0.35 w/c = 0.40
/Asphalt specimens
1 GHz 5 GHz 20 GHzw/c = 0.42 w/c = 0.45
w/c = 0.50 w/c = 0.55
w/c = 0.42 w/c = 0.45
w/c = 0.50 w/c = 0.55
Feb. 25th, 2010 | 21 www.neu.edu/votersP R O P R I E T A R Y
1 GHz 5 GHz 20 GHz1 GHz 5 GHz 20 GHz
SOPRA S rface Optical Profilometr Road a Anal sisSurface Optical Profilometry Roadway Analysis
• Road surface shape in 3D
• Roadway damage detection‐ Pot hole‐ Crackingg‐ Expansion Joints
• Optimized for 5mm resolution 2 iover 2m view
• Real‐time distance to surface
Vi i i t ti d t• Vision registration data
• Continuous road surface image
Feb. 25th, 2010 | 22 www.neu.edu/votersP R O P R I E T A R Y
g
BOSS and SYSTEM INTEGRATIONMAJOR ACCOMPLISHMENTS
• Put together experienced system integration teamg p y g
• Determined overall high‐level VOTERS system architecture
• Selected BOSS building blocks andassembled initial basic prototype
• Decided on following VOTERSstrategies:strategies:– 3‐Level Decision Making
– GPS based Timing Synchronization
– Data Collection Mode
• Working on Data Registration strategy
Feb. 25th, 2010 | 23 www.neu.edu/votersP R O P R I E T A R Y
DGPSB f i tBase: reference point
Rover: updates its accurate position
• Develop software from scratch.
I th t h lf t i i i• Improve the accuracy to half‐meter using inexpensivereceiver (<$100).
Trimble Copernicus GPS chip ($80)
Compact Magnetic‐Mount Antenna ($10)
• Communicate via commercial wireless channel.
($80)
Feb. 25th, 2010 | 24 www.neu.edu/votersP R O P R I E T A R Y
DGPS Results0 20 40 60 80 100 120 140 160 180 200
-1
0
1
Eas
t erro
r [m
]
DGPS on position: Rover1 error componets (east, north and vertical)
Point ABase Station
Time[s]
0 20 40 60 80 100 120 140 160 180 200
0
2
4
Time[s]
Nor
th e
rror [
m]
Point B
Point BRover 1
Time[s]
0 20 40 60 80 100 120 140 160 180 200-2
0
2
Time[s]
Ver
tical
erro
r [m
]
0 20 40 60 80 100 120 140 160 180 200
0
1
2
Time[s]
Eas
t erro
r [m
]
DGPS on position: Rover2 error componets (east, north and vertical)
Point CRover 2
Time[s]
0 20 40 60 80 100 120 140 160 180 200-2
0
2
Time[s]
Nor
th e
rror [
m]
Accuracy
Point C
[ ]
0 20 40 60 80 100 120 140 160 180 200-4
-2
0
Time[s]
Ver
tical
erro
r [m
]
AccuracyPoint B: East: 1 meters, North: 2 meters,
Vertical 0.2 meters.
Point C: East: 1 meters, North: 0.5 meters,
Vertical 2 meters
Feb. 25th, 2010 | 25 www.neu.edu/votersP R O P R I E T A R Y
Vertical 2 meters.
Outreach summaryOutreach summary
• Patent disclosures: 4Patent disclosures: 4
• Papers: 5
C f b i i• Conference submissions: 5
• Proprietary issue is hold back publications
• Public relation: magazines and newspapers
• Website: www neu edu/votersWebsite: www.neu.edu/voters
• Industry interest : 20
Feb. 25th, 2010 | 26 www.neu.edu/votersP R O P R I E T A R Y
Upcoming VOTERS Year 2Upcoming VOTERS Year 2
• Theme: Complete experimental prototypes ofTheme: Complete experimental prototypes of individual VOTERS components, start integration and field testingintegration and field testing
• First sensor subsystem experimental prototypes will become available (e g SLiMRprototypes will become available (e.g. SLiMR, Sept. 2010)
E j d i TEAS GEARS• Expect major advances in TEASe, GEARS, SOPRA, and DGPS
Feb. 25th, 2010 | 27 www.neu.edu/votersP R O P R I E T A R Y
Expanding VOTERSExpanding VOTERS
• Other roaming sensor ideasOther roaming sensor ideas
• Other interest: Airports
ild i d i• Build on industry interest
• Link MAP into existing roadway and bridge deck management systems and demonstrate added value
Feb. 25th, 2010 | 28 www.neu.edu/votersP R O P R I E T A R Y
SummaryyWhat do we like to achieve today ?
• Team work
f• Report to NIST of our progress and new opportunity
• Seek guidance from NIST TIP• Seek guidance from NIST‐TIP program manager and the team
Feb. 25th, 2010 | 29 www.neu.edu/votersP R O P R I E T A R Y