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Automated Bridge Scour Inspection

Automated Bridge Scour Inspection. FSU/FAMU College of Engineering Team 7 Proposal 10/27/2010. Top-Level Design Block. Griffin Francis - ME. Vertical Motion Module Circumferential Motion Module SONAR Tilt. Vertical Motion Module. Objective:

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Automated Bridge Scour Inspection

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  1. Automated Bridge Scour Inspection FSU/FAMU College of Engineering Team 7 Proposal 10/27/2010

  2. Top-Level Design Block

  3. Griffin Francis - ME Vertical Motion Module Circumferential Motion Module SONAR Tilt

  4. Vertical Motion Module • Objective: • Mechanically achieve motion with respect to sea floor • Considerations for Approach: • Drive train design • Constraining motion • Motor control

  5. Vertical Motion Module • Design Concepts: • Pulleys, geared drive, thrusters, buoyancy manipulation, rollers • Proposed Approach: • High-friction contact rollers • Worm-gear drive train • Non-driven guide rollers • DC motor with control unit

  6. Vertical Module Concept

  7. Circumferential Motion Module • Objective: • Mechanically achieve motion with respect to circumference of piling • Considerations for Approach: • Drive train design • Constraining motion • Motor control

  8. Circumferential Motion Module • Design Concepts: • Geared drive, thrusters, rollers • Proposed Approach: • High-friction contact roller • Slot guided bearings • DC motor with control unit

  9. Circumferential Motion Module Concept

  10. SONAR Tilt • Objective: • Mechanically position SONAR sensor with respect to vertical axis of piling • Considerations for Approach: • Independent motion • Constraining motion • Motor control

  11. SONAR Tilt • Proposed Approach: • SONAR sensor boom • Hinged to circumferential module • Servo motor for hinge rotation • Controlled directly by microcontroller

  12. SONAR Tilt Concept

  13. Assembled Concept

  14. Schedule: Griffin

  15. Matthew Kent - ME Localization Robot Structure Fabrication

  16. Encoders • Optical Rotary Encoders • At least two Channels • Incremental • Speed • Placement • Resolution • Durability • Waterproof

  17. System Structure • Waterproof housing for Electronics • Cables • Rotating Shafts (Difficult) • Materials and Fasteners • Lightweight • Corrosion Resistant

  18. Schedule: Matt

  19. Ryan Szoke - EE • Electronics: • SONAR • Power Supply Design • Electrical System Integration

  20. SONAR Sensor • Buy and Test SONAR Sensors - Budget limits • Test for Accuracy, Resolution, Range - Use best sensor after testing multiple ones • SONAR used for depth readings & scour data collecting - Lots of testing with programming and mechanical movements

  21. Power Supply Design Battery (need all specs) Voltage Regulators (if component does not have one) Circuit Protection (Fuses) On/Off Switch AGM Battery Capacity 12000mAh (12aH) Voltage 6.0 V Size 5.94 x 1.34 x 3.70 in. Weight 4.6 lbs (getting heavy) Price $13.99

  22. Electrical System Integration Wiring Electrical Components - Connect motor controller, microcontroller to battery - All connections secured

  23. Schedule: Ryan

  24. Dezmond Moore - CPE • Microcontroller Programming: • Autonomous Operation

  25. Program Modules • Vertical Movement • Encoder • Sonar • Motor Controller • Circumferential Movement • Encoders • Motor Controller • Sonar Tilt • Servo

  26. Vertical Movement Flow Chart

  27. Circumferential Movement Flow Chart

  28. SONAR Tilt Flow Chart

  29. Schedule: Dezmond

  30. Drew Doan - CPE • Microcontroller Programming: • SONAR • Software Development: • Mapping Software

  31. SONAR Sensor Programming • SONAR sends/receives sound wave • Time from transmission to reception needs to be converted to a distance by microcontroller • Distance = (Speed of Sound * Time) / 2 • Freshwater ~1500m/s • Saltwater ~1435m/s • Distance stored in RAM on microcontroller • Activated at every “scan point”

  32. Software Development • Once scan is complete, robot returns to surface for data analysis • The microcontroller is connected to an external computer via USB • The data needs to be used to create a 3D image of the scour region surrounding the bridge pile • Program needs to automatically read the data and use it as the input for the image processing software and produce an image w/ minimal work by technician • Image should be easily readable and understood; ideally a key will be included showing depth/color relationships

  33. Mapping • Data @ each “scan point”: • Vertical Position • Circumferential Position • Angle of sensor • Distance to target • Use Mathscript in LabVIEW to design a program w/ MATLAB functions that converts the data into x,y,z coordinates

  34. Possible Outcomes LabVIEW Visual Data

  35. Schedule: Drew

  36. Budget

  37. Full Schedule

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