Research and Development Improved Lock/Navigation Structure Inspections (underwater) Improved...
Transcript of Research and Development Improved Lock/Navigation Structure Inspections (underwater) Improved...
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/
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
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
Research and Development
Understanding the Didson’s Output
Perceived ‘camera’ location
Didson
Z axis ~ time
Perceived Light location
Z axis ~ time
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.
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)
Research and Development
Limestone RocksObjects on concrete floor
Horizontal Orientation
Research and Development
3d model photo Didson Video
Video of blocks being rotated Photograph of Targets
Research and Development
Manually created composite
Vegetation
Early Overlays (manual)
Research and Development
Automated Overlay and Mosaic
River Bank Matting Resolution improved through frame averaging
Raw Frame
Processed
Research and Development
Improved Archive Format and Resolution
Images of Mississippi River Bank Matting
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
Research and Development
Broken Concrete PlateBroken Concrete PlateInspections:
• DeteriorationDeterioration• Impact damageImpact damage• Settlement Settlement • Scour / DebrisScour / Debris
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”
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
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/