afiqah binti ismaileprints.utm.my/id/eprint/80859/1/afiqahismailmska2019.pdfempangan dan juga tiang...
TRANSCRIPT
CRACK DETECTION ON RETAINING WALL BY USING THERMAL
CAMERA AND IMAGE PROCESSING TECHNIQUE
AFIQAH BINTI ISMAIL
A project report submitted in fulfilment of the
requirement for the award of the degree of
Master of Engineering (Geotechnics)
School of Civil Engineering
Faculty of Engineering
Universiti Teknologi Malaysia
JANUARY 2019
iii
DEDICATION
This thesis is dedicated to my father, who taught me that the best kind of
knowledge to have is that which is learned for its own sake. It is also dedicated to my
mother, who taught me that even the largest task can be accomplished if it is done
one step at a time.
iv
ACKNOWLEDGEMENT
In preparing this thesis, I was in contact with many people, researchers and
academicians. They have contributed towards my understanding and thoughts. In
particular, I wish to express my sincere appreciation to my main thesis supervisor,
Associate Professor Dr. Ahmad Safuan bin A. Rashid for encouragement, guidance,
critics and friendship.
I am also very thankful to my lecturers, Associate prof Dr Mushairry bin
Mustaffar and Dr Radzuan Sa’ari for their guidance and advices in analysing the data.
Without their continued support and interest, this thesis would not have been the same
as presented here. I am also indebted to Survey unit department of Universiti
Teknologi Malaysia (UTM) for allowing me to borrow their equipment and tools for
my project.
My fellow postgraduate student should also be recognised for their support.
My sincere appreciation also extends to all my colleagues and others who have
provided assistance at various occasions. Their views and tips are useful indeed.
Unfortunately, it is not possible to list all of them in this limited space. I am grateful
to all my family member and my fiancé for the support they gave to me. I am more
than blessed. Alhamdulillah.
v
ABSTRACT
Monitoring on geotechnical structure such as retaining wall, beams and dams
is an essential task to retain its serviceability. One of the necessary component to be
monitored is the presence of crack. In this paper, the potential of infrared
thermography (IRT) as an operational tool for detecting cracks was tested and
demonstrated on retaining wall. Two main work phase is employed in this study. First
phase is focused on fieldwork which involve capturing the image by using infrared
thermal (IRT) camera and digital single lens camera (DSLR). Second phase is focused
on image processing technique by using a MATLAB numerical software. Targeted
crack sample from the retaining wall have been scratched to observe the deformation
of the crack before and after scratching. Analysis of the infrared thermal (IRT) image
show that crack stand as cold area (low temperature) with respect to surrounding area.
Disturbance of the heat flow allow the thermal camera to detect the presence of crack
on retaining wall. Processing of the image extracted allows geometric characterization
and direction of propagation of the crack through the wall to be determine. Within
limited testing, detection and analysis of cracks is better with the proposed method
because it is economical, can reduce time and involve no contacts. This paper presents
a preliminary study for further inspection development on retaining wall.
vi
ABSTRAK
Pemantauan terhadap struktur geoteknik seperti dinding penahan tanah,
empangan dan juga tiang pengukuh struktur adalah penting bagi memastikan
fungsinya untuk mengekalkan kestabilan dapat berjalan lancar. Antara komponen
yang perlu diperhatikan pada struktur geoteknik adalah kehadiran retakan.
Penggunaan kamera berdasarkan sinar haba inframerah digunakan dan diuji bagi
mengesan retakan pada dinding penahan. Terdapat dua fasa kerja dalam kajian ini.
Fasa pertama tertumpu pada kajian lapangan di mana gambar struktur dinding penahan
akan diambil menggunakan kamera sinar inframerah dan juga kamera digital.
Kawasan retakan yang terdapat pada dinding penahan ditoreh bagi menguji dan
melihat perbezaan sebelum dan selepas retakan itu dibesarkan. Fasa kedua tertumpu
kepada kaedah memproses data dan maklumat yang dikumpulkan. Gambar yang telah
ditangkap akan diproses menggunakan perisian MATLab. Keputusan sinar haba
inframerah terhadap retakan yang terdapat pada dinding penahan menujukkan
kawasan retakan mempunyai suhu yang rendah dan dikategori sebagai kawasan yang
sejuk manakala permukaan dinding penahan yang lain menunjukkan suhu yang lebih
tinggi dan dikategori sebagai kawasan yang panas. Gangguan terhadap pengaliran
haba menyebabkan retakan dapat dikenalpasti. Selain itu, hasi analisis gambar
menunjukkan arah retakan dan perubahan yang berlaku pada dinding penahan. Hasil
kajian ini membuktikan kaedah berdasarkan sinar haba inframerah dan teknik
memproses gambar memudahkan proses mengenalpasti retakan dan mengetahui
perubahan yang berlaku pada retakan.Kaedah ini lebih menjimat masa, tidak
memerlukan sentuhan dengan subjek yang diuji dan juga lebih ekonomi. Kertas kerja
ini merupakan kajian permulaan dalam melakukan pemantauan terhadap dinding
penahan.
vii
TABLE OF CONTENTS
TITLE PAGE
DECLARATION ii
DEDICATION iii
ACKNOWLEDGEMENT iv
ABSTRACT v
ABSTRAK vi
TABLE OF CONTENTS vii
LIST OF TABLES ix
LIST OF FIGURES x
LIST OF ABBREVIATIONS xii
LIST OF APPENDICES xiii
CHAPTER 1 INTRODUCTION 1
1.1 Problem Background 1
1.2 Problem Statement 1
1.3 Research Goal 1
1.3.1 Research Objectives 3
1.4 Scope of project 4
1.5 Limitation 4
1.6 Significance of project 4
1.7 Thesis outline 5
CHAPTER 2 LITERATURE REVIEW 7
2.1 Introduction 7
2.2 Type of crack 7
2.3 Causes of the crack occurence 8
2.4 Image Processing Technique 8
2.5 Existing method on detection of crack 9
2.5.1 Ultrasonic Image 10
viii
2.5.2 UAV camera image 10
2.5.3 Camera based image 11
2.5.4 Laser Image 11
2.6 Concept of thermography 12
2.6.1 Infrared thermography method 12
2.6.2 IR Thermal Imaging Camera 13
2.7 Particle Image Velocimetry (PIV) 15
CHAPTER 3 RESEARCH METHODOLOGY 19
3.1 Introduction 19
3.2 Data Collection 20
3.2.1 Thermal Imaging 21
3.2.2 Digital Single Lens Camera 22
3.2.3 Camera Calibration 23
3.2.4 Data Acquisition 25
3.3 Data Processing 28
3.3.1 Infrared Thermography image 29
3.3.2 Particle Image Velocimetry (PIV) 29
CHAPTER 4 RESULT AND DISCUSSION 30
4.1 Infrared Thermography Image 30
4.1.1 Retaining Wall A 32
4.1.2 Retaining Wall B 34
4.2 Particle Image Velocimetry 36
4.3 Chapter Summary 44
CHAPTER 5 CONCLUSION AND RECOMMENDATIONS 45
5.1 Research Outcomes 45
5.2 Contributions to Knowledge 46
5.3 Future Works 46
REFERENCES 47
ix
LIST OF TABLES
TABLE NO. TITLE PAGE
Table 2.1 Classification of crack based on crack width 8
Table 2.2 Regression analysis for the results of preliminary feature
screening 13
Table 2.3 Thermal Imaging Surveillance System Model (Wong et al.,
2009). 14
Table 3.1 Thermal camera specifications 22
Table 3.2 XY coordinate of target marker 24
x
LIST OF FIGURES
FIGURE NO. TITLE PAGE
Figure 2.1 Preprocessing of crack (Lee et al., 2007) 9
Figure 2.2 Procedure on calculating crack width 10
Figure 2.3 Thermal Imaging Surveillance System Model (Wong et al.,
2009) 14
Figure 2.4 Thermal images with temperature range(Wong et al., 2009)
14
Figure 2.5 Schematic view of the setup 15
Figure 2.6 Schematic diagram of image set up of PIV (J Westerweel) 17
Figure 2.7 PIV analyses workflow in MATLAB 17
Figure 3.1 Flowchart of methodology 19
Figure 3.2 Location of retaining wall 20
Figure 3.3 Equipment used in collecting data 20
Figure 3.4 Digital Single Lens Camera 22
Figure 3.5 Target Marker 23
Figure 3.6 Process in capturing the image of crack 25
Figure 3.7 Diagram illustrating position of camera at site 25
Figure 3.8 Image of crack 26
Figure 3.9 Image of crack on retaining wall B 27
Figure 3.10 Surface temperature taken on retaining wall 27
Figure 3.11 Measuring crack width using Vernier calliper 28
Figure 3.12 FLIR Tools Software 29
Figure 3.13 Steps in analysing the crack using MATLAB Software Particle 30
Figure 3.14 Processing of the crack image 31
Figure 4.1 Raw thermography image 32
Figure 4.2 Raw thermography image 33
Figure 4.3 Distribution of temperature on the wall by infrared thermography and
temperature recorded at site 34
Figure 4.4 Temperature at specific location of the image 34
Figure 4.5 Thermal image of retaining wall B 35
xi
Figure 4.6 Thermal image of uppert part on retaining Wall B. 36
Figure 4.7 Contour along horizontal direction of the crack 38
Figure 4.8 Contour along horizontal direction of the crack 39
Figure 4.9 Contour with temperature distribution 40
Figure 4.10 Contour with temperature distribution 40
Figure 4.12 Image Analysis by Vector Flow 41
Figure 4.13 Image analysis by vector flow (base and enlarge image) 43
xii
LIST OF ABBREVIATIONS
IR - Infrared Thermography
DSLR - Digital Single Lens Camera
PIV - Particle Image Velocimetry
NDT - Non Destructive Testing
xiii
LIST OF APPENDICES
APPENDIX TITLE PAGE
Appendix A Schematic Diagram of Retaining Wall B 50
Appendix B Schematic Diagram of Retaining Wall A 51
Appendix C Thermal Image of Retaining Wall A 52
Appendix D Thermal Image of Retaining Wall B 53
Appendix E GeoPIV Software Usage (White et al., 2002) 54
Appendix F Vector around scratched area 56
Appendix G Contour along vertical direction 57
Appendix H Contout along horizontal direction 58
Appendix I Testing the PIV method on wall before and after crack occur 59
1
CHAPTER 1
INTRODUCTION
1.1 Problem Background
This chapter outline the objectives, methodology and arranged plan for a
research project that will be carried out as a partial fulfilment for the Master of Civil
Engineering (Geotechnics), University Technology Malaysia. This project will be
conducted during second and third semester of 2018/2019 session. The title of the
proposed project is “Evaluation of Cracks on Retaining Wall by using Thermal Camera
and Image Processing Technique”.
Monitoring and maintenance of geotechnical structure such as retaining wall,
earth-fill dams and beams is an essential task to retain its serviceability. Mageswari,
Divakar & Aravind (2016) stated that it is effective to monitor the structural health of
a building, so that the life cycle cost of a building can be reduce from construction to
maintenance. One of the necessary component to be monitored is the presence of
cracks. This is because a structure will develop cracks whenever the stress in the
components exceeds its strength. Traditionally, visual inspection has been done to
monitor the cracks on building. However, this method need specialist knowledge and
experience, lacks objective and time consuming. Automation of this process was
suggested by researchers to increase the productivity, efficiency and also the
inspection cycles.
1.2 Problem Statement
Concrete retaining walls are the most common type of geotechnical structures
that function to control lateral pressure and resist the back soil or other materials when
there is a change in elevation. It is used for stabilizing the slope and provide space at
2
highway, structures below the ground level and around the building. However in
Malaysia, there are quite numbers of issues related to the failure of retaining wall such
as on 2017 at Tanjung Bungah, Penang and same year occur at Bangsar, Kuala
Lumpur. There are also 8 failures in rapid rail transit works that were related to
retaining walls and strutting works and the failures resulted in economic loses and
collapsed building (Moh & Hwang, 2007). When concrete retaining wall fail, it will
not only cause an extensive damage of the landscape but the price to repair is also
costly. Thus, preventive measures or regular inspection need to be taken to prevent
this kind of problem to be happen.
To prevent subsequent damage, early detection of growing cracks is one of the
major concerns in engineering. Crack usually initiate at the microscopic level on the
structure surface. When cracks in these structures are created, the stability may be
enforced and causes to defeat. Cracking can be result of one or a combination factors,
all of which involve some form of restraint. The factors include drying and shrinkage,
thermal contraction or expansion, settlement, differential bearing capacity and stresses
from applied force or load. Due to some limitations in manual inspection, automatic
crack detection have been suggested to give better analysis. Recently, non-destructive
testing (NDT) techniques is proposed as a method in detecting crack such as ultrasonic
testing, infrared and thermal testing, laser testing and radiographic testing (Mohan and
Poobal, 2017).
Among these technologies, thermography testing is seen as a possible approach
in provide an easy visualisation data for crack studies. Thus, the scientific interest of
this paper is to apply the infrared (IR) thermography camera in detecting the crack on
retaining wall. A thermal camera detects radiation in the infrared range of the
electromagnetic spectrum and produces images of that radiation. According to the
black body radiation law, all objects emit the infrared radiation with intensity related
to their temperatures. The amount of radiation emitted by an object increases with
temperature. Therefore, the thermography allows to see the area as variations in
temperature of the target objects.
3
In 2008, thermographic testing has been applied by STARMANS electronic
s.r.o in determine crack on square steel bars used in automotive industry. Starman (
2008) mentioned that the system show faster inspection times, excellent detection
sensitivity and it has ability to detect hidden, subsurface cracks. Besides, Martin et al.,
(2016) also used thermal images to predict different depth of cracks on steel and the
results demonstrate good precision of the method in predict depth values of crack with
15% of maximum deviation. Since thermal camera can be used to inspect the heat loss,
it may suitable to be apply in detecting the location of the cracks on the geotechnical
engineering structure.
1.3 Research Goal
The aim of this study is to apply the thermal testing method to detect and
analyse crack on geotechnical structure.
1.3.1 Research Objectives
The objectives of the research are:
(a) To detect cracks on retaining wall by using infrared thermography method.
(b) To determine displacement and orientation of the cracks on retaining wall by
using image processing technique
(c) To establish a thermal model representing temperature distribution of retaining
wall with propagation of the cracks.
4
1.4 Scope of Project
This study was undertaken to capture the retaining wall image by using thermal
camera and subsequently processing them using computer to detect and analyse the
characterization of crack. Therefore, the scope of this thesis can be summarized as:
(a) Capture the image of retaining wall by using thermal camera and transfer it
into the computer to identify the cracks.
(b) Develop suitable image processing technique in classifying and quantifying
different type of cracking based on width, length or other properties.
(c) Establish a thermal model of the structure with the surface temperature.
(d) Assessing the performance of the proposed method against existing methods
in term of accuracy and practicality.
1.5 Limitations
The research will be limited to :
(a) The distance between the sensor (thermal camera) and the crack.
(b) Weather conditions (light, wind and surrounding temperature).
(c) Time for the data collection.
(d) The location of the structure of study.
1.6 Significance of the project
(a) Propose a two dimensional analysis with both quantitative and qualitative data
extraction.
5
(b) Provide an alternative method in crack detection system, which is viable to be
apply in maintenance the geotechnical structure.
Replace the existing manual inspection due to several limitations.
1.7 Thesis Outline
This paper will be consist of five chapters. Presentation of the findings of the
present investigation begins in chapter two with a literature review describing the
background of study. The type and causes of cracks, the non-destructive methods,
existing image processing techniques for crack detection are reviewed. Besides, the
theory involved in thermography are also discussed.
Chapter three explains the processes to be followed using the thermal testing
technique. In addition, this chapter will describes the image processing developed
including, how to detect the cracks and cracking classification. Simple manual method
assessments are discussed.
Chapter four present the result obtained from the proposed method. The results
are compared and validated using a visual inspection.
Chapter five discusses and concludes the findings of the project. Future work
of this topic is also suggested.
47
REFERENCES
Broberg, P., & Runnemalm, A. (2012). Detection of surface cracks in welds using
active thermography. Paper presented at the 18th World Conference on
Nondestructive Testing, Durban, South Africa.
Choi, J., Zhu, L., & Kurosu, H. (2016). Detection of Cracks in Paved Road Surface
Using Laser Scan Image Data. International Archives of the Photogrammetry,
Remote Sensing & Spatial Information Sciences, 41.
Costa, S., Kodikara, J., & Thusyanthan, N. (2008). Modelling of desiccation crack
development in clay soils. Paper presented at the Proc. 12th International
Conference of IACMAG, Goa, India.
Hosseini, A., Mostofinejad, D., & Hajialilue-Bonab, M. (2014). Displacement and
strain field measurement in steel and RC beams using particle image
velocimetry. Journal of Engineering Mechanics, 140(11), 04014086.
Iliopoulos, S., Aggelis, D., Pyl, L., Vantomme, J., Van Marcke, P., Coppens, E., &
Areias, L. (2015). Detection and evaluation of cracks in the concrete buffer of
the Belgian Nuclear Waste container using combined NDT techniques.
Construction and Building Materials, 78, 369-378.
J, S. K. R., Kumar V, S., Sudhir V, R., & V, V. (2009). Study of Cracks in Buildings.
Kashyzadeh, K. R., & Kesheh, N. A. (2012). Study type of Cracks in construction and
its controlling. International Journal of Emerging Technology and Advanced
Engineering, 2(8).
Lee, B. Y., Kim, J.-K., Kim, Y. Y., & Yi, S.-T. (2007). A technique based on image
processing for measuring cracks in the surface of concrete structures. Paper
presented at the Proceedings of the 19th International Conference on Structural
Mechanics in Reactor Technology (SMiRT-19).
Mageswari, M., Divakar, S., & Aravind, S. (2016). The Study on Structural Crack
Detection Using Ultrasonic Sensors. International Journal of Engineering
Science, 3146.
Maierhofer, C., & Röllig, M. (2009). Active thermography for the characterization of
surfaces and interfaces of historic masonry structures. Paper presented at the
48
Proceedings of the 7th International Symposium on Non-destructive Testing in
Civil Engineering (NDTCE), Nantes, France.
Maldague, X. P. (2002). Introduction to NDT by active infrared thermography.
Materials Evaluation, 60(9), 1060-1073.
Meola, C., Carlomagno, G. M., Squillace, A., & Giorleo, G. (2002). Non-destructive
control of industrial materials by means of lock-in thermography.
Measurement Science and Technology, 13(10), 1583.
Mohan, A., & Poobal, S. (2017). Crack detection using image processing: A critical
review and analysis. Alexandria Engineering Journal.
Moh, Z.-C., & Hwang, R. N. (2007). Construction Failures and Risk Management of
Subway Projects [J]. Urban Rapid Rail Transit, 6, 002.
Pereira, F. C., & Pereira, C. E. (2015). Embedded image processing systems for
automatic recognition of cracks using UAVs. IFAC-PapersOnLine, 48(10), 16-
21.
Plesu, R., Teodoriu, G., & Taranu, G. (2012). Infrared thermography applications for
building investigation. Buletinul Institutului Politehnic Din Lasi. Sectia
Constructii, Arhitectura, 58(1), 157.
Rabah, M., Elhattab, A., & Fayad, A. (2013). Automatic concrete cracks detection and
mapping of terrestrial laser scan data. NRIAG Journal of Astronomy and
Geophysics, 2(2), 250-255.
Rivera, J. P., Josipovic, G., Lejeune, E., Luna, B. N., & Whittaker, A. S. (2015).
Automated Detection and Measurement of Cracks in Reinforced Concrete
Components. ACI Structural Journal, 112(3).
Rodríguez-Martín, M., Lagüela, S., González-Aguilera, D., & Rodríguez-Gonzálvez,
P. (2016). Crack-depth prediction in steel based on cooling rate. Advances in
Materials Science and Engineering, 2016.
Said, K. N. M., Rashid, A. S. A., & Yunus, N. Z. M. (2017). Settlement Measurement
Of Soft Soil By Close Range Photogrammetry And Particle Image Velocimetry
Technique. Malaysian Journal Of Civil Engineering, 29.
Şanal, İ., Zihnioğlu, N. Ö., & Hosseini, A. (2015). Particle image velocimetry (PIV)
to evaluate fresh and hardened state properties of self compacting fiber-
reinforced cementitious composites (SC-FRCCs). Construction and Building
Materials, 78, 450-463.
49
Slominski, C., Niedostatkiewicz, M., & Tejchman, J. (2007). Application of particle
image velocimetry (PIV) for deformation measurement during granular silo
flow. Powder Technology, 173(1), 1-18.
Spampinato, L., Calvari, S., Oppenheimer, C., & Boschi, E. (2011). Volcano
surveillance using infrared cameras. Earth-Science Reviews, 106(1-2), 63-91.
Stanier, S. A., Blaber, J., Take, W. A., & White, D. (2015). Improved image-based
deformation measurement for geotechnical applications. Canadian
Geotechnical Journal, 53(5), 727-739.
Starman, S., & Matz, V. (2011). Automated system for crack detection using infrared
thermographic testing.
Suprenant, B. A., & Basham, K. D. cracks in concrete walls.
Thagunna, G. (2014). Building cracks–causes and remedies. Paper presented at the
3rd World Conference on Applied Sciences, Engineering & Technology at
Basha Research Centre.
White, D., Take, W., & Bolton, M. (2003). Soil deformation measurement using
particle image velocimetry (PIV) and photogrammetry. Geotechnique, 53(7),
619-631.
Wilson, J., Tian, G., Mukriz, I., & Almond, D. (2011). PEC thermography for imaging
multiple cracks from rolling contact fatigue. NDT & E International, 44(6),
505-512.
Wong, W. K., Tan, P. N., Loo, C. K., & Lim, W. S. (2009). An effective surveillance
system using thermal camera. Paper presented at the Signal Acquisition and
Processing, 2009. ICSAP 2009. International Conference on.
Wolf, J., Pirskawetz, S., & Zang, A. (2015). Detection of crack propagation in concrete
with embedded ultrasonic sensors. Engineering Fracture Mechanics, 146, 161-
171.
Yang, Y.-S., Yang, C.-M., & Huang, C.-W. (2015). Thin crack observation in a
reinforced concrete bridge pier test using image processing and analysis.
Advances in Engineering Software, 83, 99-108.
Yunusa, G. H., Hamza, U., Abdulfatah, A. Y., & Suleiman, A. (2013). Geotechnical
Investigation into the Causes of Cracks in Building: A Case Study. Publication
of EJGE, 18, 2823-2833.