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/