1. Automated Bridge Scour Inspection FSU/FAMU College of Engineering Team 7 Needs Assessment and Project Scope 09/29/2010

2. Members: Ryan Szoke EE (Project Manager) – Power, sensors Drew Doan CPE (Recorder) – Microprocessors, image processing Dezmond Moore CPE (Treasurer) – Data collection, programming Griffin Francis ME – Controls, odometry, locomotion Matthew Kent ME – Platform design, motors

3. What is Bridge Scour? - Erosion of material at splash zone - Costly phenomenon - Inadequate inspection methods

4. Simulated Scour Zone

5. - Develop and Design an autonomous robotic system to inspect bridge foundations using SONAR technology to monitor scour conditions Our Goal

6. Our Objective - Develop autonomous platform - Provide adequate inspection data - Long-term monitoring

7. 3D SONAR Image Naismith Marine Services

8. High priority of required capabilities - Movement with respect to bridge substructure - Use sonar to inspect/record scour-3D-image - Autonomous operation

9. Lower Priority of Required Capabilities - System easily portable - Deployed by few technicians

10. Higher Priority of Desired Capabilities - Capture video during inspection - Lighting for visibility for camera video - Safety line

11. Lower Priority of Desired Capabilities - Easy maintenance - Easy operation by a trained technician - Withstand rough currents/debris - Can be deployed on various bridge substructures - Attractive robot design

12. User Operation - Device is deployed at surface - Installation via existing guide-rail - System is started - Autonomous scan of scour zone

13. User Operation - Possible video inspection - Device returns to surface for extraction - Device is attached to interface for analysis - Contour map obtained from data

14. Functional Requirements - Utilize SONAR sensors for mapping - Adequate memory storage - Observes scour in coarse/medium sand - Operates in waterways with depths up to 30 ft - Withstand flow velocities of 3.5 m/s - SONAR resolution of approximately 1.0 ft

15. Non-Functional Requirements - Sufficient battery life for run sequence - Allows testing of multiple SONAR sensors - Utilize LabVIEW, C-programming, or similar

16. Constraints - Utilization of existing substructure - Waterproof - Robust to environment - Adequately sized and constrained for inspection - Cost less than $3,000

17. General Test Plan - Device deployed by team - Simulate bridge substructure - Simulate scour conditions - Autonomous scan of scour region - Removal of device - Use interface for mapping - Compare mapping with simulated condition

18. Testing Outcomes * Device deployed by team - System is easily portable - Attachment to substructure - Deployable by a few technicians - Low maintenance design

19. Testing Outcomes * Simulate bridge substructure - Move with respect to substructure - Deployable on various substructures - Operates in waterways with depths up to 30 ft

20. Testing Outcomes * Simulate scour conditions - Utilize SONAR sensors for mapping - Adequate memory storage - Observes scour in coarse/medium sand

21. Testing Outcomes * Autonomous scan of scour region - Provide data for 3D contour map - Capture video during inspection - Lighted scan region

22. Testing Outcomes * Removal of device - Tethered via safety line - Allows testing of multiple SONAR sensors

23. Testing Outcomes * Use interface for mapping - Easily operated by single technician - Utilize LabVIEW, C-programming, or similar

24. Testing Outcomes * Compare mapping with simulated condition - Provide data for 3D contour map - Long-term monitoring

25. Final Thoughts

26. References National Cooperative Highway Research Program (NCHRP) Synthesis 396: Monitoring Scour Critical Bridges US Geological Survey