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

3. Top-Level Design Block

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

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

6. 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

7. Vertical Module Concept

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

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

10. Circumferential Motion Module Concept

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

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

13. SONAR Tilt Concept

14. Assembled Concept

15. Schedule: Griffin

16. Matthew Kent - ME Localization Robot Structure Fabrication

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

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

19. Schedule: Matt

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

21. 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

22. 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

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

24. Schedule: Ryan

25. Dezmond Moore - CPE Microcontroller Programming: Autonomous Operation

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

27. Vertical Movement Flow Chart

28. Circumferential Movement Flow Chart

29. SONAR Tilt Flow Chart

30. Schedule: Dezmond

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

32. 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”

33. 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

34. 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

35. Possible Outcomes LabVIEWVisual Data

36. Schedule: Drew

37. Budget ItemQuantityPriceTotal Microcontroller1$200.00 Motor Control Unit1$100.00 12V DC Motor2$15.00$30.00 SONAR Sensors3$100.00$300.00 Valve-regulated lead-acid battery1$90.00 Optical Shaft Encoders2$100.00$200.00 Worm Gear2$50.00$100.00 Worm2$25.00$50.00 Mounting Materials--$100.00 Circular Ring1$100.00 High-Friction Rollers3$1.20$3.60 Ball Bearings4$12.00$48.00 Shaft3$5.00$15.00 Square Vertical Rail1$10.00 Video Camera1$200.00 Servo1$20.00 Wires--$20.00 Halogen Light1$20.00 Software Licenses--$100.00 Test Supplies--$120.00 Soldering Kit1$15.00 Voltage Regulators2$10.00$20.00 Circuit Components--$30.00 Robot casing and fittings--$50.00 Subtotal of Expense$1941.60

38. Full Schedule