Vision-Based Control of Unmanned Aerial Vehicles for Automated Structural Monitoring and Geo-Structural Analysis of Civil Infrastructure Systems

The emergence of wireless sensors capable of sensing, embedded computing, and wireless communication has provided an affordable means of monitoring large-scale civil infrastructure systems with ease. To date, the majority of the existing monitoring systems, including those based on wireless sensors, are stationary with measurement nodes installed without an intention for relocation later. Many monitoring applications involving structural and geotechnical systems require a high density of sensors to provide sufficient spatial resolution to their assessment of system performance. While wireless sensors have made high density monitoring systems possible, an alternative approach would be to empower the mobility of the sensors themselves to transform wireless sensor networks (WSNs) into mobile sensor networks (MSNs). In doing so, many benefits would be derived including reducing the total number of sensors needed while introducing the ability to learn from the data obtained to improve the location of sensors installed. One approach to achieving MSNs is to integrate the use of unmanned aerial vehicles (UAVs) into the monitoring application. UAV-based MSNs have the potential to transform current monitoring practices by improving the speed and quality of data collected while reducing overall system costs. The efforts of this study have been chiefly focused upon using autonomous UAVs to deploy, operate, and reconfigure MSNs in a fully autonomous manner for field monitoring of civil infrastructure systems. This study aims to overcome two main challenges pertaining to UAV-enabled wireless monitoring: the need for high-precision localization methods for outdoor UAV navigation and facilitating modes of direct interaction between UAVs and their built or natural environments. A vision-aided UAV positioning algorithm is first introduced to augment traditional inertial sensing techniques to enhance the ability of UAVs to accurately localize themselves in a civil infrastructure system for placement of wireless sensors. Multi-resolution fiducial markers indicating sensor placement locations are applied to the surface of a structure, serving as navigation guides and precision landing targets for a UAV carrying a wireless sensor. Visual-inertial fusion is implemented via a discrete-time Kalman filter to further increase the robustness of the relative position estimation algorithm resulting in localization accuracies of 10 cm or smaller. The precision landing of UAVs that allows the MSN topology change is validated on a simple beam with the UAV-based MSN collecting ambient response data for extraction of global mode shapes of the structure. The work also explores the integration of a magnetic gripper with a UAV to drop defined weights from an elevation to provide a high energy seismic source for MSNs engaged in seismic monitoring applications. Leveraging tailored visual detection and precise position control techniques for UAVs, the work illustrates the ability of UAVs to—in a repeated and autonomous fashion—deploy wireless geophones and to introduce an impulsive seismic source for in situ shear wave velocity profiling using the spectral analysis of surface waves (SASW) method. The dispersion curve of the shear wave profile of the geotechnical system is shown nearly equal between the autonomous UAV-based MSN architecture and that taken by a traditional wired and manually operated SASW data collection system. The developments and proof-of-concept systems advanced in this study will extend the body of knowledge of robot-deployed MSN with the hope of extending the capabilities of monitoring systems while eradicating the need for human interventions in their design and use.PHDCivil EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/169980/1/zhh_1.pd

Design and Implementation of an Arduino-Based Plug-and-Play Acquisition System for Seismic Noise Measurements

The analysis of seismic noise provides a reliable estimation of the soil properties, which supposes the starting point for the assessment of the seismic hazard. The horizontal-to-vertical spectral ratio technique calculates the resonant frequency of the soil just by using a single three-component sensor. Array measurements require at least several vertical sensors registering simultaneously and their analysis provides an estimation of the surface waves dispersion curve. Although these methods are relatively cheaper than other geotechnical techniques, the cost of the sensors and the multi-channel data acquisition system means that small research groups cannot afford this kind of equipment. In this work, two prototypes for registering seismic noise have been developed and implemented: a three-channel acquisition system, optimized for working with three-component sensors; and a twelve-channel acquisition system, prepared for working simultaneously with twelve vertical geophones. Both prototypes are characterized by being open-hardware, open-software, easy to implement, and low-cost. The main aim is to provide a data acquisition system that can be reproduced and applied by any research group. Both developed prototypes have been tested and compared with other commercial equipment, showing their suitability to register seismic noise and to estimate the soil characteristics.This research was funded by the Ministerio de Economia, Industria y Competitividad (grant number CGL2016-77688-R AEI/FEDER, UE); Spanish MINECO and European funds under project EPILATES (grant number CGL2015.65602-R); and Regional Government of Comunidad Valenciana (Spain) (grant number AICO/2016/098)

ALSS scientific mission support study : interim report

This document contains a summary of findings to date on the work being performed by Bendix, its subcontractors, and consultants in the definition and description of scientific experiments and experiment operations to be performed from a manned lunar roving vehicle.NASA contract number NASW-1064This work has been performed by a team composed of personnel from Bendix Systems Division, United Electrodynamics and United Geophysical, Illinois Institute of Technology Research Institute, Bendix Research Laboratories Division, Space/Defense Corporation, Michigan State University, Wayne State University, and The University of Michigan.Introduction -- Lunar geological exploration objectives and measurements -- Instrumentation selection criteria -- Continual surface measurement instrumentation -- Surface geophysical measurement instruments -- Subsurface geophysical measurements -- Core drill -- Bioengineering aspects-astronaut limitations study -- Scientific instrumentation system design -- Operations analysis -- MOLAB measurements survey and instrument summary -- Assumed characteristics of lunar topographical and geological features -- Chemical and physical properties of possible lunar material

A Low-Cost Energy-Efficient Cableless Geophone Unit for Passive Surface Wave Surveys

This article presents a hardware design for a low-cost energy-efficient geophone system to better facilitate field applications of the passive surface wave survey

Cone Penetration Testing 2022

This volume contains the proceedings of the 5th International Symposium on Cone Penetration Testing (CPT’22), held in Bologna, Italy, 8-10 June 2022. More than 500 authors - academics, researchers, practitioners and manufacturers – contributed to the peer-reviewed papers included in this book, which includes three keynote lectures, four invited lectures and 169 technical papers. The contributions provide a full picture of the current knowledge and major trends in CPT research and development, with respect to innovations in instrumentation, latest advances in data interpretation, and emerging fields of CPT application. The paper topics encompass three well-established topic categories typically addressed in CPT events: - Equipment and Procedures - Data Interpretation - Applications. Emphasis is placed on the use of statistical approaches and innovative numerical strategies for CPT data interpretation, liquefaction studies, application of CPT to offshore engineering, comparative studies between CPT and other in-situ tests. Cone Penetration Testing 2022 contains a wealth of information that could be useful for researchers, practitioners and all those working in the broad and dynamic field of cone penetration testing