S3T School and Symposium on Smart Structural Systems Technologies Smart Structural Systems Technologies MICO MEASUREMENT AND MONITORING MICO ‐ MEASUREMENT AND MONITORING SYSTEM FOR AGEING UNDERGROUND INFRASTRUCTURE (UNDERGROUNDM3) Kenichi Soga Professor of Civil Engineering Department of Engineering
Ageing Engineering Infrastructure Ageing Engineering Infrastructure • T nnels T nnels Tunnels Tunnels London Underground (LUL) – Tunnels 75 – 100 yrs old – Deterioration of linings Deterioration of linings – Minimal clearance to tunnel wall – Risks from 3rd party construction • Water Supply and Sewer Systems Water Supply and Sewer Systems Thames Water – 31,000 km of pipelines – – ½ more than 100 yrs old 1/3 more ½ more than 100 yrs old, 1/3 more than 150 yrs old, ~30% leakage • Bridges Bridges Highway Agency/LUL/ Humber Bridge – ~150,000 bridges in UK – Critical links in road/rail infrastructure infrastructure – Deterioration – Many structures below required strength Difficulties in implementing RTM and RTC with conventional technologies
Examples of Tunnel Degradation Problems in Europe • • Prague Metro Prague Metro Aug 2002, 19 Metro Stations flooded – Assess long term impact of flood $200millons, areas usable for 6 months – Two active monitoring locations – WSN monitoring WSN it i • London Underground – Monitor area of lining deterioration – Tiltmeters + crackmeters – Optical fibre strain & WSN monitoring • Barcelona Metro – wet areas – oxidation of reinforcement – cracks and fissures cracks and fissures. LUL Barcelona Metro Prague Metro
Kenichi Soga g Antonio Gens Roberto Cipolla Alberto Roncaglia Ivan Vanicek Alberto Ledesma Ashwin Seshia Matteo Ferri Jan Zalesky Xavier Gonzalez Robert Mair Jaromír Machácek Cristian deSantos Cristian deSantos Peter Bennett Peter Bennett Martin Vanicek Martin Vanicek Jize Yan Daniel Jirasko Rich Laver Krisada Chaiyasarn Fabio Viola James Ransley Underground M3 Project Chikara Hirai Yusuke Kobayashi Yusuke Kobayashi Keita Abe Peter Wright Chris Chew Juan Rodriguez g Tomas Jilek Tomas Jilek Marcos Jean-Pierre Gonzalez Hamilin
Risk Management Risk Management Probability of Failure × × Number of death by the failure × × Cost per person × ３ （ Political damage ） ３ （ Political damage ） ＝ Cost of Maintenance and Repair 5
3 Micros 3 Micros • Micro-Detection - Real-Time Damage Detection using Computer Vision Tier 1 Tier 1 • Micro-Monitoring – MEMS Strain Sensors Mi M it i MEMS St i S • Micro-Communication with Power Harvesting Tier 2
London Underground • Background – Spalling in deep tunnel S lli i d t l – Fresh and historical
Drift Deposits Scale: 25m Areas of Spalling Found in Tunnel London Clay 25m Tunnel WSN Upper Mottled Clay p mbeth Group Upnor Formation Lam Chalk Baker Street Station, 1 km Bond Street Station, 600 m
G F H 19000 rad. E J D K 115 C L 1 in 10 Inner diameter : 3810 mm Inner diameter : 3810 mm Outer diameter : 4146 mm 100 220 M B Concrete segments 1 in 10 N A 520 Wedge segment Wedge segment 19000 rad 19000 rad. 600
Circularity carried out using Leica out using Leica 3000 track trolley Typical circularity measurement measurement, Best-fit Perfect Circle showing approx Circularity Survey Data Deformation exaggerated x 10 1% squat Estimated Centre Tubelines Circularity measurement
Survey Plan by T b li Tubelines (2006) (2006) Ring No. 1660 Ring No. 1602
Picture from “ Modeling the world from Internet Photo Collections ” Snavely(2007) Picture from Modeling the world from Internet Photo Collections , Snavely(2007)
• Database can be created from the initial set of labelled images
Reconstruction before Refinement Reconstruction after Refinement
Reconstruction after Refinement Surface Estimation SVM classifier Curvature due to incorrect surface incorrect surface
SVM classifier
Texture mapping g SVM classifier pp
Mosaics on Curved Surfaces Mosaics on Curved Surfaces Blending algorithm to smooth Parallelism is preserved Local misalignment colour at the overlapping region can be refined can be refined
Mosaics on Curved Surfaces Mosaics on Curved Surfaces Microsoft Image Composite Editor on prewarped images
More Results More Results
Local misalignment due to 3D due o 3 e sa g structures oca More Results More Results
Change Detection 2007 2007 2003 2003
London Underground WSN London Underground WSN GPRS GPRS Baker Backer Street Street Wireless Ground Level Sensors Bond Balloon Street (Linux Computer) Bond Street Jubilee Line [London Underground] Repeater Hub Ventilation Shaft Gateway + sensors Ethernet Ethernet 130 m 125 m 115 m 1025 m 575 m to Baker Street to Bond Street
Crackmeter (LPDT) Crackmeter (LPDT) LPDT Crack for measurement LPDT for temp. comp. Crack Location Range 12.5mm MicaZ 10 bit ADC Resolution ~12 m
Inclinometer Inclinometer 2.0dB antenna Main Battery Inclinometer Board Angle Plate Resolution 0.001 o Range ± 15 o Mote External 16 bit ADC Temperature & Humidity sensor y
Installation Installation
Installation Installation
Installation Installation
Sensor Locations Sensor Locations Concrete Lining Sensor Nodes Inclinometer: 16 Crackmeter : 6 Diameter 3.75m Relay Nodes 4 Gateway Inclinometer LPDT Relay Gateway 16 16 16 16 16 16 17 17 Ring No. g 640 641 661 675 685 689 700 714 F-G F H H D D D D L A M M 44.4m Baker Street Bond Street
Sensor Locations Sensor Locations Gateway [Ring1685] y Crackmeter Inclinometer [ID8972 Ring1689] [ID8981 Ring1689] Inclinometer [ID8961 Ring1689] Crack. Crack Inc. Inc. Inc. Inc. Inclinometer Relay [ID89D1 Ring1689] [ID00D1 Ring1700] Relay [ID0021 Ring1700] [ID0021 Ring1700] I Inclinometer li t [ID8921 Ring1689]
Comparison with VWSG Comparison with VWSG
Movement Overview 1640 1661 ~0.020 o /month ~0.006 o /month ~0.030 o /month Joint Joint ~-0.02mm/month ~0.008mm/month ~0.006 o /month Crack No Change No Change No Change ~0.040 o /month 1689 1714 ~0.014 o /month ~0.015 o /month Joint Joint 0.020mm/month 0.080mm/month ~0 007 o /month ~0.007 /month No Change Crack ~-0.035mm/month ~0.008 o /month ~0.015 o /month
Installation Plan (Prague Metro) Installation Plan (Prague Metro) Crackmeter X 4 Tiltmeter Tiltmeter Tiltmeter Tiltmeter Tiltmeter SENSOR SECTION SENSOR SECTION X 1 X 1 BALLOON BALLOON (Linux Computer) (Linux Computer) GATEWAY GATEWAY Repeater Hub Repeater Hub Hopping Trial Hopping Trial g GPRS GPRS Ethernet Ethernet St ti Station 30m 100m 170m
Field Trials Field Trials • Prague Metro Prague Metro – Conventional Monitoring started October 2006 – Prototype WSN system installed in 2007 – Full WSN system installed in September 2008 – Two more WSN installations will happen in 2010 • London Underground – Tubelines and Metronet – WSN system installed in June 2008 WSN system installed in June 2008 – Another WSN in July 2010 • Barcelona Metro – Planned in May 2010
To be successful To be successful… • Cheap • Low power consumption • Low power consumption • Reliable for long-term • Safe, Safe and Safe
Safety Documentation submitted to LUL (168 pages)
Thank you. Thank you
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