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Development of Unmanned Vehicles (UMV’s) for Geo-Environmental Hazard Assessment Presented By Max William Perlow – Pennoni Associates 1 [email protected] Joshua Wagner - Digioia Gray Associates 1 [email protected] (1) University of Pittsburgh Geology Department Undergraduates And Interns at EKMLLC Engineering Knowledge Management LLC AEG Annual Meeting – Pittsburgh PA – September 21-25, 2015

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Development of Unmanned Vehicles (UMV’s) for Geo-Environmental Hazard Assessment

Presented By Max William Perlow – Pennoni Associates 1

[email protected] Joshua Wagner - Digioia Gray Associates 1

[email protected]

(1) University of Pittsburgh Geology Department Undergraduates And Interns at EKMLLC Engineering Knowledge Management LLC

AEG Annual Meeting – Pittsburgh PA – September 21-25, 2015

GeoBot-GeoCopter Development 2014-2015 Intern Project

2014 Interns: Max Perlow & Joshua Wagner, Undergraduates in the Geology Department, University of Pittsburgh

Objective: develop specifications for the next generation GeoBot UGV and companion GeoCopter UAV

Application: Geohazard Hazard Assessment, Mitigation, Emergency Response, and Failure Investigations.

The success of deploying low technology off-the-shelf sensors with a radio controlled truck led to the following

undergraduate intern project to develop an interchangeable suite of sensors that could be mounted on various unmanned

ground and aerial vehicle (UGV & UAV) platforms.

Geo-Environmental Hazard Assessment Requirements

A. EVALUATION OF SITE HISTORY & PAST ACTIVITY

B. EVALUATION OF ACTIVE ON-GOING FAILURES

C. HAZARD ANALYSIS AND MITIGATION

D. EARLY WARNING MONITORING

E. EVALUATION OF MANS ACTIVITIES

F. IMPACT OF EXTREME WEATHER

GeoBot Prototype Development A simple unmanned vehicle (UMV) prototype named GeoBot

was developed to aid the assessment and mitigation of sinkhole collapse and subsidence failures in 2013- 2014.

Geo-Bot Next Generation Interchangeable Sensor Universal Mount System

Like the NASA Mars Rovers that can be

Deployed on a variety of Un-Manned Ground &

Sea Vehicles such as the Clearpath Robotics RUV,

UGV’s and USV http://www.clearpathrobotics.com/robots/

Evolution

• 1858 • Gaspard-Félix

Tournachon becomes first person to take aerial photograph

Evolution

• 1903 • Julius Neubronner (German

apothecary) • Bavarian Pigeon Corps

Evolution

• 1909 • Wilbur Wright • und seine Flugmaschine First-

ever use of motion picture aerial photography as filmed from a heavier-than-air aircraft

Evolution

• 1979 • Przybilla and Wester-

Ebbinghaus • First experiments with UAV

photography

Evolution

21st Century • Rise of the drones • Military vs Civilian • Popular Culture • Remote sensing capable

Geo-Copter Prototype

• Developed Autumn 2014

• Low-cost, off the shelf, multi-sensor platform capable UAV

• Intended uses • Assessment of geologic hazards • Monitoring of previous failures • Emergency response assessment of ongoing

failures • Near Surface Geophysical Surveys • Geologic/Geomorphic mapping • Photogrammetry

• Benefits over traditional methods • High temporal and spatial resolution • Low cost • Access to hard to reach and/or hazardous areas

Geo-Copter Prototype; Photogrammetry

• Science of making measurements from photographs

• Cost effective remote mean of mapping

• Allows/provides access to sites otherwise difficult to impossible to investigate conventionally

• Digital Terrain Model generation • Data used for geotechnical

stability and volumetric analysis

• Reduction in time required • Google Earth 3D

http://www.ce.utexas.edu/prof/maidment/grad/tate/study/remote/TermProj.html

Presenter
Presentation Notes
Photogrammetry is the science of making measurements from photographs, especially for recovering the exact positions of surface points. Moreover, it may be used to recover the motion pathways of designated reference points located on any moving object, on its components and in the immediately adjacent environment. A special case, called stereophotogrammetry, involves estimating the three-dimensional coordinates of points on an object employing measurements made in two or more photographic images taken from different positions (see stereoscopy). Common points are identified on each image. A line of sight (or ray) can be constructed from the camera location to the point on the object. It is the intersection of these rays (triangulation) that determines the three-dimensional location of the point. More sophisticated algorithms can exploit other information about the scene that is known a priori, for example symmetries, in some cases allowing reconstructions of 3-D coordinates from only one camera position

Geo-Copter Prototype; Photogrammetry

http://www.minesurveyor.net/photogrammetryimages/survey_photogrammetry%20(7).jpg

Geo-Copter Next Generation Interchangeable Sensor Mount

System that can be Deployed from Commercially Available UAV’s.

Use of Geo-Copters to Drop Off & Retrieve Remote Sensor Packs

GeoBot Case Studies

Storm Line Sinkhole Bethlehem, PA - 2013

• Sinkhole Cavity Evaluation

• Storm Line Condition • Monitoring Storm Line

during Low Mobility Grouting - Grout Migration into Pipe, Pipe Invert Elevation and Horizontal Alignment

Storm Arch Collapse Fountain Hill PA - 2014

• Sinkhole Cavity Evaluation

• Roof Drain Piping Inspection

• Arch Condition and Dimensions

• Monitoring of Flow Fill Placement

2013 Sinkhole Stabilization

2014 Stormwater Arch Failure

Unmanned Aerial Systems Case Studies

UAV-based remote sensing of the Super-Sauze landslide: Evaluation and results • Digital compact camera on mini quad-

rotor UAV

• Southern French Alps

• High-resolution ortho-mosaic of entire landslide and DTMs of several regions

• Horizontal displacements of 7-55 m between a high-res ortho-photo of May 2007 and a UAV-based ortho-mosaic of October 2008

• Conclusions: “…radio controlled low-cost UAVs can deliver high-resolution remote sensing data on landslides”

Use of UAVs for photogrammetric surveys in rockfall instability studies • UAV photogrammetry based on the use

of a drone helicopter

• Two rock slopes subject to frequent rockfalls (Italy)

• Stereographic projections comparing data from UAV-DTP and geological-engineering surveys show good general correspondence

• Conclusions: “Use of UAV is a good terrestrial photogrammetric procedure to reduce operating costs and speed up acquisition phases…powerful tool for rock slope stability analysis, discontinuity and slope geometry…”

Presenter
Presentation Notes
Ortho-photo:  is an aerial photograph geometrically corrected ("orthorectified") such that the scale is uniform: the photo has the same lack of distortion as a map. Unlike an uncorrected aerial photograph, an orthophotograph can be used to measure true distances, because it is an accurate representation of the Earth's surface, having been adjusted for topographic relief,[1] lens distortion, and camera tilt.

Unmanned Aerial Systems Case Studies

Application of Thermography to Karst Hydrogeology and Natural Gas Exploration and Development • Use thermal imaging applied to

Oklahoma carbonate and shale outcrops to detect heat signatures from karst features and fractures

• Infrared thermograms of cavities and fractures correlated with known features on outcrop

• “This technique holds a promising application for aerial detection of new caves and fracture charazterization for hydrocarbon exploration”

Aerial infrared thermography in the surface waters contamination monitoring • Contamination monitoring by IR

thermography based on • Rendering of the IR raw data that produce

images with a visible augmentation of anomolies

• Illegal sanitary sewer and storm-drain connections, illicit discharges and other anomalies

• Plume of (contaminated) kiquid joining and flowing…visible in thermal IR spectrum due to difference in temperatures of two liquids

• Aerial platform

• Multi-Spectral data?

OSO Landslide

Thank You – Any Questions