Prospect Robo Control Sytems Overview

8/10/2019 Prospect Robo Control Sytems Overview

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Monitoring & Services

ROBOCONTROL Monitoring SoluonsPortable and Permanent Systems

Switzerland www.mageba.ch


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Automated data collecon and processing

1 System conguraon on site

2 Installaon of a 3D-acceleraon sensor

3 Dynamic measurements on a railway bridge

Table of contents

Structural Health Monitoring (SHM) 3

Applicaons and benets 4

Overview of systems 5

ROBOCONTROL BASIC 6

ROBOCONTROL ADVANCED 7

ROBOCONTROL PORTABLE 8

Measurement devices at a glance 9

Durable and open-sourced technology 11

Rhine Waterfalls (Switzerland) 12

Incheon Grand Bridge (South Korea) 13

River Suir Bridge (Ireland) 14

Angus L. Macdonald Bridge and A. Murray MacKay Bridge (Canada) 15

Turnkey soluons oered 16


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Structural Health Monitoring (SHM)

Services provided

Safety Monitoring

Main drivers are specic con-

cerns of the client regarding the

stability or usability of a struc-

ture. mageba oers complete

soluons to monitor the crical elements

of a structure, including immediate alarm

nocaon of signicant changes.

Structural Health Monitoring

Tailor-made soluons for

long-term monitoring of

structures are oered by

mageba to assess the overall

behaviour of the structure. SHM systems

provide crucial informaon to the owner

to opmise length of service and life cycle

costs.

Consulng services

Remedial works oen change

the load scenarios and the

stac system of a structure.

Assessment of the actual con-

dions before renovaon, using the expe-

rience of magebas global network, allows

recommendaons for new structural com-

ponents to be made.

Inspecon &Measurement services

Structure owners needs for

detailed condion assessment

can be fullled by magebas

inspecon services. Relevantdata is monitored and assessed and

the overall condion of the structural

elements is summarised in detail.

How does a SHMS work

A Structural Health Monitoring System

(SHMS) is an assembly of sophiscated

electronic devices installed on civil struc-

tures with the purpose of assessing the

actual condions of the structure. During

health monitoring of structures, global and

local structural properes are assessed on

the basis of connuously recorded meas-

ured variables.

It is therefore possible to predict further

development of the structural condion

with great accuracy. It is also possible toprovide simple and quick idencaon

and recording of changes in the load-bear-

ing behavior.

An advanced SHMS is composed by

1 Measurement devices (sensors)

Sensors are installed directly on the

structural elements, they measure

physical parameters and transfer the

informaon as a digital or analog signal.

2 Cables / radio waves

Means for transming the signals from

the sensors to the acquision units.

3 A/D converters, signal condioners,ltersElectronic devices transforming the

analog signals to digital informaon.

Signal ampliers and Condioners are

used to amplify very small ambient

signals, thus enabling a reliable evalu-

aon.

4 Data acquision unitA data-logger that receives all the sig-

nals measured by the sensors. This

is accompanied by an industrial PC

equipped with large hard disks since

large amounts of measuring data have

to be processed.

5 Data processing sowareSpecically designed soware capable

of data management and remote con-

trol of the system.

6 Internet router

Network connecon enabling data

transfer to end users. This enables also

the possibility to receive alarms and

nocaons anyme from the system.

Scheme of a typical SHMS


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Applicaons and benets

1 Protecon of historical buildings

2 Detailed monitoring of vital elements of high-rise

buildings

3 Structural monitoring of dams

4 Safety monitoring of tunnels

5 Structural monitoring of bridges

6 Updang of structural modeling

Applicaons

ROBOCONTROLs ecient and reliable

automated data collecon oers benets

to many elds of engineering, such as:

Bridges

Tunnels

Buildings

Dams

Substructures

Mining

Historic protecon

Environmental applicaons

Benets for end-users

Owners & Authories

Enhanced safety of overall structure

and its crical elements

Risk minimisaon by Safety Monitoring

- immediate nocaon of changes

Increased lifespan of structure and re-

ducon of lifecycle costs

Improved investment planning

Opmisaon of maintenance acvies Ecient support for structure inspec-

on department

Risk management: Properly dened and

measurable risks

Designers & Engineers

Vericaon of designed / expected

structural performance

Conrmaon of design parameters

Model updang to opmise design cal-

culaons

Increase of design experience and tech-

nical excellence

Construcon companies

Proof of properly executed construcon

work

Opmisaon of construcon processes


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Overview of systems

Limited to stac monitoring applica-

ons at low frequencies

The number of sensors that can be

integrated is limited

Dynamic and stac monitoring mis-

sions possible at all frequencies

Unlimited number of sensors can be

integrated

Dynamic and stac monitoring tasks

possible at all frequencies

Measuring me limited due to

baery capacity

ROBOCONTROL systems

BASIC ADVANCED PORTABLE

Permanent systemsfor long-term monitoring and invesgave applicaons, featuring

baery or permanent power supply and transmission of data to a central server

Portable systemsfor short-term

invesgave applicaons


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Main features

Components designed for connu-

ous, remote and independent op-

eraon

Data transmission via GPRS / GSM to

magebas or clients server

Alarm funcon possible (noca-on of pre-dened events and

load cases)

User-friendly web interface

Measuring Frequency

No. of sensors

Required investment

Yearly cost

Power supply

Data memory

Data presentaon

Alarm nocaon

Warranty

Contract type

> 0

0

0

0

Solar panel

Server

Internet Browser

System may be purchased

Standard 1 year (extendable up to 5 years)

Mains / grid Baery

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20

50,00025,000

500

500 Hz

>100

200,000 EUR

>1,000 EUR/year

E-Mail SMS

Infobox

ROBOCONTROL systems

BASIC ADVANCED

Permanent systems

PORTABLE

Portable systems

ROBOCONTROL BASIC

1 Applied system at Ponte Nanin Bridge,

Switzerland

2 User-friendly web interface

3 Installaon of ROBOCONTROL Box

Structural control and long term monitoring


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ROBOCONTROL ADVANCED

Main features

Structural control and long term

monitoring

Components designed for con-

nuous, remote and independent

operaon

Data transmission via GPRS / GSMto magebas or clients server

Alarm funcon possible

(nocaon of pre-dened events

and load cases)

Tailor-made soluons

User-friendly web interface

1 Online presentaon of measured data

2 Integraon of any type of sensor or

applicaon, for example webcams

3 Installaon on site

Measuring Frequency

No. of sensors

Required investment

Yearly cost

Power supply

Data memory

Data presentaon

Alarm nocaon

Warranty

Contract type

> 0

0

0

0

Solar panel

Server

Internet Browser

System may be leased or purchased

Standard 1 year (extendable up to 5 years)

Mains / grid Baery

1

20

70,000

500

500 Hz

>100

200,000 EUR

>1,000 EUR/year

E-Mail SMS

Infobox

ROBOCONTROL systems

BASICADVANCED

PORTABLE

Permanent systems Portable systems


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ROBOCONTROL PORTABLE

1 Removable storage device (USB sck)

2 Viewing of data on computer

3 Easy handling and use of PORTABLE system

Main features

Structural idencaon and short

term monitoring Robust electronics

for repeated, temporary use

No connecon to power grid

required (baery powered)

Flexible arrangement of all systemcomponents to suit project

requirements

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2

ROBOCONTROL systems

BASIC ADVANCEDPORTABLE

Permanent systems Portable systems

3

Measuring Frequency

No. of sensors

Required investment

Yearly cost

Power supply

Data memory

Data presentaon

Alarm nocaon

Warranty

Contract type

> 0

0

0

Solar panel

USB Sck, Local

No transmission costs

Internet Browser in real me on computer

Not applicable

Not applicable

Not applicable

Mains / grid Baery

10

25,000

500 Hz

>100

200,000 EUR

Infobox


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Measurement devices at a glance

1 Instrumented pot bearing with barometer and

digital pressure sensor

2 Ultrasonic displacement sensor

3 Strain gauge

4 Tilt sensor

5 Geodec survey

6 Reclinear displacement sensor on a bearing

7 Inducve movement sensor measuring

crack width

Sensors

Today, virtually any physical parameter can

be measured with extremely high accura-

cy, and the informaon technology gener-

ally exists to transmit the large volumes of

data oen generated.

Sensors are widely available and frequen-

tly used to measure all types of move-

ment, 3D acceleraon, GPS posioning,

lng, structural temperature, vibraons

and environmental condions.

The types of sensor to be used are chosen

according to the clients needs. During the

design, an extensive analysis of costs, ac-

curacy, sampling frequency, environmen-

tal condions and data generaon is per-

formed, thus dening the opmal sensors

to deploy.

Force sensors

Various types of load cell can be inte-

grated

Load cells of all major stay cable and an-

chor suppliers can be connected

Integraon of magebas RESTONPOT

bearings with measuring devices is pos-

sible

Strain and lt sensors

Strain in steel elements measured

by strain gauge devices, incremental

changes are measured at the surface,

stress and fague analysis for designers

Integraon of sensors into a structure

during construcon for absolute values

Embedded sensors inside concrete

structural elements

Tilng of structures or elements meas-

ured

Movement sensors

Inducve movement sensors for small

changes (e.g. concrete crack monitor-

ing) or for medium displacements

Wire sensors for larger movements

(e.g. bearing and expansion joint move-

ments)

Extreme degree of accuracy (~1m)

possible due to highly sophiscated

devices


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Acceleraon and vibraon

System idencaon and damage de-

tecon by 3D-Acceleraon sensors

Stay cables: sensors to measure modal

frequencies and forces

Vibraon sensor integraon to assess

dynamic inuences on the structure

8 3D acceleraon sensor

9 Vibraon measurement

10 Temperature measurement

11 Concrete temperature sensor

12 Moisture detecon sensor

13 GPS posion sensor

14 Wind and air temperature sensor

15 Corrosion monitoring

Structural temperature sensors

Devices for measurement of steel tem-

perature, externally applied

Concrete temperature measured by in-

tegrated sensors (installed during con-

strucon or inserted into drilled holes)

GPS posion monitoring and meteoro-logical surveillance

High precision GPS devices available,

with accuracy as required by project

Meteorological surveillance required

for most projects (air temperature, hu-

midity etc)


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Durable and open-sourced technology

State-of-the-art system

magebas monitoring systems are updated

to the latest technology, using the opmal

equipment available in order to suit moni-

toring purposes

Only open-source soware

Only hardware that is available on the

free market is used

Power supply

ROBOCONTROL monitoring systems can

be powered regardless of the condions

found at the bridge site:

Any electricity source available at the

bridge (e.g. street lighng) is sucient

for the operaon of the system

Back-up baeries for cases of inter-

rupted power supply can be integrated

if required

In remote locaons with low frequency

measurements, power needs can nor-

mally be fullled by solar energy with

a baery back-up system, guaranteeing

power 24 hours a day, 365 days a year

Data transmission

For the transmission of data from the sen-

sors to the ROBOCONTROL acquision

unit on site, the majority of projects use

wires, barely visible on the structure. Ex-

isng cable trays or ducts may be used if

possible. Data is transmied to mageba

central server through internet.

Wireless systems

The use of sensors with wireless transmis-

sion of data oers the following benets:

Increased speed of installaon

Less impact on the structure (very few

cables)

Posioning of sensors can be easily

adapted

It has to be considered that the baery life

of sensors is currently limited to applica-

ons of up to one year. Therefore, some

maintenance visits to the bridge may be

required for long-term monitoring purposes

when using wireless sensors.

1 Wired sensor

2 Wireless 3D-acceleraon sensor

3 Bearing with measurement of pressure through

manometer and load cell

4 Remote system powered by solar energy


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Rhine Waterfalls (Switzerland)

Descripon of the structure

The rock wall of parcular interest is about

20m high and was stabilised with 11 ad-

dional rock anchors. The installaon

condions were challenging due to high

exposure, noise and dampness.

Problem statement

The Rhine Falls in Schaausen, Switzer-

land is visited by hundreds of thousands of

tourists every year. It is one of the regions

most important tourist aracons and vis-

itors marvel at the beauful scenery from

a terrace at the castle of Laufen.

Rock anchors installed to stabilise the

rock wall below the castle showed un-

expected force changes, leading to con-

cerns that some sliding surfaces had de-

veloped. To ensure the ongoing safety ofthe terrace, addional rock anchors with

measuring devices were installed, with a

ROBOCONTROL system monitoring an-

chor force changes.

This enables the responsible design engi-

neer to draw conclusions about the rock

walls movement behaviour, ensuring ap-

propriate acon can be taken if required.

Monitoring approach

A ROBOCONTROL permanent BASIC

system was connected to the installed

rock anchors, its exibility allowing

compability with the load cells of the

anchors.Aer the system calibraon had been suc-

cessfully conducted, the long term moni-

toring was set up, transming all data to

a central server. The responsible authori-

es and design engineers are then able to

monitor all anchor forces from their own

oces, via a web interface.

The designer set some crical limitaons

for the anchor forces, which are imple-

mented in the alarm nocaon feature

of the ROBOCONTROL system. Should

any alarm value be exceeded, immediate

nocaon will be sent by email and SMSto the designer and owner.

Outcome and benet for the customer

It could be concluded that the rock wall

has been well stabilised by the addional

rock anchors. The forces are now very sta-

ble and rock movements are negligible.

And although movements may develop in

the future, the ROBOCONTROL systems

alarm feature gives the local authority

the condence it needs to safely manage

one of Switzerlands most frequented and

spectacular public terraces.

1 Overview of anchored sensors at rock wall

2 Graphical presentaon of data on the web in-

terface, including immediate alarm nocaon

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Case study

SystemPermanent Basic

Services providedSafety monitoring


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River Suir Bridge (Ireland)

Descripon of the structure

The River Suir Bridge is part of the N25

by-pass of the city of Waterford. The ca-

ble stayed structure has an overall length

of 465 m, with individual spans of 40 m,

70 m, 90 m, 230 m and 35 m, and a widthof 30.6 m. Its concrete pylon has a height

of 95.6 m above the deck, and the bridge

was completed in September 2009.

Problem statement

The design of this cable stayed bridge was

determined to be crically dependent on

the dynamic behaviour of its cables. The

costly installaon of stay cable dampers

was to be assessed in two steps:

Assessment of the characteriscs of

each stay cable by temporary meas-

urements to determine its natural fre-quency, damping and tension

Assessment of the ongoing structural

health of the bridge to conrm that

there is no need for permanent damp-

ing of the stay cables, and thus saving

the expense of costly damping systems

Monitoring approach

Before opening to trac, measure-

ments on all 76 stay cables using a

ROBOCONTROL Portable system were

performed, providing data on actual cable

forces and cable damping. Aerwards, aROBOCONTROL Permanent monitor-

ing system was installed. The system in-

cludes 62 measurement channels in total.

The data is automacally analysed on site

with an overview of the current situaon

and graphical representaon of the overall

performance to date presented in a web

interface.


Thanks to the data provided by the moni-

toring system, it could be concluded that

it was not necessary to install dampers onall cables, resulng in great nancial sav-

ings for the client. However, some selected

cables may be ed with well-specied

dampers at a later date.

1 Presentaon of measured data on web interface

2 Wind sensor as installed on the top of

the pylon

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Case study

SystemPermanent Advanced

Services providedInspecon servicesMeasurement services


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Angus L. Macdonald Bridge andA. Murray MacKay Bridge (Canada)

Descripon of structure

Two suspension bridges connect the city of

Halifax in Nova Scoa, Canada across the

sea inlet that divides it in two. Having been

opened to trac in 1955 and 1970 respec-

vely, both bridges have already providedseveral decades of service. The A. Murray

MacKay Bridge was renovated in recent

years, and similar renovaon works are

currently being planned for the Angus L.

Macdonald Bridge. It will receive an enre

new deck, and computer modelling of the

deck, veried by measured data, will play

a key role in the design process.

Problem statement

It was determined that a structural health

monitoring (SHM) system should be used

to measure and record the movementsand rotaons of the deck of the Macdon-

ald Bridge at its expansion joints, providing

the data needed by the computer model-

ling. It was also decided to monitor the

movements of the previously renovated

deck of the MacKay Bridge, so that the

changes to the deck support system could

be accounted for in the planning of the

proposed works.

Monitoring approach

Both structures are equipped with

ROBOCONTROL BASIC permanent sys-

tems, with sensors at each tower record-

ing rotaons and displacements (both

longitudinal and transverse) of the decks

of the bridges, as well as data relang to

temperature and wind strength and direc-

on. Since the two suspension bridges are

similar and located close to each other,

comparing their behaviour can providevaluable insights.


The gathered data was used by the design

engineers to verify their computer mod-

els and design crical components. It also

provided a very interesng insight into the

movements of the deck of the MacKay

Bridge, showing that it experiences accu-

mulated movements of up to 35 kilome-

tres per year at its expansion joints. Such

accumulated movements are many mes

higher than the movements measured at

the deck of the neighbouring Macdonald

Bridge, which are just 700 m per year at its

joints, and thus likely to accelerate wear

and deterioraon of the bridges expan-

sion joints and bearings. The understand-

ing of deck movements provided by the

SHM system will thus play a crucial role

in supporng the planning of renovaon

works and the correct choice of sliding

materials for the bearings and expansion

joints.

1 Correlaon of wind speed and direcon, air

and structure temperature, and deck move-

ments, as presented on the SHM systems web

interface

2 ROBOCONTROL box installed under each of

the four bridge towers (two per bridge)

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SystemPermanent Advanced

Services providedConsulng servicesCondion before renovaon


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Turnkey soluons oered

References ROBOCONTROL Monitoring

mageba ROBOCONTROL Monitoring Systems

Claricaon of objecves

In order to achieve maximum value for the

customer, it is crical that requirements

are carefully analysed before commencing

work.

Clients, designers and magebas moni-

toring team must clearly dene the

monitoring systems purposes and the

benets of the obtained data. Ideally, the

measured values can be directly integrat-

ed in the designers calculaon model.

The required accuracy, the sampling fre-

quency of the signal, the duraon of the

monitoring and type of data analysis is de-

cided in close collaboraon with the client

in order to achieve the right condions for

an opmal analysis or damage detecon

of the structure.

In addion, close ongoing cooperaon

with the responsible structural engineer is

benecial in order to ensure that sensible

and useful results connue to be achieved.

Cooperaon with specied engineers

and experts will always be supported by

mageba.

Any monitoring system must be tailored to

suit the specic condions and features of

any individual structure. To achieve op-

mal results, mageba should be involved in

the project development at an early stage,

ideally right from the beginning of the con-

ceptual approach.

Project requirements

In addion to the clear denion of

objecves, the following items should

be agreed when placing an order for a

monitoring system:

Layout of system

Arrangements for data management

Denion of engineering tasks and

responsibilies

Contract for data transmission costs

(if any)

Service contract requirements to en-sure long-term performance

Delivery

Fabricaon and pre-seng of the system

begins as soon as the customer has ap-

proved magebas nal proposal. Delivery

me is highly dependent on type and size

of the applied monitoring system and its

components.

Installaon typically takes a few days, de-

pending on the complexity of the system

and local access condions and taking care

to protect it from environmental condi-ons, vandalism and the. 1 Close cooperaon between clients, designers

and magebas monitoring team

2 Inspecon of monitoring system aer installa-

on by mageba experts

Portable Permanent ADVANCEDPermanent BASIC

Rhine Waterfal ls (CH) Weyermannshaus (CH) Steinbachtal Bridge (DE) Alvsborg Bridge (SE) Dintelhaven Bridge (NL) River Suir Bridge (IRL)

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Swi tz erland www.mageba.c h

mageba sa - Solistrasse 68 - 8180 Blach - Switzerland - T +41 44 872 40 50 - [email protected] 2014.08CH-ENmageba

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