Engineering Commons^™

Three-Dimensional Structural Analysis Of Temple 16 And Rosalila At Copan Ruinas, Luis Tuarez

Department of Civil and Environmental Engineering: Dissertations, Theses, and Student Research

Temple 16 is an ancient Maya structure located at the heart of the Copán Ruinas Acropolis in Western Honduras. Temple 16 contains several earlier structures within it that were built on top of each other throughout Copán’s history. One of these earlier structures, Rosalila, is one of the most culturally significant structures within the Acropolis due to its preservation. An intricate series of archeological tunnels have been excavated throughout Temple 16 to allow for its study. However, significant cracking has been observed within Rosalila and several tunnels have experienced partial collapse. This not only poses a life safety issue for …

Evaluation Of Lidar Uncertainty And Applications Towards Slam In Off-Road Environments, Zachary D. Jeffries

Dissertations, Master's Theses and Master's Reports

Safe and robust operation of autonomous ground vehicles in all types of conditions and environment necessitates complex perception systems and unique, innovative solutions. This work addresses automotive lidar and maximizing the performance of a simultaneous localization and mapping stack. An exploratory experiment and an open benchmarking experiment are both presented. Additionally, a popular SLAM application is extended to use the type of information gained from lidar characterization, demonstrating the performance gains and necessity to tightly couple perception software and sensor hardware. The first exploratory experiment collects data from child-sized, low-reflectance targets over a range from 15 m to 35 m. …

Assessment Of Simulated And Real-World Autonomy Performance With Small-Scale Unmanned Ground Vehicles, William Peyton Johnson

Theses and Dissertations

Off-road autonomy is a challenging topic that requires robust systems to both understand and navigate complex environments. While on-road autonomy has seen a major expansion in recent years in the consumer space, off-road systems are mostly relegated to niche applications. However, these applications can provide safety and navigation to dangerous areas that are the most suited for autonomy tasks. Traversability analysis is at the core of many of the algorithms employed in these topics. In this thesis, a Clearpath Robotics Jackal vehicle is equipped with a 3D Ouster laser scanner to define and traverse off-road environments. The Mississippi State University …

Video-Based Non-Contact Vibration Measurement Software, Mithila Sothynathan, Samuel Asokanthan

Undergraduate Student Research Internships Conference

This study aims to develop a cost-effective, accessible, and contactless means of measuring vibrations.

Data-Driven Prioritization And Empirical Predictions For Bridge Scour In Nebraska, Awgku Ahmad Hashim Awg Bolhasan

Department of Civil and Environmental Engineering: Dissertations, Theses, and Student Research

The effect of scour at the bridge substructure results in an increase in the vulnerability of the overall bridge stability. Previous studies have found that current guidelines are often overly-conservative with respect to scour. This project aims to provide guidance on hydraulic modeling parameters and reasonable scour estimates specific to Nebraska conditions. This will enable engineers to assess bridge sites for scour more precisely for efficient and effective design and countermeasures.

Four sites were surveyed for scour changes between the period of December 9, 2020, to April 20, 2021. At these four sites, overland and bathymetry survey data were collected. …

Utilization Of Lidar Technology — When To Use It And Why, Levy Mcintosh, Brad Rister

Kentucky Transportation Center Research Report

Lidar technologies can assist transportation agencies during the design, construction, and maintenance phases of transportation projects. While Lidar has numerous applications, successfully deploying Lidar technologies is only possible if agencies have a solid understanding of their use cases and potential limitations. This report offers guidance the Kentucky Transportation Cabinet (KYTC) can use when making decisions on how to employ Lidar technologies in highway contexts. In addition to reviewing Lidar platforms and comparing Lidar-driven surveying to traditional surveying methods, the report examines challenges related to processing and storing Lidar data and the safety benefits Lidar technologies confer in the field. Brief …

Composite Style Pixel And Point Convolution-Based Deep Fusion Neural Network Architecture For The Semantic Segmentation Of Hyperspectral And Lidar Data, Kevin T. Decker, Brett J. Borghetti

Faculty Publications

Multimodal hyperspectral and lidar data sets provide complementary spectral and structural data. Joint processing and exploitation to produce semantically labeled pixel maps through semantic segmentation has proven useful for a variety of decision tasks. In this work, we identify two areas of improvement over previous approaches and present a proof of concept network implementing these improvements. First, rather than using a late fusion style architecture as in prior work, our approach implements a composite style fusion architecture to allow for the simultaneous generation of multimodal features and the learning of fused features during encoding. Second, our approach processes the higher …

Motion Simulation And Performance Analysis Of 2d Variable Stiffness Snake-Like Robot, Yanqin Long, Guifang Qiao, Guangming Song, Ying Zhang, Linlin Cheng

Journal of System Simulation

Abstract: Mutual interference of vehicular laser radar causes serious performance reduction of target detection and tracking. From spatial, time and modulation frequency, various possible interference of lidars of pulse and frequency modulated continuous wave method in road environments are studied by simulation. The possibility of the interference is calculated, the features and performance reduction of the interference are analyzed. For the possible interference, using a method of pseudo random noise code to modulate the output amplitude of the continuous wave laser can effectively reduce the probability of interference and ensure the reliable operation of lidar in road environments.

Algorithms For The Calibration And Correction Of Texel Images Using Inertial Measurement Updates, Trevor C. Welch

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

A 3D terrain map can be developed to survey the earth’s surface and provide scientists with a method of accurately modeling terrain. Some of the applications include agricultural surveys, disaster management, and object classification. In order to develop a 3D terrain map, a sensor must capture all of the data to create the map. This 3D mapping tool can be made by combining a sensor that take samples of points on the earth’s surface and combines that with a digital camera that takes an image and lays it across those samples of the earth.

In order to take data over …

Statistical Analysis And Comparison Of Optical Classification Of Atmospheric Aerosol Lidar Data, Mohammed Alqawba, Norou Diawara, Kwasi G. Afrifa, Mohamed I. Elbakary, Mecit Cetin, Khan Iftekharuddin

Mathematics & Statistics Faculty Publications

In this article, we present a new study for the analysis and classification of atmospheric aerosols in remote sensing LIDAR data. Information on particle size and associated properties are extracted from these remote sensing atmospheric data which are collected by a ground-based LIDAR system. This study first considers optical LIDAR parameter-based classification methods for clustering and classification of different types of harmful aerosol particles in the atmosphere. Since accurate methods for aerosol prediction behaviors are based upon observed data, computational approaches must overcome design limitations, and consider appropriate calibration and estimation accuracy. Consequently, two statistical methods based on generalized linear …

Accuracy Comparison Of Aerial Lidar, Mobile-Terrestrial Lidar, And Uav Photogrammetric Capture Data Elevations Over Different Terrain Types, Mandar Khanal, Mahamudul Hasan, Nikolaus Sterbentz, Ryen Johnson, Jesse Weatherly

Civil Engineering Faculty Publications and Presentations

Lidar and other remotely sensed data such as UAV photogrammetric data capture are being collected and utilized for roadway design on an increasing basis. These methods are desirable over conventional survey due to their efficiency and cost-effectiveness over large areas. A high degree of relative accuracy is achievable through the establishment of survey control. In this case study, elevations (z-values) derived from mobile-terrestrial lidar, aerial lidar, and UAV photogrammetric capture collected with survey control were statistically compared to conventionally surveyed elevations. A cost comparison of the methods is also included. Each set of z-values corresponds to a discrete horizontal point …

Design Of A Robotic Inspection Platform For Structural Health Monitoring, Jason R. Soto

FIU Electronic Theses and Dissertations

Actively monitoring infrastructure is key to detecting and correcting problems before they become costly. The vast scale of modern infrastructure poses a challenge to monitoring due to insufficient personnel. Certain structures, such as refineries, pose additional challenges and can be expensive, time-consuming, and hazardous to inspect.

This thesis outlines the development of an autonomous robot for structural-health-monitoring. The robot is capable of operating autonomously in level indoor environments and can be controlled manually to traverse difficult terrain. Both visual and lidar SLAM, along with a procedural-mapping technique, allow the robot to capture colored-point-clouds.

The robot is successfully able to automate …

Remote Measurement Of Plant Biomass By Picosecond Laser Radiation, Abdushukur Abdugafurovich Mukhamedov, Abdirashid Saribaevich Rysbaev, Shamsiddin Norchaevich Ernazarov

Chemical Technology, Control and Management

A description is given of a high-speed optical recording system that uses a solid-state yttrium-aluminum garnet Nd3+ laser that generates a train of picosecond laser pulses. It is shown that by registering and temporarily scanning the secondary fluorescence radiation excited by a sequence of picosecond pulses, it is possible to remotely determine the biomass of plants based on a prematurely created bank of laboratory data.

Improvement Of Low Traffic Volume Gravel Roads In Nebraska, Richard L. Wood, Yong-Rak Kim, Yijun Liao, Mohammad E. Mohammadi

Nebraska Department of Transportation: Research Reports

In the state of Nebraska, over one-third of roadways are unpaved, and consequently require a significant amount of financial and operational resources to maintain their operation. Undesired behavior of surface gravel aggregates and the road surfaces can include rutting, corrugation, and ponding that may lead to reduced driving safety, speed or network efficiency, and fuel economy. This study evaluates the parameters that characterize the performance and condition of gravel roads overtime period related to various aggregate mix designs. The parameters, including width, slope, and crown profiles, are examples of performance criteria. As remote sensing technologies have advanced in the recent …

Innovative Applications Of Laser Remote Sensing Of Gases, Aerosols And Wind, Adrian Diaz Fortich

Dissertations and Theses

Over the years, a major component of the research carried out at the Optical Remote Sensing Laboratory of the City College of New York has been on active sensing technologies and their different applications in atmospheric studies. This thesis builds upon and looks to further advance this field by demonstrating innovative applications of laser remote sensing technologies for studies involving trace gases, aerosol particles and wind; which are key components of the Earth’s atmosphere. First, we present the demonstration of gas concentration measurements using a quantum cascade laser open path system with characteristics that make it promising for mobile and/or …

Assessment Of Unmanned Aerial Systems And Lidar For The Utility Vegetation Management Of Electrical Distribution Rights-Of-Ways, Matthew R. Walker

Graduate Theses, Dissertations, and Problem Reports

Utility Vegetation Management (UVM) is often the largest maintenance expense for many utilities. However, with advances in Unmanned Aerial Systems (UAS; or more commonly, “drones”) and lidar technologies, vegetation managers may be able to more rapidly and accurately identify vegetation threats to critical infrastructures. The goal of this study was to assess the utility of Geodetics’ UAS-lidar system for vegetation threat assessment for 1.6 km of a distribution electric circuit. We investigated factors which contribute to accurate tree crown detection and segmentation of trees from within an UAS-lidar derived point cloud, and the factors which contribute to accurate tree risk …

Lidar Assessment To Monitor Bridge Response Under Live And Dead Loads, Daniel Watson

Department of Civil and Environmental Engineering: Dissertations, Theses, and Student Research

Understanding how a bridge structure responds to various loads in a time and resource-efficient approach is vital in characterizing bridge health. Bridge health monitoring is an evaluation of the structural condition and performance, which optimizes limited transportation budgets by prioritizing the bridges that are in the most need for retrofit or replacement. Identifying and remedying issues will mitigate long-term problems and ensure that the bridge remains open to service for all legal loads. In contrast, health monitoring and load rating will determine if a bridge can only carry traffic up to a certain weight or speed, requiring a bridge load …

Exploring The Use Of Data From Newer Technologies In Road Design, Mahamudul Hasan

Boise State University Theses and Dissertations

The use of Light Detection and Ranging (Lidar) is widespread currently all over the world including the United States. Though on-the-ground surveying and photogrammetric surveying are the more common methods to acquire terrain information, Lidar data is being increasingly used for this purpose due to its various advantages. Various research indicates that the accuracy of Lidar data has increased enough to make its use suitable for diverse applications. One potential application that is explored in this research is the use of terrain models generated from Lidar data in road design. To make such use possible we need to be assured …

Planr.: Planar Learning Autonomous Navigation Robot, Gabrielle S. Santamorena, Daniel Kasman, Jesus Mercado, Ben Klave, Andrew Weisman, Anthony Fortner

Computer Engineering

PLANR is a self-contained robot capable of mapping a space and generating 2D floor plans of a building while identifying objects of interest. It runs Robot Operating System (ROS) and houses four main hardware components. An Arduino Mega board handles the navigation, while an NVIDIA Jetson TX2, holds most of the processing power and runs ROS. An Orbbec Astra Pro stereoscopic camera is used for recognition of doors, windows and outlets and the RPLiDAR A3 laser scanner is able to give depth for wall detection and dimension measurements. The robot is intended to operate autonomously and without constant human monitoring …

Assessment And Correction Of Lidar-Derived Dems In The Coastal Marshes Of Louisiana, William M. Lauve

LSU Master's Theses

The onset of airborne light detection and ranging (lidar) has resulted in expansive, precise digital elevation models (DEMs). DEMs are essential for modeling complex systems, such as the coastal land margin of Louisiana. They are used for many applications (e.g. tide, storm surge, and ecological modeling) and by diverse groups (e.g. state and federal agencies, NGOs, and academia). However, in a marsh environment, it is difficult for airborne lidar to produce accurate bare-earth measurements and even accurate elevations are rarely verified by ground truth data. The accuracy of lidar in marshes is limited by the sensor’s resolution …

Damage Assessment Of A Sixteen Story Building Following The 2017 Central Mexico Earthquake, Yijun Liao, Richard L. Wood, M Ebrahim Mohammadi, Kanchan Devkota, Christine E. Wittich

Department of Civil and Environmental Engineering: Faculty Publications

The 2017 M7.1 Central Mexico Earthquake caused significant infrastructural damage in the Mexico City area. The earthquake contained a significant pulse in the long period, resulting in numerous buildings severely damaged or collapsed. This paper discusses a reinforced concrete building which was still partially occupied post-earthquake. The building’s interior walls were examined to have substantial damage, including some extensive cracking. In January 2018, the authors visited the structure and collected detailed assessment data. The data collection included ground-based lidar scans and recorded ambient vibrations of the damaged structure using accelerometers. Eleven scans were collected from the four exterior facades to …

Post-Fire Damage Geospatial Assessment Via Point Clouds Of A Highway Bridge Structure, Yijun Liao, M Ebrahim Mohammadi, Richard L. Wood, Christine E. Wittich

Department of Civil and Environmental Engineering: Faculty Publications

This paper discusses the quantitative post-fire damage assessment of a steel girder bridge via point clouds. In this case study, the point cloud was collected using light detection and ranging (lidar) for a detailed geometric and shape analysis. The out-of-plane deformation was analyzed to locate and quantify buckling across the length of the steel girders.

Autonomous Combat Robot, Andrew J. Szabo Ii, Chris Heldman, Tristin Weber, Tanya Tebcherani, Holden Leblanc, Fabian Ardeljan

Williams Honors College, Honors Research Projects

This honors project will also serve as an engineering senior design project.

The objective is to design and build the software and electrical systems for a 60 lb weight class combat robot that will function autonomously and outperform manually driven robots during competition.

While running autonomously, the robot will use LiDAR sensors to detect and attack opponent robots. This robot will also be able to be remote controlled in manual mode. This will mitigate the risk in case the autonomy or sensors fail. LED lights on the robot will indicate whether it is in autonomous or manual mode. The system …

Safe Pass, Alycia Riese, Julia Hariharan, Greg Synek, Jonathan Hall

Williams Honors College, Honors Research Projects

The purpose of this project is to design a sensor to be mounted on Class IV and higher vehicles to detect on-coming traffic. If traffic has been detected, the system is to warn drivers behind the stopped vehicle that passing is unsafe. The vehicle detection is to be implemented using a LiDAR detection method along with signal processing. A wireless transceiver is to transmit from the front radar module to the rear warning indicator module when the conditions are unsafe for passing. The project goals are to increase road safety and maintain traffic flow. The report details the challenges due …

Geoflood: Large-Scale Flood Inundation Mapping Based On High-Resolution Terrain Analysis, Xing Zheng, David R. Maidment, David G. Tarboton, Yan Y. Liu, Paola Passalacqua

Civil and Environmental Engineering Faculty Publications

Recent floods from intense storms in the southern United States and the unusually active 2017 Atlantic hurricane season have highlighted the need for real‐time flood inundation mapping using high‐resolution topography. High‐resolution topographic data derived from lidar technology reveal unprecedented topographic details and are increasingly available, providing extremely valuable information for improving inundation mapping accuracy. The enrichment of terrain details from these data sets, however, also brings challenges to the application of many classic approaches designed for lower‐resolution data. Advanced methods need to be developed to better use lidar‐derived terrain data for inundation mapping. We present a new workflow, GeoFlood, for …

Structural Identification And Assessment Of The Inverted Tee Girder Bridge System, Garrett P. Martindale

Department of Civil and Environmental Engineering: Dissertations, Theses, and Student Research

The Inverted Tee (IT) girder bridge system was originally developed in 1996 by the University of Nebraska–Lincoln (UNL) and Nebraska Department of Roads (NDOR) engineers. This bridge system currently accounts for over 110 bridges in Nebraska used for both state highways and local county roads. Excessive transverse and longitudinal deck cracking has been observed and noted in numerous bridge inspection reports. Since the IT girder bridge system is relatively new, limited data and knowledge exist on its structural performance and behavior. This study evaluates the IT girder bridge system by conducting twenty field observations as well as recording accelerometer time …

Utilization Of Light Detection And Ranging For Quality Control And Quality Assurance Of Pavement Grades, Brad W. Rister, Levi Mcintosh, Gabriel B. Dadi, Ruigang Yang, Eileen Grady

Kentucky Transportation Center Research Report

Light Detection and Ranging (Lidar) technology is a useful tool that can assist transportation agencies during the design, construction, and maintenance phases of transportation projects. To demonstrate the utility of Lidar, this report discusses how Lidar data can be used while performing quality control and quality assurance (QC/QA) of pavement grades along road segments where safety concerns have been identified (e.g., increased crash rates due to water ponding on the roadway). Researchers modeled surface runoff using Lidar data for several roadways that had experienced significant crash increases during wet-weather events. Based on this modeling, the Kentucky Transportation Cabinet (KYTC) undertook …

Investigation Of Rapid Remote Sensing Techniques For Forensic Wind Analyses, Yijun Liao, Richard L. Wood, Mohammad Ebrahim Mohammadi, Peter J. Hughes, J. Arn Womble

Department of Civil and Environmental Engineering: Faculty Publications

Perishable damage data resulting from severe windstorms require efficient and rapid field collection techniques. Such datasets permit forensic damage investigations and characterization of civil infrastructure. Ultimately, observed structural damage serves as a proxy approach to estimate wind speeds for storms that include hurricanes, tornadoes, straight-line winds, etc. One of the more common methods to collect, preserve, and reconstruct three-dimensional damage scenes is the use of an unmanned aerial system (UAS), commonly known as a drone. Onboard photographic payloads permit scene reconstruction via structure-from-motion; however, such approaches often require direct site access and survey points for accurate results, which limit its …

Behavior Of Cold-Formed Steel Metal Industrial Buildings, Adrianna M. Early, Mohammad Ebrahim Mohammadi, Richard L. Wood, Kara D. Peterma

Department of Civil and Environmental Engineering: Faculty Publications

This paper presents research focused on understanding the observed behavior of cold-formed steel (CFS) metal buildings during Hurricane Harvey, which made landfall Friday, August 25, 2017 between Port Aransas and Port O’Connor, Texas. Through the Geotechnical Extreme Event Reconnaissance (GEER) association (funded by the National Science Foundation) a team of structural engineers and researchers performed rapid and detailed assessments of structural damage caused by the hurricane. The National Science Foundation gathered photographs, damage assessments sheets, and three-dimensional laser point cloud data of severely damaged cold-formed steel industrial buildings. The Port Aransas County Airport experienced severe damage to several cold-formed steel …

Post-Earthquake Structural Damage Assessment Through Point Cloud Data, Mohammad Ebrahim Mohammadi, Richard L. Wood

Department of Civil and Environmental Engineering: Faculty Publications

Structural damage assessment following an extreme event can provide valuable information and insight into unanticipated damage and failure modes to improve design philosophies and design codes as well as reduce vulnerability. Oftentimes, structural engineers create finite element models (FEM) of the structure in which numerous model parameters require calibration to simulate the current state. This information may include structural plan details (geometry), material characteristics (strength and stiffness parameters), as well as observed damage patterns (cracks, spalling, etc.). Ground-based lidar (GBL) scans and Structure-from-Motion (SfM) can rapidly capture dimensionally accurate point clouds of the structure or facility of interest. Furthermore, point …