WO2022056104A1

WO2022056104A1 - Autonomous system for monitoring the structural integrity of marine pilings

Info

Publication number: WO2022056104A1
Application number: PCT/US2021/049630
Authority: WO
Inventors: Michael R. Arneson; William R. Bandy
Original assignee: Kai Systems, Inc.
Priority date: 2020-09-09
Filing date: 2021-09-09
Publication date: 2022-03-17

Abstract

A method of modeling a structure is disclosed that includes generating a first acoustic signature of the structure, comparing the first acoustic signature to a second acoustic signature to determine a first differential, and generating a state of the structure based on the differential. In other aspects, a structure modeling apparatus and a monitoring system are also disclosed.

Description

AUTONOMOUS SYSTEM FOR MONITORING THE STRUCTURAL INTEGRITY

OF MARINE PILINGS

TECHNICAL FIELD

[0001] One or more embodiments disclosed herein relate to methods, apparatuses, and systems for monitoring the structural integrity of marine pilings.

BACKGROUND

[0002] There are estimated to be over 30 million pilings located in freight ports worldwide. Traditional piling materials have a limited service life and high maintenance costs when they are used in harsh marine environmental conditions such as corrosion, degradation, and typical marine borer attacks. Manual inspection methods are expensive, risky, time consuming, and provide limited data to the asset owners on the integrity of their critical infrastructure. Overall, it is estimated that the repair and replacement of piling systems costs the U.S. over $1 billion annually. Without any good data on piling health, the insurance companies charge higher rates costing owners many times more than if the data was trusted data.

SUMMARY

[0003] One or more embodiments of the invention provide for an automated inspection piling monitoring system to determine piling integrity. It may include a Central Systems Command Center (CSCC) network connected to non-destructive sensors placed on every type of piling (steel, concrete, timber, composite) and which could operate autonomously without or limited maintenance over an estimated 10 years. It would provide for real-time defect and damage data with improved life-cycle assessment and failure prediction to the asset owners and operators, as well as other related organizations.

[0004] A key concept of the invention is obtaining a “golden image” which is defined by “a known good product” first “acoustic signature” and other first data from a prototype pile of target material and composition and then periodically comparing a current image and data from installed piles of the same lineage with that of that “golden image” to determine and ascertain the structural integrity of the pile to predict when a failure mechanism could occur, such as compromised physical structure after storms, earthquakes, ship damage, or simple normal wear and tear caused by the water and environment, or possibly intentional tampering and sabotage.

[0005] Another key concept is to perform data analytics from multiple existing databases, such as from telephone pole structural integrity tests, augmented with 3 -dimensional finite element and other modeling techniques, to map such data sets into predictive models for marine pilings. This approach is useful to determine remaining useful life for older piling installations.

[0006] Each piling would be uniquely and securely identified for a fully commanded monitoring and inspection system. A complete piling inspection program provides a predictable and repeatable result when commanded by the CSCC. The resulting inspection data is transferred wirelessly in a secure manner back to the CSCC data center for analysis to determine the current physical condition of a specific piling. If the results indicate that repair or replacement is required, a maintenance service team will be sent to the specific piling so identified.

[0007] Other embodiments and advantages of the present invention will be recognized from the description and figures. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] FIG. 1 shows typical types of pier pilings and materials used throughout the world.

[0009] FIG. 2 shows an example of a system for the autonomous monitoring of piling health.

[0010] FIG. 3 shows an example of a self-healing communication network system.

[0011] FIG. 4 shows how a crack in the piling causes a change in the acoustic response.

[0012] FIG. 5 shows frequency responses from ripe and unripe watermelons from the watermelon thumper.

[0013] FIG. 6 shows acoustic signal processing from the watermelon thumper commercial product.

[0014] FIG. 7 shows an expected acoustic response signal from a newly manufactured piling.

[0015] FIG. 8 shows an expected acoustic response signal from an installed piling with years of service life left.

[0016] FIG. 9 shows an expected acoustic response from a piling at the end of its service life.

[0017] FIG. 10 shows the components of the Acoustic Signature Profile (ASP) belt.

[0018] FIG. 11 is an illustration for attached tags on the pilings.

[0019] FIG. 12 is an illustration of the ASP Thumper/Pinger.

[0020] FIG. 13 shows an ASP Thumper/Pinger array in the belt.

[0021] FIG. 14 is an illustration of the Thumper/Pinger array on a piling.

[0022] FIG. 15 shows technical detail of some of the ASP belt electronic components. [0023] FIG. 16 shows close-up view of some of the ASP belt electronic components.

[0024] FIG. 17 shows electronic components of the wireless network.

[0025] FIG. 18 shows an illustration of the robotic arm belt installer.

[0026] FIG. 19 shows installing the ASP belt on the pilings with an innertube-like floatation device.

[0027] FIG. 20 shows an example of a commercially available floatation device.

[0028] FIG. 21 shows an illustration of ASP belts on floatation devices awaiting installation.

[0029] FIG. 22 shows an illustration of ASP belts on floatation devices rising to tide level installation point.

[0030] FIG. 23 shows an illustration of installed ASP belts.

[0031] FIG. 24 shows an illustration of floatation devices released for retrieval.

[0032] FIG. 25 shows a concept of an ASP embodied in a plug installed at time of piling manufacture.

[0033] FIG. 26 shows components of a hand-held ASP.

[0034] FIG. 27 shows ASP handheld components hooked together.

[0035] FIG. 28 shows an illustration of how the ASP handheld unit operates.

[0036] FIG. 29 shows human deployment of ASP handheld unit.

[0037] FIG. 30 shows robotic deployment of ASP handheld unit.

[0038] FIG. 31 shows an example of components for wireless powering

DETAILED DESCRIPTION [0039] Embodiments of the present invention will be described in detail below with reference to the drawings. Like elements in the various figures are denoted by like reference numerals for consistency.

[0040] In the following description of embodiments of the invention, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid obscuring the invention.

[0041] Marine pile inspection today is done primarily from boat-deployed divers for underwater visual inspection augmented by a variety of test methodologies well known within various written literature. It is expensive and hazardous, and results are compromised by marine growth on the pilings and diver may not be able to visually assess external or internal structural deterioration and damage. Despite the risks and costs, these current acquired results are speculative at best in predicting any pilings useful life.

[0042] A test widely used today for determining the integrity of a wide range of structures and materials is acoustic impact analysis, where a specific hammer of a calibrated mass is used to strike an object and then record its acoustic response with various sensors attached to the object. The specific acoustic response can be then analyzed in both in time and frequency domains to obtain a measure of the physical integrity of the object at that specific time. Recently a product was developed called the watermelon “thumper” which was developed to determine optimal ripeness a specific watermelon. Another classic example is used to determine the remaining lifetime of wooden telephone poles.

[0043] The manual use of such techniques is challenging at best for marine piles. FIG.

1 shows typical installation of wood, steel, concrete, and composite pilings. Test repeatability is a huge issue for such environments, where it is crucial to obtain results that can be accurately compared to their previous test results. Even with the same person wielding the strike hammer, impact will vary between strikes, and different people will yield wildly inconsistent strikes within each of the marine pilings environment.

[0044] These unstable operating platforms and conditions will compromise any result. [0045] This invention mitigates these issues by eliminating the strike hammer wielded by a human by providing for a permanent installation of a striker, and other tests, for a complete system test on each and every piling, and all controlled by the central command of the Central Systems Command Center (CSCC) network, as shown in FIG. 2. These permanently installed non-destructive test systems would be able to operate autonomously or by a semi -autonomous command system.

[0046] These pilings enabled with these permanently mounted test systems are referred to as “smart” or “service” pilings. The smart pilings are arrayed in a local area network controlled by the “master pilings” which communicate with either a wireless or wired or both internet connection to the CSCC. The master pilings will either command their smart service pilings to perform a test and send the results of the test to the Piling Database (PDB) or accept and send the results of tests performed autonomously by the smart service pilings. Tests that reveal problems requiring further examination are sent to the CSSC to deploy an autonomous or semi-autonomous water vehicle to the piling for further inspection and testing.

[0047] The components of this autonomous piling test system are explained in detail below.

[0048] Piling Identification

[0049] There are 30 million marine pilings worldwide and to automate their testing it is vital to keep track of their identity. A Unique Identification (UID) tag of some sort would be employed as part of the system giving each piling its own unique identification. There are three broad categories of piling identification or tagging that are included in this invention:

[0050] 1. Visual, which includes barcodes, 2-D barcodes such as QRC, license plates, and any other type of visual means that could be implemented in or within a physical object or structure that is attached to, on or in the piling or medium to be inspected and then read by some remote reader device, including reader-enabled smart devices.

[0051] 2. Electronic, which includes but not limited to optical, acoustic and wireless devices such as Bluetooth, ZigBee, Radio Frequency, or inductively read devices attached to, on or within a piling, or medium to be inspected or incorporated into the sensor device attached to, on or within a piling or medium to be inspected then can be read from a distance from any remote reading device. Any of these devices could be powered from energy delivered from the readers like solar, wirelessly, such as Bluetooth, inductively (passive), battery (DC) or even hard wired (active).

[0052] 3. Virtual, which are not physical devices or objects, but rather computer code imbedded into the sensor devices operating system.

[0053] Visual and electronic tags can either be attached as standalone devices on or within the pilings or incorporated as a component in the test apparatus. Either approach is incorporated in this invention. The tag ID could be just a Random Number ID (RNID) that is associated with a piling GPS geolocation coordinates and other location data such as from a virtual, or visual electronic maps and test data within the PDB. Either on command our under autonomous operation, when a smart service piling acquires a new data set, it is sent to the master piling along with its RNID, which is forwarded on to the PDB by the master piling. If the new data set reveals a problem requiring further investigation, that request is sent from the PDB to the CSCC along with the RNID and the associated GPS geolocation coordinates and other location data, which the CSCC deployed aquatic service vehicle uses to find the specific piling(s). Upon approaching the piling(s) for further testing or servicing, it could use a wireless reading device to read the RNID of the tag to confirm that it has arrived at the proper piling destination. On completion of the testing or servicing, the results will be uploaded to the PDB along with the RNID. The RNID is the organizing identity around which everything relating to that piling(s) is associated with. Being a random number, it in itself contains no information which can be hacked or compromised for an intruder to gain actionable information, so provides security against cyber-attack.

[0054] Communication

[0055] Communication between the CSCC, the PDB, the master pilings, and between the master pilings and the smart service pilings can be either wireless, hardwired, or a combination of both depending on the specific installation. Communication between the master pilings and the smart service pilings could also be acoustically transmitted. The piling installation could be in challenging conditions subject to weather extremes. The CSCC and the PDB could be halfway around the world from the piling pier installation.

[0056] This invention includes most possible communication channel scenarios, but any communication device or system could work. The most likely installation would be for the aquatic service vehicle facility to be co-located with the pier, but the CSCC and PDB would be remote. The master pilings would then need wired or wireless access to the internet to communicate with the CSCC and the PDB.

[0057] Underneath the pier decking, the pilings present a challenge to wireless communication between smart service pilings and the master pilings, particularly for steel pilings. To circumvent this problem, this invention contemplates local area self-healing network “cells” with each cell comprising eight smart service pilings in a grid away with the master piling in the center of the cell, as shown in FIG. 3, thereby providing unimpeded line of sight communication from the smart service pilings to the master piling either by wireless RF technologies, such as Bluetooth, ZigBee, or others, or even acoustic or optical data transmission technologies. The RNIDs of the smart service pilings are “nested” or “aggregated” or associated with the RNID of their respective master piling within the database.

[0058] An example of a communication sequence could begin with the CSCC sending an “acquire new test” command with the RNID of the target smart service piling along with the RNID of the master piling responsible for that particular smart service piling. Only the master piling with that RNID would respond, and it would then broadcast that command to its smart service pilings within its cell with the message preamble being the RNID of the target smart service piling. Only that piling will respond to the command signal, which can be sent either wirelessly, optically, or acoustically. The smart service piling will execute the test and send the results out with the message preamble being its RNID. Upon receiving the data file, the Master pilling would then send the data file to the PDB along with its RNID and the smart service piling RNID.

[0059] Another communication sequence example could begin by a smart service piling sending out its autonomously acquired test dataset to its master piling either wirelessly or acoustically with the message preamble being its RNID The master piling receives this data file and forwards it to the PDB along with its RNID and the RNID of the smart service piling. The data is filed in the PDB under the smart service piling RNID, which is associated with its master piling RNID. There are many other examples, this invention is not limited to only these described.

[0060] Non-Destruction Testing (NDT) [0061] Non-destructive testing technology is required to enable a complete piling inspection in a very predictable, repeatable approach to quantify and qualify any piling condition and enable the ability to predict its useful life before a failure incurs. A variety of well-known and tested technologies exist today within the market to aid in this non-destructive testing, but only a few are applicable for permanently installed autonomous operation. These include ultrasound wall thickness (UT) measurement, long-range ultrasound (LRUT), and acoustic signal profiling (ASP). Of these, only ASP is applicable to all piling material types, wood, steel, concrete, and composites. Any NDT approach that can be incorporated in a permanent installation for autonomous operation is included in this invention. However, this invention will focus on ASP because of its universal applicability to all piling types.

[0062] The Principle Behind the ASP Approach

[0063] Every solid object has an acoustic signature, fingerprint, or resonant frequency response. It is specifically the sound or physical energy that results when you tap, strike or thump something. Examples of acoustic signatures are abundant, such as with the particular tone of a bell after being mechanically struck, or with the tones created by a tubular pipe wind chime. Every object is unique in its structure, dimensions, and environment and, therefore, every acoustic signature is unique, defined by its profile or resonant frequency, the Acoustic Signal Profile (ASP). The ASP will change as the state of the object changes as shown in FIG. 4. Tap a plank of any wood and you would get one unique ASP. If you then sawed it in half and then tap it, you would get another ASP. With enough data gathering, you can then predict what changes have occurred to any object based on its ASP. An excellent very recent example as explained earlier within this write-up is the Watermelon Thumper App that predicts ripeness according to the obtained ASP as shown in FIG. 5. [0064] When any object, such as a watermelon, is tapped or thumped the object responds with many different sound frequencies (for example from DC to millimeter wavelengths) that propagate throughout the object creating resonant responses that create the unique ASP. The result can then be graphed into various axis dimensions for example the frequency, amplitude, time and phase. Some of these axis dimensions are shown in FIG. 5. for the unripe and ripe watermelon ASPs. These figures are very instructive to what one would expect from marine piling ASPs.

[0065] Ideally one would have access to a pristine recently manufactured piling to obtain a first ASP from, which we define as the “Golden Image Profile” (GIP). Also, ideally, one would have access to a recently installed such piling to obtain a first installed ASP from to determine the effects of water submersion on the ASP. This ASP from a newly installed pristine piling becomes the GIP that subsequent ASPs are compared to as the piling ages.

[0066] A round pilling of any material composition has the basic dimensions of length and diameter. A steel piling has the additional dimension of wall thickness. The ASP from any particular piling would contain the complete frequencies corresponding to these dimensions. A steel pipe created with a spiral weld would also contain frequencies contributed by discontinuities induced by the weld process. All of these frequency components would make up the starting GIP. An analog GIP would correspond to the unripe watermelon ASP as shown in FIG. 5.

[0067] Once pilings are installed, the aging process begins with exposure to many things to include but not limited to saltwater, chemicals in the water, wave action, collision with boats, marine life attack, etc. Electric currents from any number of sources are often present which accelerate certain aging processes, such as steel corrosion. Particularly vulnerable is the “splash zone” where the piling endures continual cycles of exposure to the breaking saltwater and then to the oxygen rich air that then accelerates the corrosion process and certain marine life attacks.

[0068] For steel pilings rusting causes constant material property changes which affect the acoustic impedance of the material at a specific rate depending on environmental conditions, including temperature. These changes over time induce different frequency modes in the ASP which are tracked and compared to the GIP. As more rusting and other damage accrues over time the ASP starts resembling that of the ripe watermelon of FIG. 5 and 6. The same is true with other piling materials, such as wood, concrete, and composites, where aging introduces material faults which introduce different frequency modes in the ASP which can be tracked and accounted for.

[0069] This process, therefore, raises the possibilities of determining any piling material condition from its ASP. A pristine piling would contain a limited number of frequencies very much like FIG. 7. As the piling ages within its particular environment, other frequencies would be introduced and it would be the amount of additional frequencies that would allow one to categorize pipeline condition as to Good, Fair, Poor, or Bad. A fair pipe might look like the ASP of FIG. 5 for an unripe watermelon, and a poor pipe might look like FIG. 8. A bad piling would be loaded with all kinds of frequencies much like FIG. 9 or FIG. 5 of a ripe watermelon.

[0070] Further, as more ASP data is introduced or generated into the database and the variety of new conditions of pilings enter the into the field, each bit of frequency spectrum could point to new specific conditions within the pilings through Artificial Intelligence and statistics and probability. Such capabilities coupled with constant environmental data and physics from failure analysis lab reports and studies could then lead to the ability to predict piling or structure failures from a current ASP. [0071] The key to being able to do this is in the creation of a large and continuous amount of data being added into the databases which then could correlate these specific changes within the acoustic signature or resonant frequency response with the constant changes within the specific/unique physical structures of interest created by their environment. The creation of these such databases would be impossible to achieve with just physical analysis of the endless minute types of constant changes that could/can occur within any physical structure with the attendant changes in acoustic signatures. The approach taken within this invention is to create a “virtual” model of the physical structure of interest using , but not limited to technologies such as 3D finite element software and run computer simulations of the various physical changes that could occur with the structure, and then be able to calculate the resultant acoustic/physical signatures. Current computing and database platforms would allow the creation of thousands of such simulations. It is essential, however, to correlate these simulations with actual physical data to ensure the simulations are indeed an accurate representation of the specific object. The approach taken here for means of explanation is: [0072] 1. Acoustic/physical signature data is taken from a “pristine” or known good image version of the physical structure, as from a pipe, cement, wooden or composite material which then becomes the “golden image.”

[0073] 2. A 3D finite element model is then created for the structure, identical in all features, including dimensions and material properties.

[0074] 3. A repeatable physical strike is simulated, and that acoustic digital signature response would then be calculated.

[0075] 4. This calculated response would be used to compare with from the actual one response obtained from the measured object. [0076] 5. If the two substantially agree, then can proceed to the next step. If not, the model simulation would then be fine-tuned until substantial agreement can be obtained.

[0077] 6. The pristine physical structure would then be modified in such a way to be representative of the continual changes over the life of each structure, such as with a crack, bend, or inclusion within a particular geo-location, and then the acoustic signature is measured. [0078] 7. The same modification is introduced into the 3D finite element model and the acoustic signature would be calculated.

[0079] 8. The two acoustic signatures would then be compared, and if they substantially agree within a predefined % then one can proceed to the next step. If not, the model is finetuned until substantial agreement can be obtained.

[0080] 9. Other physical modifications can also be made and modeled until confidence is high that the model is a true representation of the physical structure.

[0081] 10. Then the computer model is launched to calculate the acoustic signatures of all the possibilities of any physical change over the life of the structure to create the database that subsequent physical acoustic signatures would be compared to as to determine what physical change could cause the current physical acoustic signature.

[0082] 11. Such physical changes would be indicative of a possible failure of the structure and immediate remedial action could/can be initiated to prevent such a failure.

[0083] 12. The database could be then used to train a deep learning neural network to output the physical structural change based on the input of the physical acoustic signature.

[0084] 13. Computational power now may be such that real time simulation could be possible which could fine tune a cause to an affect as seen by the acoustic signature of the physical object.

[0085] Autonomous Acoustic Signature Profile [0086] Autonomous operation would enable “smart” piling structures to self-analyze themselves to predict structural failures and enable an intervention to prevent such future failures. The pilings made “smart” with the attachment of the physical/mechanical strike mechanism and a minimum of one acoustic receiver, with a communication device to transmit the acoustic signatures to a central location for the database comparison, and to receive further instructions from the central location. The acoustic signatures could be obtained “autonomously” through timing circuitry associated with the strike module to create the signatures on a periodic basis, which are then sent back to the central location for analysis. The timing circuitry could also include circuitry and memory for comparing current or past acoustic signatures with a golden image to look for sudden large changes that are indicative of imminent structural failure to send out an emergency alert signal to the central location for immediate remedial action. The acoustic signature could also be “commanded” from the central location, based on events such as severe weather that might be comprising to the structural integrity, or simply from changes in the acoustic signature over time that are suspicious of deterioration of the physical integrity warranting closer inspection and monitoring. These examples are meant to be instructive and not limiting to the application of the invention.

[0087] ASP Data Acquisition Band

[0088] The NDT system will be attached to pilings via a band around the circumference of the piling, with an estimated service life of at around ten years. By way of example, an ASP Data Acquisition Band (DAB) will be described. Key features of one example implementation are:

[0089] The complete electronic apparatus except the Acoustic Strike (AS) thumper/solenoid metal surface would be encased within an environmentally sealed belt around the circumference of the piling above the water line that provides environmental protection to all the electronics. A rechargeable lithium ion or polymer like battery would also be encased within the belt designed for a 10-year battery life. It would have an inductively coupled “pad” within the belt when it does need to be re-charged. The rubber belt is designed for easy installation, and once installed, can be forgotten with no further maintenance for an estimated ten years. See FIG. 10 for a schematic view of the belt showing the components that comprise the belt, including integration with an Independent Bluetooth Activated Tag (IB AT) which would contain the RNID.

[0090] The IB AT is permanently mounted on pilings, as shown in FIG. 11 with industrial Velcro, super magnets (like neodymium), adhesives or self-tapping bolts or other and would operate independently as a passive identification tag read from a reader shown in FIG. 10. These would also be used for the authentication of each ASP as to assure that the same belt is the same from read to read as well as what Piling it was attached to. The ASP band is designed with a cutout of such dimensions to allow the tag to be placed adjacent to a reader antenna on the band connected to the reader shown in FIG. 10. This reader circuitry is incorporated onto the ASP controller board. On first power up for a newly installed ASP band the controller board would enable the tag reader to retrieve the tag identification (RNID) number and load it into memory on the controller board. From this point, the tag can be interrogated both by the tag reader, Bluetooth or ZigBee type readers and is referred to as Independent Bluetooth Activated Tag (IBAT). The band installer (human or aquatic robot) would do a Bluetooth read to retrieve the Smart Piling (SP) IBAT RNID and would send it along with the GPS coordinates to the CSCC. From the extrapolated GPS coordinates the piling data base knows which MP RNID to associate with the SP RNID. This data all could then be extrapolated to both 3D location and timestamping from anywhere in the world (e.g., FIG. 3). [0091] A self-assembled and self-healing Bluetooth or equivalent short-range RF network would provide for communication between the Master Piling (MP) and the target Smart Piling (SP). See FIG. 3. The MP is connected to the Command Center by standard cellular and wireless services. As discussed above, the communication could also occur acoustically.

[0092] When the Piling Data Base Analysis Center (PDBAC) determines that new ASP data is required from a specific SP it would notify the CSCC, which would then send the request to the MP RNTD with the SP RNID, which would then send the ASP acquisition commanded through the self-assembled network (SAN) to the target SP RNID. It accomplishes this by sending the RNID through the Bluetooth, Rf or acoustic network with the SP RNID as the preamble to the “Acquire new ASP” command. Only the ASP band with the RNID in memory would respond to the command, and all the other ASP bands would ignore it. This is easily accomplished through a simple tree-like-walking protocol.

[0093] The target SP would acquire the new ASP data and sends it to the MP through the SAN. When the MP receives this data stream, it then attaches its MP RNID and the SP RNID within the preamble and then sends it to the PDBAC for analysis.

[0094] The ASPAS acoustic receiver PZT transducers when not acquiring the ASP would be put into “listen” mode to listen for acoustic signals such as from crack propagation (as with bridge structure acoustic sensors). If they pick up a suspicious or undesired signal an ASP could be autonomously obtained to send to the MP along with the suspicious signal alert. They could also pick up the sound of something colliding with the piling, unusually strong wave actions, or severe storm or earthquake information. There would be at minimum of three PZT transducers arrayed around the pilings circumference above the water all encased within the belt 120 degrees apart. At least one or more could also operate to send an acoustic pulse and then listen for a reflected signal, where the receive time would yield the pipe wall thickness for steel pilings.

[0095] Technical Details of the ASP Data Acquisition Band

[0096] An electromechanical solenoid activated “Pinger” Acoustic Strike (AS) device such as shown in FIGs. 12, 13, and 14 provides the consistent elastic/mechanical strike mechanism required for accurate ASP generation. The device drives a metal rod, ball or entity with the same or similar material used in the piling for acoustic impedance matching required for maximum energy transfer into an un-changing location on the piling wall with a consistent velocity, allowing free rebound after the strike like that of a pin-ball machine striker. The mass of the rod or ball is optimized to transfer maximum energy into the piling.

[0097] A signal receiver and data acquisition circuit board amplifies each of the output signals of the acoustic receiver(s) from the acoustic strike, then digitizes them, and then stores them into memory. A Bluetooth transceiver board interfaces with all COTs Bluetooth/wireless devices for communicating between the Master Pilings (MPs) and the Service Pilings (SPs). The board would translate each of the incoming wireless signals from a MP to a digital data stream going to the controller board and then translate the digital data stream from the controller board to a wireless protocol to be sent out to the MP. The wireless devices would also communicate with external IBAT wireless interrogation readers. The transceiver board would have logic that routs such signals to the IBAT interface circuitry on the controller board. [0098] A controller board controls the operation of ASP data acquisition band and for interfacing with the MP. It would perform the following functions:

[0099] Listen Mode: The acoustic receivers would be set into a mode where they listen for example 1) sounds of structural failure, such as a crack; 2) sounds of impact, such as from a ship or vessel; 3) wave impact, of such magnitude that may be a result of a major storm or hurricane. If they detect such sounds, the controller board would initiate an ASP data acquisition, which would activate the “Pinger” to strike the wall, and put the acoustic receivers in the mode of receiving the resulting signal, and store the resulting digitized output stream into memory, which would then be clocked out to the transceiver board to be translated into a digital data stream and to a wireless protocol for transmission to the MP, which would then send the data stream to the PDP for data analysis.

[00100] Commanded Mode: Incoming command signals from the MP would interrupt the Listen Mode and initiate the acquisition of an ASP which would then be sent to the MP, which would send the digital data stream to the PDP for data analysis.

[00101] IB AT Interface: When the wireless transceiver board receives the digital stream with its RNID as the preamble (which as above only it responds to) followed by the command stream for “send RNID” from an external wireless tag reader it then sends out its RNID from the controller board memory and formats the response to the wireless transceiver board to send out its RNID. Note that this is not normal tag read protocol, where a long-distance reader (which a wireless reader would be) uses a contention-resolving algorithm (requiring much additional circuitry on the tag IC) to read all the tags within its read distance. It is assumed here for this use case that either humans or the aquatic robot are/is wishing to confirm that they/it has arrived at the right piling with its known SP RNID and want for just that piling to respond to a tag read command for confirmation. The IBAT interface protocol described above accomplishes that function.

[00102] A “potting” band material encapsulates the electronic boards for protection against the marine environment and for ease of attachment. FIGs. 15 and 16 are a good summary overview of the belt and its components.

[00103] Technical Detail of the MP installation [00104] The MP itself may not be an actual piling, but rather an electronic station “box” hooked into the pier Internet and power. If it is a station box it will occupy either an edge or corner position on the pier so that it can accommodate a wireless, or equivalent, antenna positioned below pier deck level for communicating with the SPs, as well as sensor probes in the water for environmental testing and acoustic data transmission and receiving. It could be a small unit, on the order of the size of a shoebox, weatherproofed to protect against any marine type environment. Its job is straightforward, take incoming Internet commands from the CSCC, and re-format for wireless communication to the SPs, and to take wireless signals from the SPs and reformat to send out over the Internet to the CSCC. A circuit board would interface with the environmental sensors, taking the digital output stream and sending it out over the Internet to the CSCC with its MP RNID. FIG. 17 is a good summary overview of this integrated sensor platform.

[00105] Floatation Band Deployment

[00106] Currently there is no good way to install the heavy and bulky bands that does not involve some type of crane devices mounted on boats and manpower. This invention describes two new approaches for installing sensor bands. The first is with a robotic arm mounted on an aquatic vehicle platform as shown in FIG. 18. The arm supports a “wrap-around” actuator that automates the wrapping and attachment of the band around the piling. The first such platform may require humans to navigate the aquatic vehicle to the proper location and to operate it while the robotic arm achieves the band attachment. With self- operating automation, the humans will eventually no longer be required. The vehicle will self-guide to the target piling, perform the attachment, perform a fist test to ensure proper operation and to associate the band RNID to the piling geo-location coordinates and other location data. [00107] The second method of this invention is a new way of installing the bands with floatation devices. The concept is to place the bands from a boat on floatation devices encircling the pilings at low tide. Multiple bands would be so placed on multiple floatation devices during the day as the tide rises. The band placement is shown in FIG. 19 where the inner tube shown in actuality is a COTS device shown in FIG. 20. As high tide, shown in FIGs. 21 and 22 a command signal is sent wirelessly, received in unison by all the bands which causes a latch to cinch the bands onto the pilings. As the tide recedes the bands are all left in place at the same exact height with respect to each other, shown in FIG. 23. At low-tide the floatation devices are either released or free to fall with the receding tide, as shown in FIG. 24 and are retrieved by boat. As with the first method, the boats could be autonomously operated.

[00108] Other implementations

[00109] Newly manufactured pilings could be designed to accommodate the ASP “plugs” as shown in FIG. 25. These ASP plugs are self-deployed with piling installation and would be designed for a 30-year life and would be designed for ease of replacement if need arises. The huge advantage with these plugs is the elimination of deployment equipment and cost.

[00110] A hand-held ASP unit that can be quickly and inexpensively deployed from boats, capable of rating up to 80 pilings per day per boat as to good, fair, poor, or bad. FIGs. 26 and 27show the components described above that comprise of the ASP hand-held unit system, and FIGs. 28 and 29 shows the system acquiring an ASP on a piling. FIG. 30 shows the handheld unit being operated by a robotic arm.

[00111] The system network comprises (FIG. 2):

[00112] 1. At the highest level is the Central Systems Command Center, referred to as the CSCC, which controls the entire operation. This is also where the piling database (PDB) is managed. The CSCC integrates every output from the PDB with weather and NOAA buoy data feeds for any weather events that could impact the pier or their piling integrity. The CSCC issues commands to the Master Pilings (MPs), which in turn issue commands to the Service Pilings (SPs). Command communications are through existing communication channels which are leased, such as through cellular towers and satellites.

[00113] 2 The next level down are the MPs and the Service Teams (FIG. 11). a. Each MP is uniquely identified by a unique Identification (RNID) programmed into a visual, electronic, optical, or acoustic tag, which is permanently attached to the MP above the water line for electronic and visual and below it for acoustic. The MP RNIDs and its GPS 3D coordinates are stored in the Piling Database (PDB). MPs are equipped for two-way communication with the CSSS and can report autonomously real-time piling health status and receive orders from the CSSS to command the SPs to acquire new Acoustic Signature Profiles (ASPs) and/or other sensor data. Communication with the CSSS is through commercial cellular and/or satellite data links. Communication with the SPs will be through any wireless transmission systems with COTS technology. Alternatively, underwater acoustic communication could be deployed. Ideally the MPs would be powered from the grid, but if that is not available, it would be powered from a battery power source designed for either solar, inductive or wireless charging with COTS technology (FIG. 31) with capacity sufficient to operate the MP for a desired length of time. There would be additional capabilities added to the MP, such as a link to the local weather station/channel or local weather sensors to augment weather tracking by the CSCC. The MPs would then issue a new ASP acquisition command to the SPs when commanded to do so by the CSCC. The MP accomplishes this by first sending out the target SP RNID followed by the ASP acquisition command. When the target SP acquires the ASP, it then sends out its RNID followed by the ASP data. The MP then sends this data to PDB for analysis. If the analysis indicates a problem requiring some follow up, the CSCC could then deploy a service team to the target SP to acquire additional data, such as from LRUT, which is sent to the PDB for data analysis. If that analysis indicates any problem requiring further investigation, divers would then be deployed to the target piling for further analysis. b. A service team (FIG. 2) is deployed when it receives a command over the wireless network from the CSCC with its 3D visual and GPS location coordinates along with the RNID of the specified piling and what action requirements (AR’s) are required. The AR could include LRUT guided wave inspection of a piling, a battery replacement, a battery re- charge, or visual inspection, etc.

[00114] 3 The final level down is the Service Piling (SP), which communicates with the

MP through some desired wireless communication system such as Bluetooth, WIFI, Cellular, etc. and/or underwear acoustic data transmission. Each SP is uniquely identified by the RNID tag that was permanently attached to the SP above the water line for electronic and visual tags and below the water line for acoustic tags. The SP RNIDs and GPS coordinates are stored in the PDB. When commanded by the MP the SP would acquire a new ASP, which is then sent to the MP for transfer to the PDB for analysis. Further, if the SP ASP acoustic sensors detect a failure, impact, or weather event, it could spontaneously perform an ASP and send the results to the MP. [00115] The above examples and modified examples may be combined with each other, and various features of these examples can be combined with each other in various combinations. The invention is not limited to the specific combinations disclosed herein.

[00116] Although the disclosure has been described with respect to only a limited number of embodiments, those skilled in the art, having benefit of this disclosure, will appreciate that various other embodiments may be devised without departing from the scope of the present invention.

Claims

CLAIMS What is claimed is:

1. A method of modeling a structure, comprising: generating a first acoustic signature of the structure; comparing the first acoustic signature to a second acoustic signature to determine a first differential; and generating a state of the structure based on the differential.

2. The method of claim 1, wherein the second acoustic signature is an ideal acoustic signature.

3. The method of claim 2, further comprising: generating a three-dimensional model based on the ideal acoustic signature.

4. The method of claim 1, further comprising: generating a third acoustic signature of the structure; comparing the third acoustic signature to the first acoustic signature to determine a second differential; and recording the second differential in a database.

5. The method of claim 1, wherein the first acoustic signature is generated using a physical strike.

6. The method of claim 1, further comprising: updating the first acoustic signature in real-time.

7. The method of claim 1, further comprising: generating an alert based on the state of the structure.

8. The method of claim 7, wherein the alert indicates one of tampering and alteration.

25 The method of claim 1, wherein the structure is one of a bridge, a marine piling, a complex structure, or a wall. The method of claim 1, wherein the structure compromises one or more of metal, wood, cement, or composite. A structure modeling apparatus, comprising: a sensor that generates a first acoustic signature of the structure; a processor that compare the first acoustic signature to a second acoustic signature to determine a first differential, wherein the processor generates a state of the structure based on the differential. A monitoring system, comprising: a structure modeling apparatus, comprising: a sensor that generates first acoustic signature of the structure; and a transmitter that transmits the first acoustic signature, and a monitoring device, comprising: a receiver that receives the first acoustic signature from the structure modeling apparatus; and a processor that compares the first acoustic signature to a second acoustic signature to determine a first differential, wherein the processor generates a state of the structure based on the differential. The monitoring system of claim 12, wherein the structure modeling apparatus further comprises a receiver that receives a request from the monitoring device to generate a third acoustic signature, wherein the sensor generates the third acoustic signature, and wherein the transmitter transmits the third acoustic signature to the monitoring device. The monitoring system of claim 12, wherein the processor generates the state of the structure in real time. The monitoring system of claim 12, wherein the monitoring device further comprises a database storing the first acoustic signature and the second acoustic signature.