Water Power and Dam Construction. Issue May 2010

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UNDERWATER INSPECTION

was the rst time that image mosaic techniques have been applied for

dam inspection. This solution gives important added value since it

provides civil engineers with a global view of the inspected area.

Unfortunately, the ROV was not localised and hence the resulting

image mosaic was not geo-referenced. The lack of this information

makes it more difcult to perform periodic inspections on damaged

spots and also to locate the areas where repair works must take

place. The major contribution of the work presented in this article

consist of using an underwater robot and an USBL-based global

localisation system for building geo-referenced photo-mosaics of

selected areas of the wall or the bottom oor, opening the door to

systematic visual inspections.

HARDWARE SYSTEMS

During the AIRSUB project different hardware systems have been

developed to allow the generation of geo-referenced visual maps. The

rst is an underwater vehicle capable of executing the survey mission

and the second, an absolute positioning system capable of determin-

ing its position in world coordinates. Each one of these elements is

described below.

THE ICTINEU VEHICLE

The Ictineu vehicle [4] was conceived around a typical open frame

design as a research prototype for validating new technologies. It is a

small (0.8x0.5x0.5m) and light (60kg in air) vehicle. It is practically

neutral (approx. 0.6 Kg of positive buoyancy), it is stable in roll and

pitch due to the weights and volumes distribution, and it can be con-

trolled in surge, sway, heave and yaw with six thrusters. Four of them

are placed horizontally in a rhombus conguration that makes it pos-

sible to thrust in any horizontal direction simultaneously (surge and

sway) and perform rotation (yaw). The other two thrusters are placed

vertically and can actuate the heave degrees of freedom (DOF).

The four DOFs allow the scanning of the wall of the dam main-

taining the distance and point of view of the camera while moving

vertically and horizontally. The vehicle has two cylindrical pressure

vessels which house the power and computer modules. The power

module contains a pack of batteries and the computer module has

two industrial PCs, one for control and one for image and sonar

processing connected through a 100 Mbps Ethernet switch.

An interesting characteristic of this vehicle is that it can operate

either as an ROV (tethered mode) or as an AUV (untethered mode).

An optional umbilical cable can be connected to the two modules to

supply power and ethernet communication to the vehicle. This mode

of operation is very useful, not only to operate the Ictineu as a ROV,

but to monitor the software architecture while the vehicle is perform-

ing the dam inspection autonomously.

When working in full AUV mode, the umbilical cable is removed

and the vehicle relies on batteries to power all the systems and, there-

fore, has a limited running time but a longer range of operation.

Communication can then be established using an acoustic modem,

which is integrated in the USBL sensor. The sensors onboard the

Ictineu AUV are listed on Table 1.

USBL ABSOLUTE POSIT IONING SYSTEM

The purpose of this surface equipment is to determine the absolute

position in world coordinates of the USBL transponder mounted

on the vehicle. This information is necessary for geo-referencing the

sensor data acquired with the vehicle, as well as to reduce the drift

that inherently affects the dead-reckoning navigation estimate.

This system is basically composed of a Linkquest Tracklink 1500

USBL transceiver and its supporting sensors, a DGPS and an Xsens

MTi MRU, whose objective is to compensate the position and atti-

tude changes of the transceiver during the vehicle position estimation

process (see gure 2a). The different components are attached to an

aluminium structure which, depending on the requirements of the

mission, can be mounted outboard of a small boat (see gure 2b) or

attached to a drifting buoy (see gure 2c).

The data logging is performed on an external computer connected

to the sensors through RS232 that, if necessary, can be mounted in

the buoy and powered with batteries. In order to integrate the sensor

information acquired with the Ictineu with the position estimates

from the USBL system, the data should have a common time base.

For this reason, the computers in charge of the data logging should

be synchronised to the beginning of the mission.

SOFTWARE SYSTEMS

In this section, several software systems designed and developed in

our lab for controlling and geo-referencing the robot position, and

building visual maps, are described.

Figure 2: (a) The USBL system. (b) The system mounted outboard of a boat.

Figure 3: Deployment of the Ictineu

during the Mequinenza trials

42 MAY 2010 INTERNATIONAL WATER POWER & DAM CONSTRUCTION

UNDERWATER INSPECTION

INTELLIGENT CONTROL ARCHITECTURE

Ictineu AUV is endowed with intelligent software responsible for the

navigation, guidance and control of the vehicle. The mission is pro-

grammed using mission control language (MCL), an imperative lan-

guage which compiles a Petri-net based representation of the mission

[5], useful for pre-mission verication and real-time mission execu-

tion. During the run time, the mission controller is in charge of the

sequential and/or parallel execution of tasks.

The system includes tasks for checking safety alarms, logging

sensor data, waypoint guidance, path following, sensors enabling/

disabling, keeping a relative position with respect to the wall [6],

altitude control, etc. The result of the mission execution is a set of

log les containing all the data gathered by the sensors, including the

imagery, conveniently synchronised. This data is then post-processed

to build the maps.

GEO-REFERENCING THE ROBOT POSITION

During a mission, the vehicle estimates the trajectory by means of a

stochastic sensor fusion algorithm known as the extended Kalman

lter [7]. The lter estimates the vehicle state (position, heading and

velocity) and its corresponding uncertainty following a two-step

recursive process. First, a model is used to predict the vehicle motion.

Then, this predicted state is corrected by introducing new information

provided by the sensors.

In our particular application, the velocity measurements from the

DVL, the depth calculated from the pressure sensor and the heading

provided by the bre optic gyro are used to perform the state update.

As a result of this process, a dead-reckoning estimation of the vehicle

motion is obtained. The USBL system provides absolute measure-

ments required to geo-reference the vehicle as well as to bind the error

growth in the estimated position.

To operate, the USBL system makes use of a second Kalman lter

that constantly estimates the position and altitude of the transducer

through the measurements provided by the MRU and the DGPS. When

a USBL measurement is obtained (vehicle position referenced to the

sensor frame) it is composed with the current lter estimate (absolute

position and altitude of the sensor) to produce the vehicle position ref-

erenced to the world frame. This global position is then fused ofine

with the dead-reckoning position estimate, to compute the geo-refer-

enced robot trajectory to assist the mosaic building process.

PHOTO-MOSAI CS

Photo-mosaics are built ofine by stitching together all the images

gathered during the survey and making use of the navigation data

(robot pose). The process is done automatically using software devel-

oped by our team. First of all the algorithm processes each pair of

sequential overlapping images common features. This allows compu-

tation (up to scale) of the camera motion allowing alignment of the

images forming a global visual map (of the photo-mosaic).

It is worth noting that because this is an iterative process, the small

registration errors are accumulative, provoking a drift. Whenever the

robot re-visits an already mapped area (crossover), a loop is gener-

ated. This allows a non-consecutive image registration to be used

for globally aligning the photo-mosaic through a technique known

as bundle adjustment. Finally, the mosaic alignment is improved

through several iterations of crossover detection and optimisation.

The result is a globally aligned photo-mosaic.

EXPERIMENTAL RESULTS

In July 2008 several experiments were carried out upstream of the

Mequinenza dam on the Ebro river in Spain. This was part of a collab-

oration project with Ecohydros, a Spanish company that offers aquatic

ecosystems consulting services. The purpose of the experiments was to

produce several geo-referenced photo-mosaics of the bottom. This was

to provide visual validation for a sonar-based system being developed

by the company to detect zebra mussel colonies.

During the test trials, the Ictineu vehicle together with the USBL

system was mounted outboard of a boat and performed small sur-

veys in some areas of interest. The water turbidity forced navigation

close to the bottom to ensure sufcient image quality. This made it

difcult to control the vehicle and reduced the performance of the

DVL measurements (our device is unable to provide reliable velocity

estimates under 1m altitude). Moreover, the harsh environment, with

big slopes and large rocks, made the autonomous operation of the

vehicle impossible. For this reason, the Ictineu was set to ROV mode

and operated from the boat with the help of the real time feedback

from the imaging sonar, the vehicle cameras and the position estimate

from the USBL.

The results of the different dives were irregular. The unreliable DVL

data and the multipath affecting the USBL measurements made it dif-

cult to obtain a good position estimate. The quality of the captured

images was also irregular. It was necessary to perform manoeuvres

to avoid hitting large rocks present on the scenario and as a conse-

quence, the camera suffered abrupt changes in the altitude, sometimes

losing sight of the bottom because of the turbid waters. However,

despite all the commented issues, it was still possible to generate some

photo-mosaics of sufcient quality.

EXPERIMENTS AT THE PASTERAL DAM

The purpose of this test was to demonstrate the capacity of the system to

execute an inspection of a dam wall to search for cracks or other dam-

ages on the concrete. Nowadays, professional divers perform this task,

but they offer only a limited view of the submerged structure, which

makes it difcult to clearly determine the position of the defects.

The proposed method overcomes this problem by generating a geo-

referenced mosaic from which a technician can easily determine the

exact location of the spot of interest. Moreover, the fact that the under-

water vehicle can execute this task autonomously makes it possible to

increase the frequency of the inspections.

During the tests carried out in February 2009 at the Pasteral Dam

(Ter river, Spain) the Ictineu executed autonomously a survey trajec-

tory covering a rectangular area of approximately 4x10m with the

forward looking camera. The USBL system was placed on a buoy and

Figure 4 – One of the mosaics produced during the Mequinenza trials.

A mussel colony can be observed at the center of the image

Figure 5 – Mosaic of a wall in the Pasteral hydroelectric dam

WWW.WATERPOWERMAGAZINE.COM MAY 2010 43

UNDERWATER INSPECTION

anchored in front of the dam with the transducer oriented to the wall.

With this same setup it is possible to cover larger areas. Actually, the

same image processing technology has been successfully applied for

building a photo-mosaic of 20000 images of the Mid Atlantic Ridge

[8], in this case gathered from an Oceanographic ROV.

However, during the trials the hydroelectric dam was operational

and the test area was limited for safety purposes. In the resulting

photomosaic it is possible to observe the concrete texture as well as

the algae adhered to it. Six reective elements were placed at known

distances as a form of validating that the resulting mosaic dimensions

were adequate.

It is our belief that performing systematic geo-referenced visual

inspections provides important added value with respect to conven-

tional methods of dam inspections.

The authors are P. Ridao, M. Carreras, R. Garcia, D.

Ribas and J. Batlle at the Institute of Informatics and

Applications, University of Girona, Spain.

Email:{pere, marcc, rafa, dribas, jbatlle}@eia.udg.edu

References

1] Cote, J. and Lavallee, J. (1995). Augmented reality graphic interface for

upstream dam inspection. In Proceed- ings of SPIE Telemanipulator and

Telepresence Technologies II, volume 2590, pages 33–39, Philadelphia, PA.

2] Poupart, M. e. a. (2001). Subacuatic inspections of EDF (electricite de

france) dams. In OCEANS, 2000. MTS/IEEE Conference and Exhibition, volume

2, pages 939–942, Rhode Island, USA.

3] Batlle, J., Nicosevici, T., García, R., and Carreras, M. (2003). ROV-aided dam

inspection: Practical results. In Proceedings of the 6th IFAC Conference on

Manoeuvring and Control of Marine Crafts, pages 309–312, Girona, Spain.

4] Ribas D, N. Palomer, P. Ridao, M. Carreras, and E. Hernàndez (2007). Ictineu

AUV wins the ﬁrst SAUC-E competition. In Proceedings of the IEEE International

Conference on Robotics and Automation, pages 151–156, Roma, Italy.

5] Palomeras N., Ridao P., Carreras M., Silvestre C. (2009). Mission Control

System for an Autonomous Vehicle: Application Study of a Dam inspection using

an AUV. International Conference on Manoeuvring and Control of Marine Craft,

Guaruja-Sant Paulo, Brasil.

6] Kazmi, W., Ridao, P., and Ribas, D. (2009). Dam wall detection and tracking

using a mechanically scanned imaging sonar. In Proceedings of the IEEE

International Conference on Robotics and Automation, Kobe, Japan.

7] Kalman R. E. (1960). A new approach to linear ﬁltering and prediction

problems. Transactions of the ASME, Journal of Basic Engineering, 82 (Series

D):35–45, March 1960.

8] Escartin, J., Garcia, R., Delaunoy, O., Ferrer, J., Gracias, N., Elibol, A., Cuﬁ,

X., Neumann, L., Fornari, D. J., Humpris, S. E., and Renard, J. (2008). Globally

aligned photomosaic of the Lucky Strike hydrothermal vent ﬁeld (Mid-Atlantic

Ridge, 3718.5’N): Release of georeferenced data, mosaic construc- tion, and

viewing software. Geochemistry Geophysics Geosystems, 9(12):Q12009.

Acknowledgements

This research was sponsored by the Spanish government under the grants

DPI2005-09001-C03-01 (Autonomous Robot for Dam Inspection) and PROFIT

010/SGTB/2007/1.1 (Hydraulic and Remote Sensing Techniques for Zebra

Mussel Management), in an activity executed by Ecohydros under the coordination

of the project leader DMADS ENDESA. We would like to thanks also the ENDESA

Generación Spanish Company for their help in the experiments in the Pasteral dam.

IWP& DC

Project9 20/4/09 14:53 Page 1

44 MAY 2010 INTERNATIONAL WATER POWER & DAM CONSTRUCTION

UNDERWATER INSPECTIONS

HEN it comes to underwater inspections there are a

number of products on the market to meet the differ-

ing requirements of hydroelectric and dam projects.

Below we take a look at some of the most recent

releases to hit the marketplace.

SAWFISH HELPS HYDRO HARVESTING

Combining elements from timber harvesting and marine vehicle tech-

nology, Triton Logging’s Sawsh underwater harvester is an innova-

tive deep water logging machine.

Canadian company Triton Logging researches, develops and markets

logging equipment to recover millions of trees ooded by hydro dams

worldwide, helping to manage large scale reservoir harvest projects.

Sawsh can navigate precisely by a remote pilot and is capable

of operation at any depth. In comparison, grapples and divers are

claimed to be limited to approximately 25m, even though 80% of

submerged timber resources are found at greater depths.

Efcient operation is made possible by Sawsh’s de-coupling cut-

ting and surfacing processes, which enable it to perform multiple cuts

without having to return to the surface.

Features of the product include:

r Fully remote control with eight video cameras and sonar.

r Powered by a 75hp electric motor, using biodegradable and vegeta-

ble oil-based hydraulic uids.

r Inatable/reusable air bags to oat trees to the surface.

In 2009 Triton Logging was recognised by the National Research

Council of Canada as a Canadian innovation leader, demonstrating spe-

cic advances in research and development within its industrial sector.

www.tritonlogging.com

BROADBAND DEVELOPMENTS FOR UNDERWATER

APPLICATION

Two advanced broadband acoustic systems have been developed by

researchers at Woods Hole Oceanographic Institution (WHOI) in

the US. This could mean a major advance in the ability to count and

classify sh and identify turbulence.

The two systems have been tested off the east coast of the US and

measure sound over a continuous range of frequency, generating

broadband acoustic spectra. In broadband spectrum the scattering

signal generated by sh centres at a frequency of 1-10Hz for small

sh, and since most echo sounders measure frequencies at 38-120Hz

they miss this key indicator. Ultimately broadband signals can be

used to discriminate between sh and other marine organisms, as well

as to identify both sizes and densities of sh.

The continuous range of frequencies used by broadband systems will

help to improve interpretation of data, providing more information so

sophisticated algorithms can be used and accuracy improved.

The work has been supported by the US Ofce of Naval research,

National Oceanic and Atmospheric Administration and WHOI.

Fisheries managers can use the system to determine stock sizes, while

the navy has been using the technology to learn how sh interfere

with underwater equipment. The hope is that other major companies

who manufacture acoustic systems will pick up on the broadband

technology and apply it to other industries.

SPOTLIGHT ON INSPECTION

US-based JW Fishers has developed an external light system for its

MC-1 mini camera which is designed for underwater applications.

The new light system provides high intensity lighting to optimise pic-

ture quality. An internal ring light with high intensity LEDS provides

the lighting when performing internal pipe inspections with the mini

cam. One or two lights can be attached directly to the camera hous-

ing. The 6” long, 2” diameter camera housing can be easily mounted

to a diver’s helmet or lowered into a pipe for internal inspections.

The mini camera is currently in use by diving companies worldwide,

although two companies have recently reported new and unique uses

for the product. A company based in Rhode Island that manufactures

sediment sampling devices, attached an MC-1 to its equipment so the

Getting to the bottom of it

IWP&DC takes a look at the latest products

and technologies available underwater

applications at dams and reservoirs

From top to bottom: Sawﬁsh launched from a barge; the Sawish getting to

work; JW FIshers MC-1 mini camera on diver’s helmet

WWW.WATERPOWERMAGAZINE.COM MAY 2010 45

UNDERWATER INSPECTIONS

operator could view the area being sampled. While a dredging compa-

ny in Florida attached the camera to its equipment allowing the opera-

tor to view the bottom before and after dredging operations.

See www.jwshers.com for more information.

ZOOMING IN UNDERWATER

New from EZspycam is a telephoto zoom camera on a pre-assembled

retractable pole designed to support good portability for underwa-

ter inspections. The remote control unit allows you to congure the

camera and view close captured images magnied up to 22x optically

and up to 176x digitally. Night vision white LED lights means that

the product is ideal for use in dark, hard to reach areas as are often

found in dam inspections.

The acetyl coated housing for the camera is corrosion-free for salt-

water and chemical use.

For more details see www.ezspycam.com/ENC-130.htm.

ROTATING HEAD SONAR PUTS SPIN ON INSPECTIONS

AquaCoustic has collaborated with a leading sonar manufacturer in the

development of a specialised proling sonar system. The use of a rotating

head sonar can provide accurate information about critical dam and res-

ervoir features which could compromise structural integrity if left unad-

dressed. The system can provide accurate visualisation and measurement

of underwater features of up to 2mm resolution at close range.

Advantages of the sonar include accurate data collection and real

time eld observations which allow on-site assessment of unusual

features that may require further investigation. Real time on-screen

review of the sonar proles allows modication of the survey and

data can be used in AutoCAD or other modelling software. The

system can also be deployed from a small vessel, a xed structure

such as an intake or spillway, or through ice.

The proling sonar technique has the following applications in

dam inspections:

r Detailed investigating and monitoring of sink holes.

r Identify and measure retrogression of scour and undermining

towards the dam structure from plunge pools.

r Determine earthquake values by accurate measurement of dam

slope prole from a single point.

r Gather detailed data from hard to reach areas such as under over-

hangs, vertical dam faces and structures, and across the bottom.

r Accurate data can be obtained up to the shoreline or beside vertical

structures where boat soundings are not reliable.

r Volume measurements for water inundation studies.

r Siltation volume measurement.

r Debris identication.

r Pre- and post-dredging quality control.

r Internal tunnel and pipe surveys.

www.aquacoustic.com

DIVING AIDS

DCN Diving BV is based in the Netherlands and utilises a selection

of different techniques and systems for underwater inspections. The

use of a self-propelled habitat can minimise diver excursion distances

during dam inspections. Based on an inhouse concept the system is

operated either by divers or from the surface.

The habitat is connected via the main umbilical to the habitat control

room and live support systems and divers are connected to the habitat

via short 20m length excursion umbilical. This concept creates a safe

and dry working environment which allows divers to work over long

distances in conned spaces. It can cover distances up to 400m with a

minimum width of 2500mm and a maximum width of 2800mm.

The company also uses a remotely operated cleaning machine

(ROCM) which is described as the ideal platform for cleaning and

removal of debris and sediment inside pipelines, culverts and outfalls.

The system removes debris by using hydraulically operated brushes

and the debris is pumped through a exible hose to a discharge location.

The vehicle is mounted on tracks and controlled from the surface.

Advantages of the ROCM include:

r Low risk, no human (diver) intervention for normal cleaning operations.

r Shut down periods can be kept to a minimum.

r Video and photographic images can be displayed in real time.

r No dewatering required.

www.dcndiving.com

IWP& DC

Top, left to right: AquaCoustic Dual Axis Sonar; Aquacoustic Pole with Dual

Axis Sonar on bottom being oriented

Above: View of dam from the ice. Courtesy AquaCoustic

AquaCoustic cutting deployment hole through ice

AquaCoustic portable work tent

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Douce Hydro FRANCE, USA and GERMANY

Tel France: + 33 / 3 22 74 31 08 ; E-mail: aﬂeroy@doucehydro.com

Tel USA: + 1 / 586 566 4725 ; E-mail: fvandenbulke@doucehydro.com

Tel Germany: + 49 / 177 398 37 78 ; E-mail : ublase-henke@doucehydro.com

BEARINGS

PAN

bronzes

and

PAN

-GF

self-lubricating bearings

Since 1931

- Superior quality with

• Highest wear resistance

• Low maintenance

• Or maintenance free

Extended operating life

PAN-Metallgesellschaft

P.O. Box 102436 • D-68024 Mannheim / Germany

Phone: + 49 621 42 303-0 • Fax: + 49 621 42 303-33

ontakt@pan-metall.com • www.pan-metall.com

BEARING OIL COOLERS

HEXECO, Inc. ... a Heat Exchanger Engineering Co.

el: +1 (920) 361-3440 • Fax: +1 (920) 361-4554

E-Mail: info.wpd@hexeco.com • Web: www.hexeco.com

IL COOLERS

For

THRUST and

GUIDE

BEARINGS

CONCRETE COOLING

FILTRATION EQUIPMENT

WWW.WATERPOWERMAGAZINE.COM

CIVIL ENGINEERING:

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www.montanhydraulik.com

Providing water control solutions through thoughtful engineering,

innov ative design, attention to detail and outstanding customer

service. Contact us for inﬂatable water control gates and rubber

dams.

PO Box 668, Fort Collins, CO 80522 USA

Tel: 970-568-9844

www.obermeyerhydro.com

HYDRO CASTINGS

• Water turbine components

• Castings from 100 kg to 30 tons

• Latest CAD-CAM capabilities

• Certified Quality Assurance ISO 9001

• Environmental Management System ISO14001

Your contact: Mr. Timo Norvasto, Sales Manager

Lokomo Steel Foundry

Tel: +358 204 84 4222

Fax: +358 204 84 4233

Email: timo.norvasto@metso.com

Web: www.metsofoundries.com

CONCRETE COOLING

• COLD & ICE WATERPLANTS

• FLAKE ICE PLANTS

• ICE DELIVERY & WEIGHING SYSTEMS

• ICE STORAGES

KTI-Plersch Kältetechnik GmbH

Carl-Otto-Weg 14/2

88481 Balzheim

Germany

Tel:/Phone: +49 - 7347 - 95 72 - 0

Fax: +49 - 7347 - 95 72 - 22

Email: ice@kti-plersch.com

Website: www.kti-plersch.com

WORLD MARKETPLACE

WWW.WATERPOWERMAGAZINE.COM MAY 2010 49

CLASSIFIED

www.waterpowermagazine.com

HYDROMECHANICAL

EQUIPMENT

HYDRO POWER

PLANT EQUIPMENT

HYDRO POWER

PLANT EQUIPMENT

ANDRITZ HYDRO GmbH

Penzinger Strasse 76, A-1141 Vienna, Austria

Phone: +43 (1) 89100-0, Fax: +43 (1) 8946046

contact-hydro@andritz.com • www.andritz.com

Your Partner

for renewable and clean energy

We focus on the best solution – from water to wire.

Voith Hydro Holding GmbH & Co. KG

Alexanderstrasse 11

89522 Heidenheim/Germany

www.voithhydro.com

A Voith and Siemens Company

! Water power plant equipment

(electrical and mechanical)

! Pumps

! Governors

! Automation

! Modernization of existing power plants

! Hydro power services

! Ocean energies

INSTRUMENTATION

(DAM MONITORING)

INSTRUMENTATION

(DAM MONITORING)

Vikas Kothari: Executive Director Tel: 91 11 29565552 TO 55

Om Metals Infraprojects Ltd. Fax: 91 11 29565551

4th Floor, NBCC Plaza, Mobile: 91 98110 68101

Tower III, Sector 5, Email: vikas@ommetals.com

Pushp Vihar, info@ommetals.com

Saket, New Delhi, 110 017, INDIA Web: www.ommetals.com

urnkey EPC contracts for:

•Radial Gates •Trash Racks & TRCM

•Vertical Gates •Gantry Cranes & EOT

•

Penstocks •Mechanical/ Hydraulic Hoists

•Stoplogs •Draft Tubes

Turnkey EPC contracts for:

•Radial Gates •Trash Racks & TRCM

•Vertical Gates •Gantry Cranes & EOT

•

Penstocks •Mechanical/ Hydraulic Hoists

•Stoplogs •Draft Tubes

Om Metals

Reliable and innovative solutions utilizing

over 156 years continuos hydro-electric

experience.

Fully customised supply of turbines,

generators, controls, switchgear &

associated plant up to around 20MW,

including a micro hydro range of turbines.

Japan: Gilbert Gilkes & Gordon Ltd

h-yamamo@rf6.so-net.ne.jp

North America:

Vancouver Island Technology Park

2103 - 4464 Markham Street

Victoria BC V8Z 7X8

b.sellars@gilkes.com

t: 250-483-3883

UK: Gilbert Gilkes & Gordon Ltd,

Canal head North, Kendal,

Cumbria LA9 7BZ

[    M  

hydro@gilkes.com

! World wide referenced water to wire General Contractor

! Turbines and Generators

! Electromechanical Equipment

! Switchgears

! Control Protection Monitoring and SCADA Systems

! Balance of the Plant

! Turn key projects

! Rehabilitation

S.T.E. S.p.a. - Via Sorio, 120 - 35141, PADOVA(Italy)

tel. +39 049 2963900 - fax. +39 049 2963901

Email: ste@ste-energy.com Web: www.ste-energy.com

ISO 9001 CERTIFIED

Geokon, Incorporated manufactures a full range

of geotechnical instrumentation suitable for

monitoring dams. Geokon instrumentation employs

vibrating wire technology that provides measurable

advantages and proven long-term stability.

The World Leader in

Vibrating Wire Technology

Geokon, Incorporated

8 Spencer Street

Lebanon, New Hampshire

03766

•

USA

Dam Monitoring Instrumentation

•

603

•

448

•

1562

•

603

•

448

•

3216

info@geokon.com

www.geokon.com

Dam Safety Instrumentation • Fiber Optic and

Vibrating Wire Technologies • In-Situ Testing

and Turn-Key Solutions

• Piezometers

• Pressure Cells

• Extensometers

• Crackmeters

• Inclinometers

• Tiltmeters

1-877-ROCTEST

info@roctest.com • www.roctest.com

33.1.64.06.40.80

info@telemac.fr

• www.telemac.fr

INSTRUMENTATION

(GEOTECHNICAL)

WORLD MARKETPLACE

50 MAY 2010 INTERNATIONAL WATER POWER & DAM CONSTRUCTION

CLASSIFIED

www.waterpowermagazine.com

SMALL HYDROELECTRIC

POWER SETS

SMALL HYDROELECTRIC

POWER SETS

TRASHRACK RAKES

MICRO/SMALL

HYDROELECTRIC POWER SETS

INSTRUMENTATION

(GEOTECHNICAL)

SCREENING

Planning a run-of-river project?

Reduce your capital costs signicantly!

Why a coanda intake?

● Eliminates desander

● Protects your investment

from premature wear

and debris.

● Flows up to 25 M3/sec.

● Screens out debris

down to 0.5mm

● Customizable for

a range of conditions

● MAXIMIZES POWER

GENERATION

Partial Discharge?

www.pdix.com

PARTIAL DISCHARGE DETECTION

+43 - 7234 - 83 902