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<Title><![CDATA[Beam Alignment  2013]]></Title>
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<Title><![CDATA[Beam Alignment Test and Check 2013]]></Title>
<Notes><![CDATA[This podcast titled, “Beam Alignment Test and Check 2013” is part of the Office of Surface Water’s effort to provide continuing support and education for the application of hydroacoustic techniques to measure and monitor our nation’s surface water resources.]]></Notes>
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<SlideText><![CDATA[Beam Alignment Test and Check 2013 David S. Mueller Office of Surface Water ]]></SlideText>
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<Title><![CDATA[Overview]]></Title>
<Notes><![CDATA[This podcast will discuss:- the importance of beam alignment- existing and new policy in regards to when a beam alignment test is required and to what instruments the policy applies- specific beam alignment test procedures, particularly for field application and how these are being implemented in a laboratory setting- how to check the transformation matrix- and plans for future testing]]></Notes>
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<SlideText><![CDATA[Overview Importance of beam alignment Review of policy When is it required? What instruments are covered? Beam alignment procedures Field Laboratory Checking the transformation matrix Plans for future testing ]]></SlideText>
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<Title><![CDATA[Importance of beam alignment]]></Title>
<Notes><![CDATA[An ADCP measures the velocity parallel to each beam. For a Janus configuration of 4 transducers these equations are then applied to convert the beam velocities, represented as upper case B, to velocities in the x, y, and z directions, represented as upper case V. These equations assume the beams are perfectly positioned 90 degrees apart and angled at theta degrees from the vertical. The application of these equations is through the use of matrices and they result in what is referred to as the transformation matrix as shown here, for an instrument with a 20-degree beam angle.]]></Notes>
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<SlideText><![CDATA[Importance of beam alignment Velocity is measured parallel to the beams The following equations convert beam velocity to x, y, z Vy=(B4-B3) / (2*Sin(θ)) Vx=(B1-B2) / (2*Sin(θ)) Vz=(B1+B2+B2+B4) / (4*Cos(θ)) These assume beams 90º apart at the angle, θ , from the vertical. They result in a transformation matrix   1.4619 -1.4619 0  0 0 -1.4619  0.2661 0.2661 0.2661  1.0337 1.0337 -1.0337 ]]></SlideText>
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<Title><![CDATA[Potential Error I]]></Title>
<Notes><![CDATA[This example shows the beam pair of beams 1 and 2. On the left the beams are in perfect alignment and the equation to compute the x-component of the velocity is accurate. However, in the illustration on the right you can see that beam 2 has been rotated forward. It is still at theta degrees from the vertical but its orientation in no longer at 90 degrees and is not parallel to beam 1. Thus, the assumed equation for a perfect alignment is not correct for computing the x velocity component in this example.]]></Notes>
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<SlideText><![CDATA[Potential Error I All at 90 degrees One not at 90 degrees 1 2 1 2 Vx=(B1-B2) / (2*Sin(θ)) ]]></SlideText>
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<Title><![CDATA[Potential Error II]]></Title>
<Notes><![CDATA[Similarly, a beam or beams could be at an angle different from theta. Using beams 3 and 4 for this example, the illustration on the right shows beams 3 and 4 in perfect alignment. However, the illustration on the left shows beam 3 at an angle greater than theta. Thus, the assumed equation for a perfect alignment is again not correct for computing the y velocity component in this example. Misaligned beams do not mean the instrument needs the beams repaired, rather it needs a custom transformation matrix that properly accounts for the angles of the beams. The ADCP manufacturers can test and provide a custom matrix for ADCPs that do not have perfectly aligned beams. This is often done in manufacturing for systems that have some variability in the transducers.]]></Notes>
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<SlideText><![CDATA[Potential Error II All at angle θ  One not at angle θ 3 4 3 4 Vy=(B4-B3) / (2*Sin(θ)) θ θ ]]></SlideText>
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<Title><![CDATA[Previous Policy]]></Title>
<Notes><![CDATA[When the transformation matrix in the ADCP does not match actual alignment of the beams, this is called a beam alignment error. Beam alignment errors will result in a bias in the measured velocity and discharge. Therefore, this can be a critical issue related to collecting accurate and unbiased data. The Office of Surface Water has issued policy that beam alignment tests should be completed on all ADCPs. This policy is presented in the QA report, the Techniques and Methods report, and OSW technical memos. However, the wording is inconsistent between the documents, has been subject to misinterpretation, and is not practical for all currently available ADCPs.]]></Notes>
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<SlideText><![CDATA[Previous Policy Previous policy was scattered in QA Report, T&M, and Technical Memos Inconsistent wording Misinterpretation Not practical   Each ADCP used by USGS offices must be tested: (1) when the ADCP is first acquired; (2) after factory repair and prior to any data collection; (3) after firmware or hardware upgrades and prior to any data collection; and (4) at some periodic interval (for example, annually).  The purpose of an instrument test is to verify that the ADCP is working properly for making accurate discharge measurements. Various methods for testing ADCP accuracy include tow-tank tests, flume tests, and comparing ADCP discharge measurements with discharges from some other sources, such as conventional current meters.  Subsequent paragraphs describe beam alignment test.  ]]></SlideText>
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<Title><![CDATA[New Policy (In Review)]]></Title>
<Notes><![CDATA[A revision and clarification of the existing policy has been proposed. This new policy has been written into a revision of the Techniques and Methods report, which currently (Feb 2013) is in colleague review. However, this policy has been discussed with the Office of Surface Water Hydroacoustic Workgroup and received their approval. The new policy is summarized in this table. A beam alignment test is only required for a new instrument or when the transducer of an existing instrument has been replaced or repaired. However, the transformation matrix should be checked after every non-transducer related hardware repair or upgrade and after all firmware upgrades. This testing and/or checking is done by the HIF for all new instrument purchased from the HIF and for all repairs completed through the HIF.]]></Notes>
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<SlideText><![CDATA[New Policy (In Review) In revised T&M  in colleague review agreement from HaWG Instrument Condition Quality Assurance Test Quality Assurance Test Quality Assurance Test    Instrument Condition Beam Alignment Test Transformation Matrix Check Comparison Measurement    New Required   Required    Transducer repair or replacement Required   Required    Non-transducer hardware repair or upgrade   Required Required    Required, recommended or allowed firmware change   Required      Unapproved or testing firmware change   Required Required    ]]></SlideText>
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<Title><![CDATA[Beam Alignment Test]]></Title>
<Notes><![CDATA[The beam alignment test compares the distance made good from bottom track to another reference of distance. For field testing, this reference is typically a differentially corrected GPS. In the laboratory, it could be a precisely measured distance. The data are collected at different instrument rotations to check for irregular orientation of all beams. The criteria developed for Rio Grande ADCPs is being used as the standard criteria and is consistent with all currently published ADCP specifications. If published specifications are not consistent with this standard criteria the published specifications will be applied. The standard criteria states that the distance made good as measured by bottom track when divided by the distance made good from the reference should be between 0.995 and 1.003. The reason for the skewed criteria is to account for a known bias in bottom track referred to as terrain bias, which is typically between 0.2 and 0.3 percent. Instrument limitations and experience has shown that field tests are not practical for the StreamPro ADCP or the 3 MHz beams of the RiverSurveyor M9.]]></Notes>
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<SlideText><![CDATA[Beam Alignment Test Compares Distance Made Good from BT to another reference GPS for field tests Known distance for laboratory tests Data collected at different instrument rotations to check for irregular orientation of all beams Standard criteria: 0.995 to 1.003 or published ADCP specifications Criteria biased low due to know terrain bias in BT algorithms Field tests are not practical for: StreamPro – would require special mount with ability to rotate transducers M9 (3 MHz) – 3 MHz only used to bottom track in less than 2.5 ft of depth.  ]]></SlideText>
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<Title><![CDATA[Field Procedure - Requirements]]></Title>
<Notes><![CDATA[To accomplish a beam alignment test in the field, you will need a differentially corrected GPS receiver integrated with the ADCP data collection software (WinRiver II or RiverSurveyor Live), a manned boat, and a mount that allows the ADCP to be rotated. The site at which the test is conducted must have no moving-bed, reasonably smooth water surface (no large waves or large chop) in other words don’t test on a very windy day, and a reach that allow the boat to travel in a straight line for between 1,200 and 2,500 ft. A lake may be a better test site than a river. The determining factor on the straight line length is the accuracy of the GPS data. The accuracy of the GPS data should be equal or better than about 0.1% of the length. If you assume 0.5 m accuracy for your GPS the minimum distance should be about 1600 ft.]]></Notes>
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<SlideText><![CDATA[Field Procedure - Requirements Required equipment  Differentially corrected GPS Manned boat Mount that allows the ADCP to be rotated Required site conditions No moving bed Reasonably smooth water surface (no large waves or large chop) A reach that allows the boat to travel in a straight line for at least 1,200 to 2,500 ft (Note: T&M 3A22 has an error that says 4,250 ft)  ]]></SlideText>
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<Title><![CDATA[Field Procedures - Preparation]]></Title>
<Notes><![CDATA[In preparation for collecting the beam alignment test data the user should complete all the normal pre-measurement procedures as if they were preparing to make a discharge measurement. It is critical that there is no moving-bed for the beam alignment test. Determine and record which beam is forward. Start the ADCP pinging. Display the bottom track to GPS distance made good ratio. In RiverSurveyor live this is in the lower part of the tabular display along the left side of the software. For WinRiver II you will have to open the tabular display for Compass Calibration.]]></Notes>
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<SlideText><![CDATA[Field Procedures - Preparation Complete all pre-measurement procedures Set time, ADCP test, temperature check, etc. Moving-bed test (critical) Compass calibration (recommended but optional) Note which beam is forward Start ADCP pinging Display bottom track to GPS DMG ratio RiverSurveyor Live – D(BT)/D(GPS) in tabular window on left WinRiver II – open Tabular – Compass Calibration window (BC/GC)  ]]></SlideText>
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<Title><![CDATA[Field Procedures – Collecting Data]]></Title>
<Notes><![CDATA[Now you are ready to start the test. Before you start recording the data bring the boat to a constant speed on a heading you can maintain. This avoids accelerations and inaccuracies that may occur when starting from a fixed position. The boat speed should be fast enough for smooth operation over the planned course in a reasonable time, while maintaining bottom track. It is critical that bottom track is maintained throughout the test! Record the approximate heading in your field notes and then start  recording transect data in RiverSurveyor Live or WinRiver II. Stop recording data and record the value of the BT/GPS ratio in your field notes when the appropriate distance has been traveled and before the boat decelerates. Repeat the process with the boat traveling in the opposite direction. You will need to repeat this process 4 times (2 reciprocal passes, 4 times) rotating the ADCP approximately  45 degrees in the same direction between reciprocal pairs.  ]]></Notes>
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<SlideText><![CDATA[Field Procedures – Collecting Data Bring the boat to a constant speed and heading Note: Boat speed should be fast enough for smooth operation over the planned course in a reasonable time while maintaining bottom track Note the heading in field notes With boat at speed begin recording data Record the value of the BT/GPS ratio and stop recording when the DMG is a minimum of 1200-2500 ft and before the boat slows.  Repeat in opposite direction Repeat steps 5-9 4 times while rotating the ADCP 45-degrees between each pair of courses. 1 2 3 4 ]]></SlideText>
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<Title><![CDATA[Field Procedures – Processing Data]]></Title>
<Notes><![CDATA[After you have collected the data, review the data to ensure that it has accurate GPS and bottom track data and there is no moving-bed. Then compute the average BT/GPS ratio for each reciprocal pair and compare the averages to the standard or appropriate criteria. If a particular rotation fails to meet the criteria, repeat the test in that orientation. If it still fails, the instrument should be sent to the manufacturer for testing and a custom transformation matrix.Store the test results and the transformation matrix from the instrument in the instrument history log.]]></Notes>
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<SlideText><![CDATA[Field Procedures – Processing Data Review collected data Remember the accuracy of the test depends of good GPS and BT Compute the average bottom track to GPS DMG for each reciprocal pair. Compare averages to standard (0.995 – 1.003) If a particular rotation fails to meet the standard Repeat test on that orientation If fails again, send instrument to manufacturer for new beam matrix Store test results and the transformation matrix at the time of the tests in the instrument history log. ]]></SlideText>
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<Title><![CDATA[Field Procedures - Form]]></Title>
<Notes><![CDATA[A field form is available from the hydroacoustics web pages to assist in recording a beam alignment test. While use of this form is encouraged, it is not required.]]></Notes>
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<SlideText><![CDATA[Field Procedures - Form A form for recording beam alignment test is available from the Hydroacoustics web pages at: http://hydroacoustics.usgs.gov/movingboat/mbd_techtips.shtml   ]]></SlideText>
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<Title><![CDATA[Beam Alignment Test - Laboratory]]></Title>
<Notes><![CDATA[The beam alignment test in the laboratory is completed over a much shorter distance, typically around 75 ft, but that distance is measured very precisely so that the errors or less than 0.1%. The hydraulics laboratory at the HIF currently has the ability to complete beam alignment test in a flume. This is especially helpful in evaluating StreamPros and the 3 MHz beams of the RiverSurveyor M9. Currently, HIF is testing all new ADCPs and plans are underway to implement a procedure similar to that for the FlowTrackers to test StreamPros.]]></Notes>
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<SlideText><![CDATA[Beam Alignment Test - Laboratory The hydraulics laboratory at the HIF currently has the ability to complete beam alignment tests in a flume. These tests are currently being completed on all new ADCPs purchased through the HIF. Plans are being developed to implement a procedure similar to that for the FlowTrackers to test StreamPros. ]]></SlideText>
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<Title><![CDATA[Transformation Matrix Check]]></Title>
<Notes><![CDATA[The transformation matrix discussed earlier is stored in each ADCP and there is always concern that a firmware or hardware upgrade could unintentionally erase or set a custom matrix to the nominal values. Therefore, once a beam alignment test has been completed and it is confirmed that the transformation matrix of the instrument is acceptable this matrix should be stored in the instrument history log for future comparisons. When changes to the system are made that should not affect the physical beam configuration, such as but not limited to, firmware upgrades or repair or replacement of a circuit board, a check of the transformation matrix can be made in lieu of a beam alignment test.]]></Notes>
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<SlideText><![CDATA[Transformation Matrix Check Once the beam alignment has been tested and shown to meet the prescribed standard, the transformation matrix can be read from the instrument and stored in the instrument history log.  When changes to the system are made that should not affect the physical beam configuration, such as but not limited to, firmware upgrades, a transformation check can be made in lieu of a beam alignment test.   ]]></SlideText>
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<Title><![CDATA[TRDI ADCPs]]></Title>
<Notes><![CDATA[For TRDI manufactured ADCPs the transformation matrix is stored in the output of the system test that should be completed prior to every measurement. The matrix can also be obtained by connecting to the ADCP using a terminal emulator like BB-Talk and sending the PS3 command.]]></Notes>
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<SlideText><![CDATA[TRDI ADCPs In System Test Or Use PS3 ]]></SlideText>
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<Title><![CDATA[RiverSurveyor M9/S5]]></Title>
<Notes><![CDATA[The transformation matrix is not directly available for RiverSurveyor ADCPs but is included in the Matlab output file of every transect. The Office of Surface Water has written a Matlab utility, RSMatrix, that will read, display, and save the transformation matrices from a RiverSurveyor Live Matlab output file. This utility can be downloaded from the USGS Hydroacoustic web pages.]]></Notes>
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<SlideText><![CDATA[RiverSurveyor M9/S5 Not available directly Use RSMatrix http://hydroacoustics.usgs.gov/movingboat/RSMatrix.shtml  ]]></SlideText>
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<Title><![CDATA[Future Plans]]></Title>
<Notes><![CDATA[Future plans include routine testing of all ADCPs at the HIF similar to the process now being applied to FlowTrackers. This testing will include the beam alignment tests as well as other quality assurance tests. The procedures and frequency associated with these test are still being developed, but a pilot effort targeting the StreamPro ADCPs should begin in FY2014.]]></Notes>
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<SlideText><![CDATA[Future Plans Routine testing of all ADCPs at HIF Beam alignment Firmware updates Thermistor Other Frequency of testing has not be determined Automated software and data base completing and storing of test data is being developed. Target pilot program for StreamPros to start in FY2014 ]]></SlideText>
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<Title><![CDATA[Questions can be addressed to:]]></Title>
<Notes><![CDATA[If you have questions related to this or other hydroacoustic topics you are encouraged to post those questions and comments to the Hydroacoustics Community Forum. The forum is open to everyone, so if you aren’t a member you can join by following the instructions of the hydroacoustics web pages.]]></Notes>
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<SlideText><![CDATA[Questions can be addressed to: The Hydroacoustics Community Forum: https://simon.er.usgs.gov/smf/index.php?board=5.0 If you are not a member you can join by going to: http://hydroacoustics.usgs.gov/software/Forum_Reg1.html  ]]></SlideText>
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