A network of robotic total stations to monitor the construction

of “Línia 9” of Metro Barcelona: the case of the double tunnel

of Sagrera

Henning Schwarz, GISA, Barcelona (Spain)

Federico Valdemarin, Paymacotas Bureau Veritas, Barcelona (Spain)
Damien Tamagnan, SolData Group, Barcelona (Spain)

1 Introduction
The project “Línia 9” of Metro Barcelona, with its 50 km of length and its 52 stations is
under construction, it will mesh the public transport system, join five municipalities,
strategic points, logistical centres, equipment areas, the harbour of Barcelona and both
passenger terminal buildings of the Barcelona Airport. On 13th of December of 2009 the
first section of “Línia 9” was put into service, since June 2010 the northern sections of
“Línia 9” mesh this part of the mass transport system.

The construction of “Línia 9” is performed in a very heterogeneous medium, ranging from

granite to phyllites and from sands to clays. Most of the tunnels are driven by 5 large
diameter EPB tunneling machines. The alignments of tunnels have to run below existing
infrastructures, reaching up to 90 m depth below surface. As a general design criterion to
reduce subsidence effects, the distance of the new tunnel to existing structures is more
than one diameter and in the dense urban environment the minimum vertical distance to
surface is two diameters.

Despite the sophisticated technology of the up to 12,06 m diameter EPBs and their
systems to reduce surface settlements and building response to tunnelling (Burland 2001),
these have to be monitored. Due to multiple constrains such as the length of the line, the
large excavation diameters (12 and 9,4 m), the high soil complexity, the state of the
existing structures in the project area and the general schedule, a real-time monitoring
system has been implemented to guarantee conditions of security on site and towards
third parties. Only real-time monitoring systems can be used as an early warning system.
To respond to the aims of the monitoring task, referring to the distribution, frequency and
precision of the readings, the topographical survey of buildings next to the construction
sites depends largely on the installation and operation of automatic Robotic Total Stations
(R.T.S.), which permit the monitoring in real time of the building’s movements situated in
the influence area.

Fig. 1: Example of an automatic R.T.S. in "Línia 9" project.

At peak production on construction sites, a total of 68 R.T.S. were used along the tunnels,
stations and shafts under construction, controlling an average of 60 prisms each,
continuously with at least three coordinate readings every 30 min, 24 hours a day. Each
robotic total station is piloted by specific hardware installed “in situ”, which stores the raw
data and sends them to application and web servers in order to be published in next real
time on a Web-GIS.

2 The Monitoring Program on “Línia 9”

The public agency for project management of public works of the Catalan Government,
GISA, is in charge of "Línia 9" project. GISA granted several construction contracts for civil
works, architecture and installations, as well as different site supervision contracts. The
site supervision of the 12 m diameter tunnels and some stations was granted to
Paymacotas. For the topographical and geotechnical monitoring of the whole “Línia 9”
project a unique contract was granted to AuscuL9UTE, a Joint Venture of Soldata, Applus
and IIC.

The monitoring program is based on the engineering design, calculations and risk analysis
of underground works. Therefore guidelines are to be followed in the design phase (GISA
2006). As construction began, GISA with site supervision and monitoring JV made an effort
to develop basic common criteria, which were found to be stable and nowadays are
introduced in every underground works contract of the Catalan Government. For the major
tunnel sections and station works, site supervision develops written documents of the
general monitoring program and specific instructions where necessary, defining
installations and measuring frequencies. These documents are approved by GISA and
executed by the monitoring JV. A detailed description of the management of installation
and measurement of monitoring devices in urban area is given in (Figueras 2010).

This general topographical control of areas next to construction sites, implies a total of
more than 7000 installed prisms, and gives up to now as a result more than 800 million
data registries stored in the database since the start of the works in 2003.

2.1. Monitoring Criteria

The monitoring plan is principally focused on obtaining a view on the expected ground
response to tunneling. Therefore semi-empirical approaches like (Peck 1969) or numerical
modelling in 2 and 3 dimensions (Senís 2008) is applied. Back analysis of previous
sections is also an important item to adjust tunnelling machine parameters and retrofit
expected ground response and building settlement.

Geotechnical instrumentation (piezometers, inclinometers, extensometers, …) is installed

always next to a change in excavated materials and systematically along the tunnel
alignment to get information of ground behaviour in depth. The installation of this kind of
instruments in the dense urban area suffers from many constraints, being sometimes
impossible to install in the desired section.

Topographical survey points (levelling or three dimensions) on surface are systematically

installed over the tunnel axis and perpendicular where streets or open surfaces are
available. The information obtained from these points is important to evaluate the
settlement trough. As general rule a daily measure of these points is done, but in special
sections up to six readings a day were executed.

Structural monitoring (pressure cells, strain gauges, joint meters, …) of the new built
tunnels and stations forms part of the quality control programme of the construction
process.

Building control (topographical, crack meters, …) is based on a general scheme. A

previous analysis of the geometrical and ground conditions defines area and density. The
detailed technical inspections of the buildings are also used to define detailed building
monitoring where required. A special kind of building monitoring is referred to existing
underground infrastructures like railway- and car tunnels, large sewers, etc. which are
under passed by the new “Línia 9” tunnels.

Table 1: Number of sensors installed on “Línia 9” project

SENSOR DIRECTIONS NUMBER
Ground sensors
Incremental extensometers Multi point [1,00m] 1D 419
Ground inclinometers Multi point [0,50m] 2D 544
Piezometers Single or multi point 1D 1176
Structural sensors
Pressure Cells Single point 1D 454
Crack meters Single or multi point 1–3D 330
Tape Convergence in tunnel Single point 1D 3506
Manual topographical points
Ground levelling points Single point 1D 10113
Ground 3D points Single point 3D 1007
Topographical control of buildings
Manually read prisms Single point 3D+ 4185
Automatically read prisms Single point 3D+ 7990
Weather stations Multi point 1D 18

A quantitative overview of the amount of installed measurement devices gives table 1,

where the different types and number of monitoring installations are listed. General
characteristics like single point or multi point reading and the number of measured
dimensions are given. (3D+ means, that more than three ordinates responding to different
coordinate systems can be calculated and are introduced into the data base).

Once calculated and traduced to the determined civil engineering units, all the measured
values are introduced into the monitoring database. This database and its GIS
visualisation, called Geoscope Web, are accessible through the internet to designated
users. The system also sends automatically warning messages (e-mail, SMS) if previously
defined trigger values are surpassed.

2.2. Survey Management of Robotic Total Stations (R.T.S.) Systems

Based on previous experiences on other large scale construction sites (Thurlow 2001,
Beth 2003), it was decided to use automatically operated R.T.S. as general building survey
of the possible influence area of “Línia 9” construction. Only in a few cases, manual optical
topography is used to measure settlements and movements of the buildings at surface; in
order to keep track of the settlements at the surface due to “Línia 9” underground works, a
complex monitoring system has been set up.

Taking in account the geographical extension and the construction schedule it was
foreseen, that R.T.S. had to be used following construction at more than 180 locations.
Resource management defined the minimum distance to excavation (in time and length)
for every R.T.S. emplacement. The de-installation can be demanded after a minimum time
as stabilization of measured movements is achieved. Under these conditions R.T.S. and
prisms could be used and reused several times.

The resources management has to take in account the times for verification and calibration
of the R.T.S. at least once a year. It was established to maintain a minimum of 10% of
extra R.T.S. to be hold in stock on site to cover any planned, unforeseen or accidental
down time of working R.T.S.

It could be seen, that internal instrument errors evolve slowly, but sometimes can reach to
intolerable error even in less than the period of one year between validations or
calibrations. Therefore the R.T.S. system also has to check internal instrument data as for
example the electronic levels, angular collimation and trunnion axis collimation.

Making a R.T.S. system work requires a dedicated team of engineers, technicians,

draftsmen and labourers.

Table 2: R.T.S. Staff

OFFICE WORK FIELD WORK

Definition and design of installations Contact to neighbourhood
Design and maintenance of the data Installation of R.T.S., communications
communications system and prisms
Data management Maintenance on site
Validation and interpretation of data

Data transmission is based on a WiFi/3G network, where bug free and stable
communications are paramount.

Cost effectiveness is from the client's point of view also of importance for deciding on
monitoring systems. For long term projects of more than 2-3 years in underground
construction doubtlessly an automatic system can be less cost intensive, than other
topographical methods of survey and provides better and continuous data of 3D building
response to construction. Depending on other factors as for example sensibility of
buildings, accessibility for topographers, construction phases, … the added value of
automatic and frequent survey has to be taken in account.

3. 3D Monitoring with Robotic Total Stations (R.T.S.)

Monitoring with R.T.S. has to follow best practises and frequent controls have to be run
(Cook 2006). The basic set up needs a robotic total station with power supply, its remote
computer and the communication to the computer server on a selected emplacement and
prisms as reference and target points to control.

The R.T.S. needs an automatic target detection system and a reliable distance measuring
system. The specifications should guarantee an instrumental precision of +1 mm at a
distance of 100 m. A range of characteristics which commercial survey R.T.S. can provide
is given in Table 3.

Table 3: Characteristics of available R.T.S.

DESCRIPTION BEST MINIMUM

precision of horizontal angle 0,15 mgon 0,30 mgon
precision of vertical angle 0,15 mgon 0,30 mgon
precision of distance measurement 1 mm + 1 ppm 1 mm + 2 ppm
minimum turning speed > 90 º/s 45 º/s
minimum dust and water protection > IP 55 IP 54
electric autonomy (batteries) 18 h 6h

Typical layout is a standalone R.T.S. close to the construction site or tunnel axis on a
sufficient high building for the most complete survey of the buildings in the estimated
influence area.

The reading cycle of the R.T.S. should begin with the reading of the reference prisms to
recalculate the own position coordinates. Once the position calculation passed the
automatic validation tests, R.T.S. should read the target prisms. The readings are given in
a spherical polar system of coordinates (vertical angle, horizontal angle and distance
between R.T.S. and target), and calculations are done in this local system.

The calculation should take in account meteorological data as temperature, atmospheric

pressure and relative humidity. If real time access to this kind of data is not available from
public bodies or other sensor networks (Klopfer 2009), dedicated weather stations have to
be used.

Once introduced the corrections for distance measurement due to varying meteorological
conditions, the equations of the overdetermined topographical system are solved with a
least square adjustment.

For the output of monitoring data, a transformation to Cartesian plane systems or global
geographic systems like UTM has to be done. Usual output for monitoring purposes is
displacement in mm.
Fig. 2: Example of a standalone R.T.S monitoring shaft and tunnel construction, reference
and target prisms

The quality of the topographical reading depends on the distribution and distance of
reference prisms. Figure 2 identifies with two parallel lines the expected influence area of
the tunnel construction. Inside this area there should be only target prisms and no
reference prisms. A circle of 100 m radius around the R.T.S. defines the zone were
precisions of +1 mm can be achieved; this would be an outer limit for reference prisms.

The existing buildings in urban area determine the possible locations for R.T.S. During the
design of the system on site, the specialists realise simulations to determine the theoretical
distribution of prisms and the obtainable precision or ellipsoid of error. This simulation is
the basis for the installation. Meanwhile R.T.S. instrument precision is better than the
characteristics on data sheets, the results mostly are far better than those of the
simulation. During operation different kinds of incidents and errors may occur and need a
proper management.

The error management starts with a daily remote check of the instrument conditions,
continues with at least two checks a week of stability of the readings of the reference
prisms and other tests. On site inspections for trouble shooting and maintenance are also
necessary.

Table 4: Sources of errors on R.T.S. systems

EXTERNAL ERRORS SYSTEM ERRORS

Adverse weather conditions (rain,
snow, fog, heat shimmer, strong wind)
Exhaust plumes of chimneys or
machinery
Vibrations caused by heavy machinery
Growing vegetation in the line of sight
Works on façades, scaffolding
Obscured prism by dust, water, etc.
Vandalism
Cuts in electrical power supply or
communications
Instrument parameters out of tolerance
Drift of instrument parameters
Excessive range of line of sight
Overly oblique or acute readings
Obstacle in the line of sight
Poor reliability of the instrument
Lack of communication

A complete list of possible incidents and errors, as well as the procedures to proceed has
to be prepared and followed. The contingency plan defines also the risk of data loss and
intervention time to solve possible incidents.

4 Precision of R.T.S. systems

The precision and accuracy of R.T.S. systems depend highly on the quality and reliability
of the total station, its optical and mechanical parts. The whole system depends on the
total station and the quality of the measurements of the reference points.

Reference points of R.T.S. systems are usually based on buildings. Any structure will have
natural movements due to temperature. With a yearly frequency the effect of general air
temperature on buildings can be calculated, but also measured. This yearly variations is
overlain by a daily change which is deformation by differential temperature on façades due
to sunshine. An extreme example for temperature movements of a standalone concrete
water tower is shown in figure 3. Buildings in dense urban area, even if having many
constraints, also show movements, due to yearly thermal variation and daily variation of
differential temperatures on façades and these can be measured.
 58

56
16:00
19:00
54

52
Y (mm)

50

48

46 12:00

44 7:00

42
-57 -55 -53 -51 -49 -47 -45 -43 -41
X (mm)

Fig. 3: Daily movement of a water tower due to sunshine on the structure

Knowing the digital print of natural movements of buildings with long term observations
can be useful, but is not always possible and may be not cost effective. In general
theoretical simplified approaches over estimate the effects of temperature, but give an
upper limit for these movements.

As the yearly movements are of slow variation, they normally can be ignored if single
events on site have response in buildings. For long-term effects of construction on
buildings detailed analysis of data may determine temperature movements and
displacement movements.

The effect of temperature and differential temperature on buildings is an important detail in

data management of the system, as these movements may have influence on the position
of reference prisms. Different strategies can be used to manage the position data of the
R.T.S. taken from reference prisms.

The closest to the ground a prism is installed, the less will be the movements due to
temperature and differential temperature. The error might be small enough to ignore it for
normal operation, only taking it in account for detailed analysis.

As the maximum distance between R.T.S. and reference prisms is about 100 m, in urban
area possible sight lines are usually above the roofs and on more or less the same
altitude. As in summer the reference prisms are higher, the calculated position of the R.T.S
will be lower than real and in winter the other way round. As the calculated position varies
yearly this fictive inverse movement can be explained to the users of the system. For a
calculated correction of the fictive movement of the R.T.S. a previous installation of at least
6 months and half of the yearly temperature span would be necessary.

Other strategies to resolve this possible systematic error are possible. Being a known and
systematic error of normally less than 1 mm of influence, the cost efficiency to resolve it
should be evaluated.

Once seen the systematic error introduced by the reference prisms, the daily and yearly
movement of discrete points on buildings can be observed. Depending on the height of the
measured point, the distance and vertical angle to R.T.S., constrains from neighbouring
buildings and incidence of sunlight, particular daily curves of each prism occur. The
frequency of these daily curves can be seen from sunrise to sunrise. The amplitude and
the shape of the curves are similar every day.

As to validate the R.T.S. as precise monitoring system for buildings and for its use as early
warning system (EWS), the quality of the data has to be known. Therefore GISA as client
and Soldata as system operator made several independent statistical studies of measured
values. The statistical evaluations were done on final data of displacement, which are the
data all users receive. The aim is to know if R.T.S. real time monitoring data also permit a
fast analysis and can be used as decision making tool.

In this sense the actual data of a point can be compared to the 24 hour previous
displacement value and to the immediately preceding value (30 min). Another comparison
can be done on median values, which would demonstrate the long term stability of the
system. Obviously these studies should only be done for zones with no construction site
activity, and are useful to confirm to the baselines of observations.

The statistical analysis confirms, that the most stable observations can be guaranteed for
prisms at a distance of less than 100 m to the R.T.S. In the case of public works in
Barcelona and its metropolitan area the maximum standard deviation is about 0,40 mm for
consecutive readings each 30 min and 0,50 mm for readings every 24 h. Therefore the
99,7% confidence (3*σ) is better than 1,00 mm.

The statistical data analysis also found that there are different kinds of influences
depending on multiple factors as direction of the sight line, vertical angle, orientation and
shape of the observed building etc.

It can be concluded, that R.T.S. monitoring systems, if well known and understood are
reliable and precise systems for building monitoring in urban area. Were influence of
external factors is reduced, as for example in railway tunnels, the systematic uncertainty,
accidental errors and daily oscillations are far lower.

5 Case Study “La Sagrera” - Robotic Total Stations working in a Network

A complex case of the application of R.T.S. technique came up during an almost
simultaneous excavation of the twin tunnels of L9 and L4 of the Metro Barcelona, under
the district of Sant Andreu between the future station "Sagrera TAV" (high speed train
station) and the interchange with one underground railway line and two Metro lines “La
Sagrera” station.

The geological conditions which where to be expected were as shown in figure 4. The
materials to be excavated were supposed to be over consolidated Pleistocene lime and
pre-quaternari cohesive and cemented materials related to the "Pla de Barcelona".
Overlaying materials are sandy quaternary deposits. Nevertheless high water table and
the proximity to a complex fault zone, relative to the extension of the Mediterranean basin,
required a good preparation and execution of the tunneling works.
 Fig. 4: Longitudinal profile of the sub section between La Sagrera and Meridiana.

The alignment of the tunnels describes a closed curve of 300 m radius followed by a
straight alignment in station area, but in any case does not follow street alignments. The
depth of the tunnel is between 2 to 3 diameters to surface.

Typical buildings in the area are from the late 60's to early 70's, but even centenary
buildings form part of the dense urban area. Most of the foundations are direct and
superficial isolated footings or slabs, but locally up to two underground levels were
registered. The overall vulnerability has been defined as low to medium.

The superposition of the theoretical settlement trough, caused by the excavation of the two
EPB machines of 12 m diameter, working below the dense urban environment, gives rise
to a up to 170 m wide, partially overlapping, theoretical zone of influence. Furthermore the
excavation of the tunnels had a scheduled distance of less than two weeks, initially leaving
open which of both machines would pass first through this section.

The monitoring system for this section had to respond to the following conditions:
 Provide monitoring data also over tunnel axis on large building blocks.
 Take in account the proximity or even overlapping settlement troughs.
 Offer data acquisition and accessibility fast and easy as an Early Warning System.
 Facilitate stable data as decision support for the second running tunnel.
 Independency on which tunnel would be executed first.
Under the previously mentioned constraints a standalone installation of R.T.S. was not
convenient as the distance to reference prisms would be far more than 100 m outside the
influence area, with the subsequent increase of systematic uncertainty and risk to
introduce other errors.

The technical solution has been the set-up of a group of three R.T.S. working together, and
that way giving response to the previously defined conditions under the specific
constraints. The design of R.T.S groups was previously designed and tested, as for
example in Kings Cross Station (Beth 2003). Also for "Línia 9" construction a previous
experience with a R.T.S. group was made.

Fig. 5: The group of three R.T.S. of “La Sagrera”.

The “La Sagrera” group was built up by three R.T.S. named C035, C062 and C064. The
challenges of this installation were the successive changes of design and operation. Long
before tunnel construction, C035 was a standalone R.T.S. observing building response
due to the construction works of Sagrera - Meridiana interchange.
When establishing the work in R.T.S. group the continuity of C035 readings had to be
guaranteed and no fake movements were to be allowed. This requires a double calculation
process of verification.

Each R.T.S. had 8 to 10 references prisms totaling 27, 15 prisms were shared between
two R.T.S. and 3 prisms were shared between 3 R.T.S. A grand total of 163 prisms were
observed by this R.T.S. group.

After tunnelboring machines passed, the group was partially dissolved and reorganized as
station shafts were to be built in this area, as one and later two of the R.T.S. were needed
on other sections of "Línia 9" construction. An extract of measured displacements are
shown in figures 6 and 7.

15,0
SECOND TUNNEL

10,0 FIRST TUNNEL

5,0
Movements [mm]

0,0

-5,0
T4C02675L332HT273
T4C02739L529HT244
T4C02602L393HT196
-10,0 T4C02667R161HT327
T4D02905R081HT315
T4D02960L050HT164
T4D02979R008HT080
T4D02992R139HT308
-15,0
16/01/2008 06/03/2008 25/04/2008 14/06/2008 03/08/2008 22/09/2008 11/11/2008 31/12/2008

Date

Fig. 6: Time / Displacement graph of selected prisms

For the here shown "Displacement / Time" plot and the "X/Y plot" measured movements
were reset to "0" before tunneling. Measured displacements were less than 5 mm of
settlement in buildings. The module of the horizontal displacement vector reaches slightly
higher values with a maximum of about 7 mm as final value of one point. The points with
the maximum horizontal displacement are installed on the roofs of the buildings, between
24 and 36 m above street level.

As a first approach of analysis the façade's inclination or tilt has to be evaluated. The
inclination can be calculated based on the displacement values between two prisms on the
same level or two prisms on the same vertical element. For buildings without cellars an
estimate for inclination can be displacement versus height over ground of the observed
prisms. In this case it should be checked if no effects of horizontal displacement of the
base of the building are observed. Due to tunneling the façade's tilt was less than 1/3500
and no damages on buildings were observed.

Fig. 7: Horizontal displacements of selected prisms

With the "X/Y plot" of horizontal movement the trajectories of the prisms on buildings can
be observed. Figure 7 shows the horizontal trajectories of selected prisms. Different
building response depended on distance to tunnel and constraints of the buildings can be
observed. Red and green point (same colours in "Displacement / Time plot") show first a
movement towards the southern tunnel and later a recovery due to differed settlement in
second tunnel's influence area.

Between the different stages of a first standalone R.T.S., group of three R.T.S. and finally
once again one standalone R.T.S. no significant data loss, offsets or other types of
incidents or problems were encountered.

6 Resume and Outlook

This paper deals with the geometry of the instrumentation for topographical survey
installed, the calculations performed and the results achieved, setting up and exploiting
such network, given that such application represented a big challenge for the technicians
involved and gives solution to monitor wide areas extending the known use of stand-alone
automatic robotized total stations.

The large, challenging and innovative project "Línia 9" gave an oportunity for research,
development and innovation, as for example (Bono 2008). The experiences made were
introduced on other construction sites of GISA for better and more secure construction.

On behalf of "Línia 9" construction monitoring, other advanced monitoring technologies

were tested. Surface settlement can be controlled also in next real time with no prism
measurements by R.T.S., which has been tested in road tunnel underpasses, were prism
installed on walls were read in the first cycle and non prism points on the pavement in the
second. For long term monitoring of subsidence InSAR satellite data may be used
(Crosetto 2003), correlations to terrestrial R.T.S. data fit well, so GISA and the "Institut de
Geomàtica" developed a strategy for pre- and post construction long term observations.

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Authors
Henning Schwarz hschwarz@gisa.cat
GISA (Gestió d'Infraestructures)
C. dels Vergòs, 36-42; E 08017 Barcelona www.gisa.cat

Federico Valdemarin Federico.Valdemarin@es.bureauveritas.com

Paymacotas - Bureau Veritas
Can Fatjó Aurons, 9; E08174 Sant Cugat del Vallès www.bureauveritas.es

Damien Tamagnan damien.tamagnan@soldatagroup.com

Soldata Group
Trav. Industrial, 149, 3ºC; E 08907 L'Hospitalet de Ll. www.soldatagroup.com