• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1077-1081
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• 2003

In this paper, experimental studies of force tracking control for the crack sealing robot are presented. Crack sealing robot is built to detect, track and seal the crack on the pavement. Before sealing, crack must be detected by a laser sensor and a camera sensor, then cleaned for a better sealing job. In order to maintain contact with the ground force control is required to brush all dirt in the crack out for preparing sealing cracks with tars. Impedance control algorithm is presented to regulate a specified desired force. Experimental studies of the proposed force control algorithm are conducted under unknown environment stiffness and location. Performances of force control algorithm are stable and excellent.

• Journal of Construction Engineering and Project Management
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• v.2 no.1
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• pp.35-44
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• 2012

In the last two decades, several tele-operated and machine-vision-assisted systems have been developed in the construction and maintenance area, such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for the optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans, which are used in the previously developed pavement crack sealing systems. The comparison is based on the computational cost vs. the overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in the productivity improvement of the developed automatic pavement crack sealing system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2502-2507
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• 2003

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.4D
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• pp.377-386
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• 2012

Crack sealing has been widely used in the pavement maintenance due to its advantage of repairing the cracks at the preliminary stages. However, it has been analyzed that the crack sealing work process is dangerous and labor intensive. Moreover, quality and productivity of crack sealing work are highly depended on labor experience and skills. Therefore, various crack sealing machines have been researched but revealed many limitations in practical application. This research analyses conventional crack sealing work process and previously developed crack sealing machines in order to develop an automated pavement crack sealing machine which can be practically and widely applied in the construction fields. This paper develops the previously proposed conceptual design by drawing detailed designs and fabricating the hardware(manipulator and end-effector) of the automated pavement crack sealing machine. The crack sealing machine suggested in this paper overcomes limitations of existing crack sealing machines and designed to meet the domestic road conditions and regulations. It is expected that automating the conventional crack sealing method contributes to the improvement of quality, economy and reduce accidents.

• International Journal of Highway Engineering
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• v.20 no.3
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• pp.1-9
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• 2018

PURPOSES : In order to evaluate a crack resistance at cold joint, sealing tape was adopted to apply at cold joint instead of typical tack coat material(RSC-4). The sealing tape was made by hot sealing material. The crack resistance as function of environmental and traffic loading was measured with visual observation. METHODS : In this study, the crack resistance was evaluated as function of environmental and traffic loading. The freeze-thaw method was adopted for environmental loading of asphalt pavement. condition. The damage of cold joint under freeze-thaw action is initiated by ice expansion load and accelerated by the interfacial damage between new and old asphalt pavement. The traffic loading was applied with wheel tracking machine on the cold joint area of the asphalt pavement for 3 hours at $25^{\circ}C$. The evaluation of crack resistance was measured with visual observation. The freeze-thaw results shows that the sealing tape was significantly increased the crack resistance based on. RESULTS : To estimate the crack resistance at cold joint area due to the environmental loading, the Freeze-thaw test was conducted by exposing the product to freezing temperature(approximately $-18^{\circ}C$) for 24 hours, and then allowing it to thaw at $60^{\circ}C$ for 24 hours. The tack coat material(RSC-4) was debonded after 21 cycles of the Freeze-thaw test. The first crack was observed after 14 freeze-thaw cycle with RSC-4 material. But, the sealing tape was not debonded after 24 cycle test. Also, the sealing tape shows the better performance of the crack resistance under the traffic loading with wheel track test. The crack was generated the under traffic loading with RSC-4(tack coating), however, the crack was not shown with sealing tape. It indicates that the sealing tape has a strong resistance of tensile stress due to traffic loading. CONCLUSIONS :Based on limited laboratory test result, a performance of crack resistance using the sealing tape is better than that of general tack coat material(RSC-4). It means that the sealing tape is possible to extend a pavement service life because the crack, one of the main pavement distresses, will be delayed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.6
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• pp.981-986
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• 2003

In order to investigate the possibility of processing of brittle material by ball impact, the effects of boundary conditions about impact damage of soda-lime glass by small spheres were evaluated experimentally. It was investigated that crack appearance developed in soda-lime glass with boundary conditions of without sealing, single-sealing and double-sealing by impact velocity. The double-sealing was most effective in the development of perfect cone than other boundary condition. In case of double-sealing condition, PVC and Polyurethane sealing were more effective in producing a perfect cone formation than other sealing materials. The impact velocity range over which perfect cones were formed was influenced by both the contact area and diameter of impact particle.

• Proceedings of the KIPE Conference
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• 2008.06a
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• pp.160-163
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• 2008

Currently workmen take charge of the maintenance work of bridges. But the process of sealing cracks in damage bridge is dangerous, costly, and labor-intensive operation Labor turnover and training are increasing problems related to crack sealing crews, and as traffic volumes increase, crack sealing operations become increasingly disruptive to the general public. Automation crack sealing can reduce labor and road user costs, improve work quality and decrease worker exposure to bridge hazards. This research aims to develop an automated damage bridge crack sealing system and developing of algorithms for hybrid controlling.

• Korean Journal of Construction Engineering and Management
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• v.8 no.5
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• pp.80-91
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• 2007

Crack in Pavements have been continually increased a by water penetration Therefore, the cracks can result in deterioration of the pavements that could be extremely dangerous fro road users. Creak sealing work performed in outdoor is very dangerous, costly and labor intensive. To slove these problems, automated crack sealing systems have been developed. it Would be needed that work information related to crack sealing must be gathered in an effort to used for existing or future crack sealing work. Furthermore, work information related to crack sealing could be utilized in analyzing work productivity and condition. The primary objective of this study is to propose a PDA and Web-based system for work information management of crack sealing which enables to effectively interchange work information between head office and fields, and to accurately collect work information. Finally, it is anticipated that the effective use of the developed PDA and web-based system would be able to effectively share work Information, measure productivity, estimate costs as well as plan future work schedule.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.5
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• pp.156-163
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• 2003

In order to investigate the possibility of punching process of brittle material by ball impact, the effects of sealing materials about impact damage of soda-lime glass by small spheres were evaluated experimentally. The using of sealing materials in the development of perfect cone crack was more effective than no using of sealing materials. At the sealing materials condition, in the case of 5mm-thick specimen, Copper and PMMA sealing were more effective in producing a perfect cone formation than the other sealing materials. And in the case of 8mm-thick specimen, Aluminum sealing was most effective in producing a perfect cone formation. The impact velocity range over which perfect cones were formed was influenced by both the thickness of specimen and sealing materials. By a proper selection of sealing materials, the application fur industrial technology for hole (or nozzle) punching process of brittle materials is expected.

• Korean Journal of Construction Engineering and Management
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• v.11 no.4
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• pp.68-79
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• 2010

During the last two decades, several tele-operated and machine-vision-assisted systems have been developed in construction and maintenance area such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans which are used in previously developed pavement crack sealing systems. The comparison is based on computational cost versus overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in productivity improvement of the automatic pavement crack sealing system developed.