Publication Details
Title: Development and Testing of a Crack Sensing System for a Tethered Mobile Routing Robot
Author/Presenter: Matsumoto, Lisa S.
Publication Number: UCD-ARR-97-02-10-01
Abstract: As the number of vehicles driving over a particular highway increases, the deterioration of that highway accelerates. Degrading highways require costly maintenance and increase exposure of highway workers to cars traveling at speeds of 100km/h (65 mph) or higher. For purposes of road crew safety, prolonging the life of the highway, more efficient maintenance operations, and cost reduction, the notion of automating the maintenance tasks was conceived.
Through the joint effort of the California Department of Transportation (Caltrans) and the University of California at Davis, the Advanced Highway Maintenance and Construction Technology (AHMCT) Center has looked into automating the crack sealing process. The Tethered Mobile Routing Robot (TMRR) is designed to locate, rout, and seal cracks, similar to the manual crack sealing operation currently performed by highway maintenance workers.
Crack detection is the most important operation in the overall control scheme of the TMRR. Routing and sealing pavement without the knowledge of the crack's location will make this robot destructive and inefficient. Therefore, the purpose of this thesis is to develop and test a crack detecting algorithm for the TMRR. Based on the results of the tests, the crack finding algorithm demonstrates and validates its practicality for locating a crack in asphalt and concrete pavements. An effective means for tracking cracks in pavement is made possible through the accuracy of the LaserVision and linear positioning systems coupled with the competence of the crack finding algorithm.
Publisher: Advanced Highway Maintenance and Construction Technology Center
Publication Date: February, 1997
Notes: To order, or for questions, please call (530) 752-5981.
