• Proceedings of the KSRS Conference
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• 2007.03a
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• pp.105-108
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• 2007

차량에 부착된 회전식 레이저 스캐너는 360도로 회전하면서 데이터를 취득하기 때문에 고정식 레이저 스캐너에 비해 더 광범위하고 정확한 3차원 데이터를 획득하고 생성할 수 있다. 그러나 레이저 데이터 자료는 표적까지의 거리와 취득 당시의 스캐너의 각도로만 구성되어있기 때문에 이를 사용하기 위해서 이 데이터들을 일련의 좌표변환과정을 거쳐서 3차원 직교좌표계로 변환시킨다. 이 논문의 목적은 회전식 레이저에서 획득된 데이터를 DEM화하고，DEM영상의 밝기값， 즉 높이값을 이용하여 도로변을 주위의 사물과 분리하여 추출하는 것에 있다. 도로면은 일반적으로 주위의 사물에 비해 그 높이가 낮고 고르게 분포되어 있다고 가정한다. 그렇기 때문에 이 도로면의 높이를 대표할 수 있는 적절한 임계값을 찾을 수 있다면 도로면의 분리 또한 가능하다. 도로면의 추출을 위해 제안된 방법은 취득된 레이저 데이터를 일정 간격의 높이로 나누고 그에 대한 히스토그램을 구한 후, 가장 많은 빈도수를 나타낸 지역의 값을 염계치로 설정하는 방법과，레이저 스캐너가 지표면을 향할 때의 각도，즉 270도 일 때 취득된 거리의 값들을 수집한 후, 그 평균값을 임계치로 설정하는 방법이다. 이렇게 구해진 임계치를 이용 그 값보다 작은 지역을 도로로 인식하였으며，실험 결과 레이저 스캐너의 각도를 이용한 방법이 더욱 효과적으로 도로를 추출할 수 있음을 확인할 수 있었다.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2004.11a
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• pp.561-564
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• 2004

Crack sealing automation machines' have been continually developed since the early 1990's because of the effectiveness of crack sealing that would be able to improve safety, quality and productivity. It has been considered challenging problem to detect crack network in pavement which includes noise (oil marks, skid marks, previously sealed cracks and inherent noise). It is required to develop crack network mapping and modeling algorithm in order to accurately inject sealant along to the middle of cut crack network. The primary objective of this study is to propose a crack network mapping and modeling algorithm using neural network for improving the accuracy of the algorithm used in the APCS. It is anticipated that the effective use of the proposed algorithms would be able to reduce error rate in image processing for detecting, mapping and modeling crack network as well as improving quality and productivity compared to existing vision algorithms.

• 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.

• Korean Journal of Construction Engineering and Management
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• v.12 no.5
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• pp.103-116
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• 2011

Crack sealing is a maintenance technique commonly used to prevent water and debris penetration and reduce future degradation in pavement. In recent years, several systems for automatically routing and sealing pavement cracks have been developed in the highway construction and maintenance area. Automating pavement crack sealing can improve safety, productivity and quality, and reduce road user cost as well. The reduction in crew size and the increase in productivity of the automated sealing process will be translated directly into significant potential cost savings. The main objective of this study is to illustrate conceptual models for the development of the automated pavement crack sealer which meets domestic road condition and regulation, and to discuss its technical feasibilities. Conclusions are made concerning the applicability and the value of cantilever-typed pavement crack which is selected as the most feasible alternative in both economical and technical aspects.

• Korean Journal of Construction Engineering and Management
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• v.5 no.2 s.18
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• pp.162-171
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• 2004

Crack sealing is a maintenance procedure that is commonly used to reduce pavement degradation. If cracks in pavements are not sealed, surface water penetration can reduce the strength of the sub-base layers, which can result in increased deflections of the pavement. Reduced strength of the sub-base also accelerates the deterioration of the surface, due to development of greater cracking and potholes. Crack sealing is performed to reduce water and debris penetration, thereby helping to maintain pavement structural capacity and limiting future degradation. The process of sealing cracks in pavements is however dangerous, costly, and labor-intensive operation. Labor turnover and training are increasing problems related to crack sealing crews, and as traffic volumes increase. Automating crack sealing can reduce labor and road user costs, improve work quality, and decrease worker exposure to roadway hazards. The main objective of this research is to develop an automated system for sealing cracks in pavement. Extension of the algorithms and tools presented in this research is also recommended for future study.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• autumn
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• pp.539-542
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• 2002

Crack sealing is a maintenance procedure that is commonly used to reduce pavement degradation. If cracks in pavements are not sealed, surface water penetration can reduce the strength of the sub-base layers, which can result in increased deflections of the pavement. Reduced strength of the sub-base also accelerates the deterioration of the surface, due to development of greater cracking and potholes. Crack sealing is performed to reduce water and debris penetration, thereby helping to maintain pavement structural capacity and limiting future degradation. The process of sealing cracks in pavements is however dangerous, costly, and labor-intensive operation. Labor turnover and training are increasing problems related to crack sealing crews, and as traffic volumes increase. Automating crack sealing can reduce labor and road user costs, improve work quality, and decrease worker exposure to roadway hazards. The main objective of this research is to develop an automated system for sealing cracks in pavement. Extension of the algorithms and tools presented in this research is also recommended for future study.

• Journal of the Korean Association of Geographic Information Studies
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• v.9 no.3
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• pp.207-218
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• 2006

The extraction of horizontal alignment and cross-section of roads is very important task in road safety diagnosis. Existing road safety diagnosis methods by investigators need much time and expense but don't provide various data. Therefor, we need road shape classification automatically and extraction method of horizontal alignment and cross-section of roads through digital photogrammetry system using GPS-VAN with laser scanner. In this paper, we propose a method of mobile laser scanning data acquisition, processing and developing extraction methods of horizontal alignment and cross-section of roads using mobile laser scanning data by GPS-VAN.

• 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.

• Journal of Korean Society of Transportation
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• v.22 no.5
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• pp.47-57
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• 2004

This study introduces the areawide road safety improvement program, which was developed to overcome the weak points of conventional black spot improvement programs. The latter has been criticized in terms of that it can cause the problem of accident migration and that it prevents from identifying causes of road accident in the comprehensive scope. On the other hand, the areawide road safety improvement program can allow us to find the route or areas that have quite a number of road accidents with the common causes. Therefore, we can take countermeasures effectively in a different framework in this approach. This study explains in detail about the concept, procedures, and effects of areawide road safety improvement programs including the example. This study may contribute to bringing a new framework of road safety improvement program in Korea.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• autumn
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• pp.535-538
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• 2002

Machine vision algorithms, which are composed of noise elimination algorithm, crack detection and mapping algorithm, and path planning algorithm, are required for sealing crack networks effectively and automation of crack sealing.. Noise elimination algorithm is the first step so that computer take cognizance of cracks effectively. Noises should be removed because common road includes a lot of noises(mark of oil, tire, traffic lane, and sealed crack) that make it difficult the computer to acknowledge cracks accurately. The objective of this paper is to propose noise elimination algorithm, prove the efficiency of the algorithm through coding. The result of the coding is represented in this paper as well.