• Korean Journal of Construction Engineering and Management
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• v.7 no.6
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• pp.151-164
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• 2006

Numerous efforts are currently underway to automate pavementcrack and joint sealing activities. Productivity improvements, improved safety and quality, and reduced road user costs motivate these developments. Recently, an automated pavement crack sealing machine has been developed to automate the process of sealing pavement cracks and joints in Korea. This paper mainly describes the results of the economic feasibility analysis revealed through its overall performance evaluation and field tests. Finally, it is concluded that the automated machine exceeds the performance in terms of productivity, safety, and quality required in conventional method, thus making the machine economically feasible.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.4D
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• pp.367-376
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• 2012

Crack sealing is a maintenance technique commonly used to prevent water and debris penetration and reduce future degradation in pavement. The conventional crack sealing operations are, however, dangerous, costly, and labor-intensive. Automating crack sealing will improve productivity and quality, and offer safety benefits by getting worker off the road. During the last two decades, several teleoperated and machine-vision assisted systems have been developed to automate the overall process of routing and sealing pavement cracks. However, the developed systems have not been commonly used in the construction sites because of the technical problems. Especially, the performance of end-effector, related to the productivity and quality improvement, is very important factor to improve the practical use of the developed systems. The main objective of this research is to develop an end-effector in automated pavement crack sealing machine and to analyze the technical feasibility of the developed end-effector.

• 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.

• 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.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.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2006.11a
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• pp.613-618
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• 2006

Crack in Pavements have been continually increased aby 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 fieds, 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.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.4
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• pp.1289-1298
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• 2014

Pavement crack sealing method, which is one of the methods to maintain and repair the road, prevents the extending of cracks by repairing cracks in its early occurrence and has already been applied to many roadworks in advanced foreign country for a long time. But in the conventional crack sealing method, traffic accidents occur frequently during the repair because it's commonly performed on the heavy traffic road or highway. It also has some difficulties in securing the safety of workers from the risk of burns caused by heated sealant. In an effort to solve these problems, automated pavement crack sealing machines such as ARMM, OCCSM, TTLS have been developed in advanced foreign country since early 1990s. Also APCS in 2004 and ACSTM in 2013 were already developed domestically. However, since these automated crack sealers developed from a number of research institutions have different test-bed conditions and productivity measurement models, it's difficult to compare and evaluate them objectively. In this study, the image processing time of the respective machines and the movement time of each motion on the work process were estimated by using fully autonomous mapping and semi-automatic mapping in order to measure the productivity in the same environmental conditions. In addition, the productivity measurement test-bed reflected domestic road characteristics was designed to estimate and compare the productivity of the automated crack sealing machines.

• Korean Journal of Construction Engineering and Management
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• v.5 no.2 s.18
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• pp.90-105
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• 2004

Machines for crack sealing automation 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). Moreover, 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 machine vision algorithms (digital image processing algorithm and path planning algorithm) for fully automated pavement crack sealing. It is anticipated that the effective use of the proposed machine vision 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.

• Korean Journal of Construction Engineering and Management
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• v.1 no.1 s.1
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• pp.87-94
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• 2000

Crack sealing, a routine and necessary part of pavement maintenance, is a dangerous, costly, and labor-intensive operation. Within the North America, about ${\$}200$ million is spent annually on crack sealing, with the Texas Department of Transportation (TxDOT) spending about ${\$}7$ million annually (labor alone accounts for over 50 percent of these costs). Prompted by concerns of safety and cost, the University of Texas at Austin, in cooperation with TxDOT and the Federal Highway Administration (FHWA) has developed a unique computer-guided Automated Road Maintenance Machine (ARMM) for pavement crack sealing. In 1999, successful field tests have been undertaken in 8 States around the U.S. This paper first describes significance of the automated crack sealing and technical advances in automated crack sealers including the ARMM, developed in the U.S. It then discusses the ARMM's field implementation and performance evaluation results, and improvements and modifications suggested through the technology evaluation during the field trials. Current research efforts and future work plans in its further development are also presented in this paper.