Roadside
Design and Asset Management
Labor Intensive Manual Tasks
Labor Intensive Tasks in Roadside Vegetation Maintenance
Click here for full report in pdf format: UCD_ARR_08_06_30_04.pdf
Aaron Arsenault, Jonah Teeter-Balin, Wilderich White, and Steven Velinsky, "Alternative to Labor Intensive Tasks in Roadside Vegetation Maintenance", UCD-ARR-08-06-30-04, 243 pp, June 30, 2008.
Abstract — This report describes an investigation into machine based technologies that are alternatives to the current methods of vegetation control in roadside maintenance. Two different lines of inquiry are described in separate report sections. The first section is an analysis and comparison of technologies that are potential alternatives to the application of herbicides in vegetation control. The alternatives of hot foam application, radiant heating, and high pressure water application are compared to mowing and herbicide application in maintenance of areas around posts and guardrails, mow strips, and paved surfaces. A concept scoring matrix resulted in the recommendation that the hot foam application and radiant heating technologies are candidates for further development. The second section describes the detailed development of an autonomous mower design. Mower control is achieved using dead reckoning information obtained from shaft mounted encoders which is fused with absolute positioning and heading information provided by a differential (WAAS corrected) GPS unit, to obtain accurate localization. In this study however, the GPS unit provides accurate drift free heading, eliminating the need for a gyroscope unit, and leading to an overall low cost high performance solution. Implementation of autonomous mowing systems has potential to achieve large savings in mowing operations.
Vegetation and Debris Management
Assessment of State Of the Art of Remote Irrigation Control Systems: Final Report
Turnbull, Ian, and Manuel Ruiz, "Assessment of State Of the Art of Remote Irrigation Control Systems: Final Report", UCD-ARR-92-07-11-01, 143 pp, July, 1992.
Abstract — California State University, Chico conducted a research project for the California Department of Transportation (Caltrans) to develop a state-of-the-art assessment of Remote Irrigation Control (RIC) systems that may be used for highway right-of-way irrigation. The primary goal of the study was to provide Caltrans maintenance personnel with a central reference source on Remote Irrigation Control. The research includes: a survey of fourteen current RIC systems, an analysis of communication methods used in RIC systems, a survey of current RIC expertise at Caltrans, and an examination of future trends and technologies. A generic remote irrigation control system model and a set of benchmark features were developed to aid in system comparison. The use of environmental feedback in conjunction with RIC systems to determine vegetation water demand was also examined. We conclude that the use of RIC systems for highway irrigation is feasible; support of multiple types of Communication Links (CLs) is a necessity; distributed intelligence, generic data acquisition support and alarm response features should be incorporated into the overall RIC system design; Caltrans maintenance hierarchy should be preserved when implementing RIC; a water manager position should be developed to aid in RIC implementation and operation; and a custom RIC system designed for highway right-of-way applications should be developed by Caltrans.
Assessment of the State of The Art of Remote Irrigation Control Systems, Field Guide
Turnbull, Ian, and Manuel Ruiz, "Assessment of the State of The Art of Remote Irrigation Control Systems, Field Guide", UCD-ARR-92-07-11-02, 22 pp, July, 1992.
Abstract — This field guide is an abridged reference for the main report entitled "Assessment of the State of The Art of Remote Irrigation Control Systems" by Ian Turnbull and Manuel Ruiz. Both the main report and the field guide are the result of research conducted by California State University, Chico for the California Department of Transportation. The field guide is intended to provide a quick way of comparing RIC systems and their Communication Link transmission methods. For a more detailed study of Remote Irrigation Control systems and related equipment the main report should be consulted. A set of contact references for RIC system manufacturers and Caltrans personnel is also included, see Table 2.
Automated Litter Bag Pickup Machine (Phase 1)
Wong, Phillip W., John Kalua, Bahram Ravani, and Walter Nederbragt, "The Automated Litter Bag Pickup Machine (Phase 1)", UCD-ARR-94-09-29-01, 11 pp, September, 1994.
Abstract — This report provides a description of the Automated Litter Bag Pickup machine. This machine was constructed at Lakeview Metal Construction (Nice, CA) and developed in conjunction with the Advanced Highway Maintenance and Construction Technology Center at the University of California at Davis. The system is designed to retrieve litter bags from the side of the highway with an emphasis on the increased safety of the workers. Overall system descriptions are given for the Automated Litter Bag Pickup machine. A detailed description is given for each of the major subsystems and the support equipment. The proposed system operation is also described.
Intelligent Intermittent Spray System for Reduced Herbicide Control of Vegetation
Slaughter, David C., D. Ken Giles, and Chris J. Tauzer, "Intelligent Intermittent Spray System for Reduced Herbicide Control of Vegetation", UCD-ARR-94-08-01-01, 13 pp, August 1994.
Abstract — A feasibility study was conducted to determine if a computer vision sytem could be used to control the intermittent application of herbicides to roadside vegetation. Results show that currently available off-the-shelf computer vision technology can be used to accurately target herbicide application at vehicle speeds ranging from 3 km/hr to 13 km/hr. The study demonstrated the feasibility of using the computer based visual control system to apply herbicides only to targeted vegetation and not to areas of the roadside which contained no vegetation. This finding indicates that a substantial reduction (up to 90%) in the amount of herbicide required to control the vegetation on California's roadsides may be feasible.
Laser Removal of Graffiti
Liu, Katherine, and Elsa M. Garmire, "Laser Removal of Graffiti", UCD-ARR-94-09-22-01, 40 pp, September, 1994.
Abstract — Q-switched Nd:YAG lasers can be used to remove graffiti from concrete and brick walls, as well as unpainted wood and metal surfaces, in a cost-effective manner. This year's research discovered that short pulse Q-switched lasers are much more efficient than CW lasers in removing paint from surfaces. We have developed an engineering model for removal rate valid for most laser pulse widths, powers and duty cycles. Cost benefit analyses predict that laser removal can be competitive in cost with sand and water blasting without environmental hazards. The rather large initial capital equipment outlay needed for laser removal techniques is made up for in terms of reduced laber costs and long-term reliability of lasers. The only thing left before lasers can be used in the field is the development of a beam delivery system. Experiments on highway signs have shown promising results, but more research is needed to determine optimized conditions of graffiti removal from highway signs, an application with significant cost benefits. Combining laser ablation with chemical removal seems to offer an effective technique. Finally, indications are that oblique incidence may be better than normal incidence operation.
Laser Removal of Graffiti: Advanced Highway Sign Testing
Garmire, Elsa M., and Mark W. Hibben, "Laser Removal of Graffiti: Advanced Highway Sign Testing", UCD-ARR-95-09-08-01, 44 pp, September, 1995.
Abstract — The results for the past year's graffiti removal results are presented. These results indicate that a pulse-pumped Nd:YAG laser operating at 1.06 micrometer wavelength with a pulsewidth slightly less than 20 nsec and 265 mJ pulse energy can successfully remove graffiti paint from highway signs with minimal damage to the signs. This report examines some of the mechanisms that degrade the reflectance of the sign after laser graffiti removal and the methods that can be employed to ameliorate that degradation.
Vegetation Cutting Tool
Click here for full report in pdf format: UCD_ARR_05_12_31_02.pdf
Rob Harker, Jason McPhee, Ryan Bieniek, Wilderich A. White, and Steven A. Velinksy, "Development of Vegetation Cutting Tool Attachments for the Automated Roadway Debris Vacuum", UCD-ARR-05-12-31-02, 171 pp, December 31, 2005.
Abstract — The Advanced Highway Maintenance and Construction Technology (AHMCT) Research Center has been developing robotic equipment and machinery for highway maintenance and construction operations. It is a cooperative venture between the University of California at Davis and the California Department of Transportation (Caltrans). The research and development projects have the goal of increasing safety and efficiency of roadwork operations through the appropriate application of automation solutions.
This report describes the design and analysis of vegetation cutting attachments for the Automated Roadway Debris Vacuum (ARDVAC), a tele-robotic litter removal system. This combination of ARDVAC system and cutting attachments is designed to operate in median divider areas, roadway shoulders, around guardrails, and on some embankments adjacent to roadways. It is capable of removing, by vacuum flow of air, trash, litter, loose vegetation and similar materials. The cutting attachments enable the removal of most vegetation found on the roadside. The machine is controlled from within the safety of the vehicle’s cab, requires no on-site set-up, operates with controls of minimum complexity, and is a significant solution to the problem of roadway litter collection and vegetation removal. The development of two general cutting tool attachments and one tumbleweed removal attachment is described.
