AUTOMATED RAVELING INSPECTION AND MAINTENANCE PLANNING ON POROUS ASPHALT IN THE NETHERLANDS
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1 AUTOMATED RAVELING INSPECTION AND MAINTENANCE PLANNING ON POROUS ASPHALT IN THE NETHERLANDS FIRM15 - Brussels Willem van Aalst - TNO Giljam Derksen Peter-Paul Schackmann Petra Paffen - RWS Frank Bouman Wim van Ooijen contact: willem.vanaalst@tno.nl TNO 2015
2 INTRODUCTION Willem van Aalst, TNO System engineer & project manager (infra inspection) Automated raveling inspection and maintenance planning on porous asphalt in the Netherlands Project(s) performed under authority of: The Dutch Highway Agency, Ministry of Infrastructure and the Environment 2 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
3 CHALLENGES Porous Asphalt (ZOAB): Dutch highways: > 85% ZOAB ZOAB 0/16: > 70% Raveling: Loss of aggregates Dominant failure mechanism (>90%) Alternative for visual inspections: Objective, Safe, Cost Road width (# lanes) Point laser(s) not sufficient (Stone(a)way) Source: 3 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
4 GENERAL CONCEPT 3D data generation? Laser triangulation Raveling 3D data Raveling Asset management Maintenance planning 4 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
5 TIMELINE : Feasibility : Proof of concept : First generation : New vehicle : Update (colour) TRL 1 TRL 2 TRL 3 TRL 4 TRL 5 TRL 6 TRL 7 TRL 8 TRL 9 5 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
6 FEASIBILITY PHASE Questions: Raveling from 3D surface? Possible at high speed? Severe raveling No raveling Test location: A65: 15 sections (1m 2 ) Visual inspections 3D surfaces No Light Medium Severe 6 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT Visual score
7 FEASIBILITY PHASE Simulation of measurement systems State of the art systems: Laser triangulation (1 or 2 spots) Laser triangulation (2 lines) Amplitude phase modulation lasers Selected: line laser triangulation LCMS sensors (INO/Pavemetrics) LCMS system Source: 7 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
8 PROOF OF CONCEPT RWS ARAN 2 equipped with the LCMS system Test objects used to validate system specifications Sections N = 676 (each 100 m) 8 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
9 PROOF OF CONCEPT Visual versus Model: Good correlation with visual inspections! 93% (+/- 1 year) 9 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
10 FIRST GENERATION Main components LCMS sensors & controller (3D data) Laser Safety Controller (tilt, speed, ) RTK GPS (positioning) DMI (triggering) Front- & side camera s (reference) FPGA framegrabber (HW timing) Acquisition pc (Windows) Control pc (Unix) 10 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
11 SPECIFICATIONS High speed in-traffic measurements ~120 km/h Lane wide: 4 meters 3D range data 2D intensity data 2 x 2 m section Resolution: 1.0 mm (transversal) 4.7 mm (longitudinal) Accuracy (height): ~ 0.5 mm (σ) 1x1 mm 1x5 mm 11 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
12 EXAMPLE DATA Range Intensity 3D print 12 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
13 DATA PROCESSING Steps 1. Road-marking detection 2. Flattening (road & vehicle motion) 3. Texture analysis (pavement type) 4. Removal of: Mechanical damage (rim marks) Joints 5. Wheel path (maximum damage) 6. Raveling (per m 2 in wheel path) % stone loss % clustered stone loss 100m section 13 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
14 PAVEMENT TYPE CLASSIFICATION Dependencies on pavement type Raveling Maintenance interval Two approaches: Spectrum based (FFT) Texture based (various descriptors) Porous Asphalt 0/16 mm 4/8 mm 14 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
15 PAVEMENT TYPE CLASSIFICATION Examples: Spectrum analysis Texture analysis Mean 15 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
16 PAVEMENT TYPE CLASSIFICATION Classification 11 texture measures Quadratic classifier Evaluation set N = (100m) Results Overall: > 98.8% correct Porous Asphalt: > 99,7 % correct 16 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
17 RAVELING Flatten & clean data Raw 3D data Coin algorithm Radius (r) Depth (d) r Flattened & cleaned d 3D Stone(a)way Raveling 17 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
18 RAVELING Repeatability: Very good! Stone loss [%] Measured Stone loss [%] Reproducibility: Very good! Position [m] Real Stone loss [%] 18 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
19 MAINTENANCE INTERVAL Old style: Visual inspections Maintenance interval (year) new style: Ravelling data Maintenance interval MODEL Raveling Maintenance interval 19 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
20 MAINTENANCE INTERVAL Input: Ravelling per m 2 (both wheel paths) Linear classifier 28 inputs 1 output (per 100m) Trained on visual inspections Raveling? Maintenance interval 20 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
21 MAINTENANCE INTERVAL Results: 2012 : ~ 99 % correct (+/- 1 year to visual inspection) Two districts: Venlo & St. Joost Visual inspections Interval [years] Visual Model 21 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
22 RESULTS Results: 2014 typelcmsmjpv ZOAB(+) ZOAB(+) Total AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
23 SUMMARY Accurate measurement of raveling op PA (ZOAB) High speed and in-traffic Good repeatability and reproducibility System operational since 2012 Replacing most visual inspections Modelling of maintenance interval Based on raveling Accurate pavement type classification 23 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
24 ONGOING & FUTURE RESEARCH Cracking on PA (ZOAB) Raveling on fine PA and SMA Commercialisation (EU-)collaboration (Standardisation) 24 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
25 CHALLENGES FUTURE Variety in pavements versus Monitoring & Prediction Fine porous asphalt versus Measurements 25 AUTOMATED RAVELING INSPECTION AND MAINTENACE PLANNING ON POROUS ASPHALT
26 THANK YOU FOR YOUR ATTENTION Willem van Aalst Contact: TNO 2015
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