Magnetic markers embedded into the roadway pavements are used in Intelligent Transportation Systems to provide the reference signals necessary for guiding and controlling vehicles. This technology has already been implemented in several locations in California to provide driver assistance for snowplow operators in harsh winter environments. Installation of these magnetic markers into the roadway pavement is a tedious manual operation. In this paper, we present a novel design of a robotic system developed for installation of these magnetic markers into the roadway pavement. It is shown how dynamic modeling and simulation can be used with simple experimentation to develop a mechanical design of a robotic system to overcome undesirable effects of vibrations due to drilling the roadway. In addition, two new and innovative concepts are introduced in the design of a robotic system. One is the design of a roller-type traction drive to achieve linear motion that can be used in a gantry robotic system and the second is a self-alignment mechanism for proper insertion of magnetic markers that can be used for any insertion and assembly operations.

1.
Lim
,
H. M.
,
Newstrom
,
B.
,
Shankwitz
,
C.
, and
Donath
,
M.
, 1991, “
A Heads Up Display Based on a DGPS and Real Time Accessible Geo-Spatial Database for Low Visibility Driving
,” in
Proceedings of the 12th International Meeting of the Satellite Division of the Institute of Navigation ION GPS 1999
,
Nashville, TN, September.
2.
Alexander
,
L.
, and
Donath
,
M.
, 1999, “
Differential GPS Based Control of a Heavy Vehicle
,”
Proceedings of IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems
, Tokyo, Japan, pp.
662
667
.
3.
Lasky
,
T. A.
,
Yen
,
K. S.
, and
Ravani
,
B.
, 1999, “
Advanced Construction and Maintenance Systems (ACMS) for Winter Operations in Rural Environments
,”
Proceedings of the Rural Advanced Technology & Transportation Systems International Conference
,
Flagstaff, AZ, August.
4.
Lasky
,
T. A.
,
Yen
,
K. S.
, and
Ravani
,
B.
, 1999, “
The Advanced Snowplow Driver Assistance System
,” in
Proceedings of the 6th World Congress on Intelligent Transportation Systems (ITS)
,
Toronto, Canada, November.
5.
Thorne
,
C. H.
,
Lasky
,
T. A.
, and
Ravani
,
B.
, 2000, “
Advanced Collision Warning System for the RoadView Snowplow Driver Assistance System
,” in
Proceedings of the Seventh World Congress on Intelligent Transportation Systems (ITS)
,
Turin, Italy, November.
6.
Shladover
,
S. E.
,
Desoer
,
C. A.
,
Hedrick
,
J. K.
,
Tomizuka
,
M.
,
Walrand
,
J.
,
Zhang
,
W.-B.
,
McMahon
,
D. H.
,
Peng
,
H.
,
Sheikholeslam
,
S.
, and
McKeown
,
N.
, 1991, “
Automated Vehicle Control Developments in the PATH Program
,”
IEEE Trans. Veh. Technol.
0018-9545,
40
, pp.
114
130
.
7.
Jenkinson
,
M.
, 2001, “
Everything You Wanted to Know About Magnetic Guidance for the Advanced Snowplow System (ASP)
,” Caltrans Internal Report, March.
8.
Broverman
,
I.
, and
Ravani
,
B.
, 1994, “
Requirements for the Automated Application of Magnetic Markers for AHS
,” AHMCT Research Report, UCD-APR-94-06-15, April.
9.
Tsai
,
H. C.
, and
Soni
,
A. H.
, 1981, “
Accessible Region and Synthesis of Robot Arms
,”
ASME J. Mech. Des.
1050-0472,
103
, pp.
803
811
.
10.
Gupta
,
K. C.
, and
Roth
,
B.
, 1982, “
Design Considerations for Manipulator Workspace
,”
ASME J. Mech. Des.
1050-0472,
104
, pp.
704
711
.
11.
Vijaykumar
,
R.
,
Waldron
,
K. J.
, and
Tsai
,
M. J.
, 1986, “
Geometric Optimization of Serial Chain Manipulator Structures for Workspace Volume and Dexterity
,”
Int. J. Robot. Res.
0278-3649,
5
, pp.
91
103
.
12.
Gosselin
,
C. M.
, and
Guillot
,
M.
, 1991, “
The Synthesis of Manipulators with Prescribed Workspace
,”
ASME J. Mech. Des.
1050-0472,
113
, pp.
451
455
.
13.
Ceccarelli
,
M.
, 1995, “
A Synthesis Algorithm for Three-Revolute Manipulators by Using and Algebraic Formulation of Workspace Boundary
,”
ASME J. Mech. Des.
1050-0472,
117
, pp.
298
302
.
14.
Asada
,
H.
, and
Kanade
,
T.
, 1983, “
Design of Direct-Drive Mechanical Arms
,”
ASME J. Vib., Acoust., Stress, Reliab. Des.
0739-3717,
105
, pp.
312
316
.
15.
Inman
,
D. J.
, 1996,
Engineering Vibration
,
Prentice–Hall
, Englewood Cliffs, pp.
328
340
.
16.
Karnopp
,
D. C.
,
Margolis
,
D. L.
, and
Rosenberg
,
R. C.
, 2000,
System Dynamics: Modeling and Simulation of Mechatronic Systems
,
3rd ed.
,
Wiley
, New York.
You do not currently have access to this content.