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STATE PLANNING AND RESEARCH FUNDING IMPLEMENTATIONWORK PLAN
Version 12/29/2010 / LRRB INV #: N/A
SP&R #: TBD
TITLE OF PROJECT: Vehicle-mounted robotic roadway message and symbol painter
PROJECT PROPOSED BY: Randy Reznicek
POSITION AND MN/DOT OFFICE OR DISTRICT: Maintenance Superintendant, District 3
MAILING ADDRESS / TELEPHONE and EMAIL
OFFICE TEL:
MOBILE TEL:
EMAIL:
TOTAL BUDGET $_120,000___
SOURCE AMOUNT
Mn/DOT State Research Funds…$24,000
Office or District Funds………... $
Federal SP&R………(80%)$96,000
LRRB…………………………… $
Other:______$ / OVERALL PROJECT SCHEDULE
DATE WORKPLAN COMPLETED: Feb. 2011
(allow time for review, approval and contract process)
PROJECT START DATE: July 2011
PROJECT LENGTH (MONTHS): 16
KEY PERSONNEL
NAME: Bruce Daniel
POSITION/TITLE:
ORGANIZATION: Mn/DOT Office of Maintenance
ROLE ON PROJECT: Additional Key Practitioner / NAME:
POSITION/TITLE:
ORGANIZATION:
DEGREES:
ROLE ON PROJECT:
Mn/DOT PROJECT MANAGER
OR TECHNICAL LIAISON
NAME Randy Reznicek
ORGANIZATION Mn/DOT District 3 Maintenance / Mn/DOT ADMINISTRATIVE LIAISON
NAME (will be assigned by RSS)
ORGANIZATION: Mn/DOT Research Services
APPROVALS
PRINCIPAL INVESTIGATOR
Print Name: Ryan Rosandich
I agree to accept responsibility for the scientific conduct of this project in accordance with the schedule and budgets in this work plan and to provide the required progress reports. / Signature of Principal Investigator:
______
Date:
OFFICE DIRECTOR OR DISTRICT ENGINEER
Office or District:_Dan Anderson, ADE District 3B_____
I hereby certify sufficient staff time will be scheduled for the Project Managerand staff to complete the project as outlined in the attached work plan, and commit any Office or District funds as listed above. / Signature of Office Director or District Engineer:
______
Date:
DIRECTOR OF RESEARCH SERVICES SECTION
Approval of work plan and any Mn/DOT State Research Programfunds as listed above. / Signature of the Director of Research Services:
______
Date:
FHWA APPROVAL
Approval of Federal SP&R funding for this project. / Signature of FHWA Area Engineer
______
Date:
SP&R IMPLEMENTATION PROJECT
INNOVATION ROADMAP INFORMATION
1)What are the expected benefits to Mn/DOT from implementing the results of the project? Please explain how this project supports Mn/DOT strategic goals as identified in a Mn/DOT departmental strategic planning document.
Faster Quicker Better Pavement Markings
Safe painting system that can remove employees from traffic flow and provide a consistent product:
This project would develop a truck-mounted robotic message painter for pavement markings. A computer controlled system has been developed that can automate painting of markings that currently require a stencil. There will be several benefits to Mn/DOT, including: one-person operation replacing a 2-person painting crew, faster completion of each pavement marking, safer operation because the operator can remain inside the truck.
The current technology for applying large-format symbols and messages to roadways and other surfaces uses stencils that are laid down on the surface and manually painted using spray or rollers. The proposed robotic painter will be faster, more flexible, and safer than the current technology.
The innovation will support Mn/DOT performance measure 3B. Level of Highway Maintenance.
2)What transportation problem is this project solving? What has been attempted in the past to solve this problem and what remains to be solved?
Applying Pavement markings safer quicker and better:
Currently Mn/Dot hand paints all messages and symbols on the road. This is done by use of stencils, a paint spray system and a 2-3 person crew which are exposed to traffic hazzards. This method is very time consuming which results in most messages not being repainted in a timely fashion.
Placing messages onto the roadway surface including stop-walk messages or left or right turn arrows is accomplished using stencils and rollers. Can a robotic message painter be developed whereby messages could be applied automatically from an operator position?
The concept has been proven via a seed project and developed on a larger scale via the prototype project. What remains to be solved is to enable the device to be mounted on the front of a vehicle, and to make it roadworthy and weather resistant.
3)What are the overall goals and objectives of the project?
Goal: To improve the safety and efficiency of roadway marking by implementing the vehicle-mounted robotic painter concept.
Objective: This project would develop a truck-mounted robotic message painter for pavement markings. A computer controlled system has been developed that can automate painting of markings that currently require a stencil. There will be several benefits to Mn/DOT, including: one-person operation replacing a 2-person painting crew, faster completion of each pavement marking, safer operation because the operator can remain inside the truck.
4)How does the proposed project build upon previous research? (Evaluate previous research conducted in other states as well as Minnesota.) If further research is proposed, why does similar previous research not solve the Minnesota transportation problem being addressed and why is further research needed?
Proof of concept has already been completed at the U of M (Duluth) through an ITS Institute project funded through the NATSRL.
This is an implementation of the concept developed to the prototype stage in the NATSRL project “Improve the safety and efficiency of roadway maintenance phase I: Developing a robotic roadway message painter prototype - FY10 NATSRL” NATSRL is a Univ. of Minnesota, ITS Institute Program at the UMD administered by Eil Kwon.
5)How will the results of the completed project be put into practice and deployed by Mn/DOT? Who needs to make a formal decision to implement and deploy, and who would be responsible for implementation and deployment? (Or attach a copy of the Innovation Roadmap Product worksheet that may have been completed as part of the initial funding application.)
District 3B (St. Cloud) has agreed to supporting and moving forward with this project and working closely with UMD.
The project will produce the following end-user products:
  • Tool or piece of equipment
  • Software, model or design tool
  • Maintenance method or materials
  • Innovation in facilities or operations
  • Streamlining or automation
Mount the Robotic Message Painting framework and hardware onto the front of 3B's current message painting truck. The framework will raise vertically for travel, and then be lowered to work in a horizontal position when painting. The framework will be able to adjust hydraulically/mechanically up to 12 ft wide enabling crosswalks, stop bars and railroad crossing to also be painted. Paint, beads and compressor will be mounted on the rear bed of the truck.
The following stakeholder groups will be involved in implementation:
District 3
  • All Districts
  • District Maintenance Superintendants
  • District Traffic Engineers
  • Maintenance Operations Research
  • Office of Maintenance
  • Office of Traffic, Safety and Technology
The following management groups will be involved in implementation and deployment:
  • OMG
  • Operations Division
The following practitioner groups will be involved in implementation:
  • MBMT
  • Traffic Engineers Organization – Signing and Striping Committee
Other cooperating program: University of Minnesota – Duluth (NATRSL)
6)What future efforts or steps will be needed to derive full benefits from the expected results of this project?
Purchase a system and install in every Mn/DOT district.
PROJECT WORK PLAN INFORMATION
BACKGROUND: Include any background information or history pertinent to the project that has not been provided above.
SCOPE: Briefly summarize the scope of work of this project. This includes an overall description of how the project will be conducted. Please summarize coordination with other projectsor other work that is necessary for completion of this project, such as specialized help or input including data, materials, equipment, facilities, etc.
Develop a robotic painting device to be mounted on the front of a vehicle for painting messages and symbols on the roadway. The painting device will be based on the prototype developed via the NATSRL project. The only completely new design tasks will be the painter frame and the vehicle mounting system. The other systems and components will be closely based on the prototype systems already developed, and will be adapted to the new frame and mounting. The operator interface will be an enhanced version of the prototype system. The project duration is estimated at 50 weeks and an estimated total cost of $81,000.
TASKS: List the major tasksin the sequence necessary to complete the project, including the elements listed below.
Scope: For each task, give a task title, describe the work that will be included the in task and who will perform the work (consultants, contractors, university researchers, Mn/DOT personnel, or others). Purchase orders for equipment can be included here as a task to be completed by Mn/DOT. For each task there should beat least one deliverable, such as a report, test results,equipment, software, etc.
Schedule:Indicate a realistic duration for each task, and proposed start and end dates. The contract execution date will be unknown at the time this work plan is prepared, so it is important to note any “hard schedule” requirements for task start or ending dates, such as for seasonally-dependent work.
Budget:For each task, provide the total cost to complete the task. Tasks performed by Mn/DOT personnel may have zero-dollar budgets for the purpose of this work plan.
TASK 1: Mn/DOT will send a truck to Duluth for retrofit.
TASK 2: Mn/DOT will hire a Contractor to assist UMD with Implementation Project, Answer Questions for the UMD on Maintenance Operations, Review Operation and Report on the Innovation for Mn/DOT District 3
  1. Deliverable: Evaluation Report Documenting Fabrication and Next Steps for Mn/DOT to Fully implement the Innovation
  2. Duration: Length of Project
TASKS: UMD Proposal see Appendix A.
  1. Painter frame provides rigid structure to support motion control components. Task includes detailed design and analysis, specification of all components and materials, production of drawings suitable for fabrication, and fabrication.
  2. Deliverables: Drawings, material specifications, and fabricated painter frame
  3. Duration: 5 months
  4. Vehicle mounting system provides interface between painter frame and vehicle. Adjustable angle left/right and front/back, retractable to travel position, deployable to operating position, compliant with all applicable codes and standards. Task includes detailed design and analysis, specification of all components and materials, production of drawings suitable for fabrication, and fabrication.
  5. Deliverables: Drawings, material specifications, and fabricated vehicle mount
  6. Duration: 5 months
  7. Motion control system consisting of gantry-style robotic device with servo-driven linear actuators including controls and power supply. Task includes specification and procurement of all components and materials and production of drawings suitable for assembly.
  8. Deliverables: Drawings, material specifications, and materials procured
  9. Duration: 4 months
  10. Paint application system with electrically or pneumatically actuated automatic paint gun and airless paint delivery system compatible with latex paint and/or epoxy paint. Task includes specification and procurement of all components and materials and production of drawings suitable for assembly.
  11. Deliverables: Drawings, material specifications, and materials procured
  12. Duration: 3 months
  13. Reflective bead application system with electrically or pneumatically actuated automatic bead gun and air-pressurized bead delivery system compatible with glass beads or other reflective material. Task includes specification and procurement of all components and materials and production of drawings suitable for assembly.
  14. Deliverables: Drawings, material specifications, and materials procured
  15. Duration: 3 months
  16. Operator interface based on a laptop computer allows the operator to select a painting action and to monitor and control all aspects of the painting operation. Task includes refining the prototype interface and adding parameters to library symbols to allow for size adjustment.
  17. Deliverables: Completed operator interface
  18. Duration: 2 months
  19. Final assembly includes assembly of all components and systems, mounting on a vehicle, and functional testing in a controlled setting. Task includes assembly of mechanical components, mounting motion control components, Installation of paint delivery system, Installation of bead delivery system, wiring of all electrical components, and testing and fine-tuning.
  20. Deliverables: Fully assembled and functionally tested system mounted on a vehicle.
  21. Duration: 1 month
  22. Field testing includes testing under realistic conditions in the field. Task includes testing under actual field conditions while painting various messages and symbols, fine-tuning the design, and developing standard operating procedures.
  23. Deliverables: Fully functional, field-tested system and standard operating procedures.
  24. Duration: 2 months
  25. Draft Final Report – 2 Months
  26. Final Report - 4 months

WORK PLAN SUMMARY: List each task, start and end dates, or attach a Gantt chart.
See attached Work Plan from the University of Minnesota Duluth
DETAILED BUDGET FOR ENTIRE PROJECT
DOLLAR AMOUNT (OMIT CENTS)
FY 2012 / FY 2013 / YEAR 3 / TOTALS
DIRECT COSTS
CONSULTANT, CONTRACTOR AND TESTING COSTS (list each contract and its expected cost) / $10,000 / $15,000
EQUIPMENT (itemize by vendor) / $95,000
SUPPLIES – Mn/DOT Snow Plow
TOTAL DIRECT COSTS
TOTAL PROJECT COSTS / $105,000 / $15,000 / $120,000
BUDGET BY SUMMARY TASK AND CONSULTANT/VENDOR:
(List task number and dollar value for each task in the work plan. If the project includes consultant contract or vendor P.O., provide breakdown of task budget. Insert additional rows as necessary.)
Task Number / Task Description / Consultant, Vendor or Contractor Name / Cost
Task 2 / Project Management and Equipment Evaluation Consultant / EVS / $25,000
Task 3-11 / Mn/DOT Robotic Message Painter Installation / UMN D / $95,000
$
$
TOTAL PROJECT COSTS / $120,000
COMMENTS/JUSTIFICATION
Based on observations, of the complexity of this project, RSS advised District 3 that a consultant by added to the project to evaluate the innovation and to assist with project management duties as directed by District 3.

Appendix A:

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UNIVERSITY OF MINNESOTA
CENTER FOR TRANSPORTATION STUDIES
RESEARCH PROJECT WORK PLAN
8/03 / REVISION DATE:
Note: This work plan provides the basis for contract preparation. Once fully executed, the contract supercedes this document and is the official document governing the execution of the project.
TITLE OF PROJECT (DO NOT EXCEED 65 TYPEWRITER SPACES).
Robotic Roadway Message and Symbol Painter Implementation
IS THIS A RESPONSE TO A SPECIFIC MN/DOT NEED? NO _X YES
IF YES, STATE NAME OF CONTACT PERSON FROM MN/DOT. Randy Reznicek
PRINCIPAL INVESTIGATOR (LAST, FIRST, MIDDLE). Rosandich, Ryan G.
POSITION TITLE/DEGREES Assoc,. Professor, Director of Grad. Studies, and Dept. Head (MIE), Ph.D. Engineering
MAILING ADDRESS
1305 Ordean Ct., 105 Voss-Kovach Hall
Duluth, MN 55812 / TELEPHONE AND FAX (AREA CODE, NUMBER, EXT.)
TEL:218-726-7226
FAX:218-726-8596
E-MAIL:
DEPARTMENT
UMD Mechanical and Industrial Engineering
REQUESTED START DATE (mm/dd/yyyy) 09/01/2011
LENGTH OF PROPOSED PROJECT (MONTHS)12
PROJECTED END DATE (mm/dd/yyyy) 08/31/2012
NON-MN/DOT FUNDING SOURCES
AMOUNT
SOURCE / NAME OF APPLICANT ORGANIZATION/FIRM
Regents of the University of Minnesota
ADDRESS
Sponsored Projects Administration
450 Gateway Building
200 Oak Street SE
Minneapolis, MN 55455-2070
KEY PERSONNEL OTHER THAN PRINCIPAL INVESTIGATOR.
NAME Randy Reznicek
POSITION TITLE Engineer
ORGANIZATION Mn/DOT District 3
DEGREE(S)
ROLE ON THE PROJECT: Project champion and primary Mn/DOT contact / NAME
POSITION TITLE
ORGANIZATION
DEGREE(S)
ROLE ON THE PROJECT
NAME
POSITION TITLE
ORGANIZATION
DEGREE(S)
ROLE ON THE PROJECT / NAME
POSITION TITLE
ORGANIZATION
DEGREE(S)
ROLE ON THE PROJECT
KEY WORDS
Roadway painter, roadway marking, message painter

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CENTER FOR TRANSPORTATION STUDIES
RESEARCH PROJECT WORK PLAN
ABSTRACT
It is proposed to develop and test a robotic painting device to be mounted on the front of a vehicle for painting messages and symbols on the roadway. The painting device will be based on the prototype developed via a NATSRL project. It will consist of a painter frame, vehicle mounting system, motion control system, paint delivery system, bead delivery system, and operator interface. The only completely new design tasks will be the painter frame and the vehicle mounting system. The other systems and components will be closely based on the prototype systems already developed, and will be adapted to the new frame and mounting. The operator interface will be an enhanced version of the prototype system. The painter will be mounted on a vehicle supplied by Mn/DOT, and will be thoroughly field tested. Standard operating procedures will be developed. The device will improve the safety, efficiency, and flexibility of roadway painting operations. The project has an estimated duration of 12 months and an estimated total cost of $94,900.
IMPLEMENTATION What methods, procedures, products, and/or standards should change as a result of this research project?
The method of applying symbols and messages to the roadway will change completely. The current technology for applying large-format symbols and messages to roadways and other surfaces uses stencils that are laid down on the surface and manually painted using spray or rollers. The proposed system would paint makings without stencils using a vehicle-mounted robot operated from inside the vehicle.
What are the specific benefits of this change(s), why would this change(s) be important, and how can these benefits be measured?
  • Efficiency: Less time to paint symbols and messages, elimination of stencils and associated cleanup, single operator
  • Safety: Single operator with very little exposure to the work area
  • Flexibility: Not limited to available templates, can paint virtually any shape or message within the capabilities of the system.

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DETAILED BUDGET FOR YEAR 1 ONLY

DIRECT COSTS ONLY

PERSONNEL(APPLICANT ORGANIZATION ONLY) / PERCENT EFFORT ON PROJECT / DOLLAR AMOUNT (OMIT CENTS)
NAME/ROLE / SALARY/
WAGE
COST / FRINGE
BENEFITS / TOTALS
Ryan Rosandich, Academic Year / 25% / $21,550 / $7,170 / $28,720
Ryan Rosandich, Summer / 50% / $13,262 / $2,650 / $15,912
UGRA Student, Academic Year / 25% / $4,376 / $0 / $4,376
UGRA Student, Summer / 50% / $2,692 / $200 / $2,892
SUBTOTALS / $41,880 / $10,020 / $51,900
SUBCONSULTANT/SUBCONTRACTOR COSTS (DESCRIBE AND ITEMIZE BY OBJECT CODE)
Subcontractor / Hrs. / Rate / Cost
Designer / 80 / $75 / $6,000
Fabricator / 200 / $50 / $10,000
/ $16,000
EQUIPMENT (DESCRIBE AND ITEMIZE BY OBJECT CODE)
Painter frame materials / $3,000
Vehicle mounting materials / $3,500
Motion control equipment / $7,500
Paint application equipment / $2,000
Bead application equipment / $2,500
Operator interface computer / $1,500
Operator interface software / $2,000
/ $22,000
SUPPLIES (DESCRIBE AND ITEMIZE BY OBJECT CODE)
Painter frame supplies / $500
Vehicle mounting supplies / $500
Assembly supplies / $1,000
Testing Supplies / $500
/ $2,500
TRAVEL (DESCRIBE AND ITEMIZE BY OBJECT CODE)
Conference attendance $2,000
In-state travel (1000 miles @ $0.50/mi.) $500 / $2,500
OTHER EXPENSES (DESCRIBE AND ITEMIZE BY OBJECT CODE) / $0
TOTAL PROJECT COST FOR INITIAL BUDGET PERIOD (YEAR 1) / $94,900

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