Automated crack sealing could significantly benefit the maintenance of road pavements, but there is difficulty in depositing the correct volume of sealant material into the hidden crack space. A simulated model of the material flow within a crack space would allow the development of a predictive control scheme, such that the repair robot can apply suitable trajectories and operational parameters to accomplish neatly sealed surfaces. For the first time, the position‐based fluid (PBF) method, a computationally cheap and fast but approximate model of fluid flows, is studied for its feasibility for sealant flow simulation in the robotic injection crack sealing scenario. A Real‐to‐Sim experiment is performed, in which a PBF simulation of sealant in a virtual robotic crack sealing environment is mirrored from the physical lab setup. The fluid simulation is tuned to match the real‐world dynamics through comparison with 132 simulation runs, varying the artificial viscosity parameters (fluid–fluid viscous interaction) and (fluid–wall viscous interaction). It was found that had a varied three‐stage influence on the simulation error while 's negative influence on the simulation error only effectively applied to fluids satisfying . Through comparing the physical and virtual crack sealing results, the simulation was validated with an average fluid level error of 1.26 mm along a 3.1 mm wide, 16 mm deep and 80 mm long artificial crack, which shows the usefulness of the PBF method for robotic injection sealing. The accuracy and computational requirements of the PBF method are also discussed.

中文翻译：

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基于位置的流体模拟用于机器人注射密封路面裂缝

自动裂缝密封可以显着有利于道路路面的维护，但很难将正确体积的密封剂材料沉积到隐藏的裂缝空间中。裂缝空间内材料流动的模拟模型将允许开发预测控制方案，以便修复机器人可以应用合适的轨迹和操作参数来完成整齐的密封表面。基于位置的流体（PBF）方法是一种计算成本低、速度快但近似的流体流动模型，首次研究了其在机器人注射裂缝密封场景中模拟密封剂流动的可行性。进行了真实模拟实验，其中虚拟机器人裂缝密封环境中密封剂的 PBF 模拟是从物理实验室设置中反映出来的。通过与 132 次模拟运行进行比较，改变人工粘度参数（流体-流体粘性相互作用）和（流体-壁粘性相互作用），对流体模拟进行调整，以匹配现实世界的动力学。结果发现，对模拟误差有不同的三阶段影响，而对模拟误差的负面影响仅有效地应用于满足 的流体。通过比较物理和虚拟裂缝密封结果，验证了仿真结果，沿着3.1毫米宽、16毫米深、80毫米长的人工裂缝，平均液位误差为1.26毫米，这表明PBF方法在机器人注射中的有用性密封。还讨论了 PBF 方法的精度和计算要求。