• 한국건설관리학회논문집
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• 제1권1호
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• pp.87-94
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• 2000

도로면 유지보수 공법 중 크랙실링은 그 특성상 작업수행과 관련하여, 노무자의 안전을 위협하는 다양한 위험, 열악한 작업환경으로 인한 생산성 및 품질저하, 교통체증으로 인한 차량이용자의 간접비용 상승 등 많은 잠재적 문제점을 내포하고 있을 뿐만 아니라 노무 의존도가 높고 년간 막대한 사업예산을 요하는 국가 기반 유지보수 사업이다. 선진 외국의 경우, 도로면의 초기균열에 대한 보수공법으로써 크랙실링이 일반화되어있고 과거 10여년에 걸쳐 이를 자동화하기 위한 연구노력이 활발히 진행 중이다. 본 논문은 미국을 중심으로 지금껏 개발되어진 크랙실링 자동화 로봇의 프로토타입을 간략히 소개하고 미 연방교통국(FHWA)과 텍사스 주 교통국(TxDOT)의 지원하에, 텍사스 오스틴 주립대학 건설자동화 연구소에서 개발된 크랙실링 자동화 로봇의 연구성과 및 1999년 현장실험 결과를 토대로 크랙실링 자동화 로봇의 타당성 및 적용성 그리고 개발기술의 응용성을 시험한다. 크랙실링 자동화 로봇의 개발과 활용을 통하여 도로의 수명 연장 및 년간 막대한 도로 유지보수 사업예산의 절감이 가능할 것으로 사료되며 개발된 자동화 기술은 추후 빌딩외벽, 대규모 저장탱크 등 도로 이외의 건축.토목 구조물에 발생된 균열의 탐지 및 보수에도 널리 활용될 수 있을 뿐만 아니 라 동영상 처리기술 등의 멀티 미디어 기술과 무선정보통신망을 응용한 본사와 현장간 실시간 안전진단 및 분석에도 그 활용효과가 클 것으로 기대된다.

• 한국전기전자재료학회논문지
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• 제18권11호
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• pp.1019-1023
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• 2005

We have examined the electrical and optical characteristics of the plasma display panel produced by vacuum in-line sealing technology. In the MgO layer deposited at room temperature, after sealing at the panel temperature of $430^{\circ}C$, the luminous efficiency decreased compared with that of the panel before sealing. Moreover, firing and sustain voltage of the sealed panel increased compared with that of the panel before sealing. This was resulted from that the MgO protective layer was cracked by the softening of the dielectric layer during the sealing process. In order to avoid the MgO crack during the vacuum in-line sealing, thermally stable MgO layer or lower temperature sealing is required.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 1998년도 제28회 추계학술대회
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• pp.265-271
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• 1998

High temperature wear behavior of plasma sprayed zirconia based coating sealing with zirconia sol were investigated for high temperature wear resistance application. The zirconia powders containing 2.5, 5.0, 7.5, 10.0 mol% of MoS$_2$, $Fe_2O_3$ for plasma spray were made by spray drying method. As-sprayed coating was sealed by zirconia-sol to fill up the pore and crack in coating. wear test were performed at temperature ranges from room temperature to 600$\circ$C. The microstructural changes of before and after sealing process were examined by SEM, XRD and EPMA. After sealing process, the porosity was decreased and micro-hardness was increased. The wear properties of coating after sealing process were improved by sealing of pores and cracks. The behavior of wear amount and coefficient of friction were same tendency to before sealing process.

• 한국건설관리학회논문집
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• 제7권6호
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• pp.151-164
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• 2006

선진 외국에서는 1990년대 초반부터 재래식 도로면 크랙실링 작업의 생산성 및 안전성, 품질을 향상시키고, 도로 이용자의 간접비용을 줄이기 위한 하나의 기술적 접근방법으로 도로면 크랙실링 자동화 장비를 개발하기 위해 다양한 연구노력을 수행해 오고 있다. 최근 국내에서도 도로면 크랙실링 공법의 효용성을 인지하고 재래식 크랙실링 작업을 자동화하기 위해 도로면 크랙실링 자동화 장비(APCS)를 개발해 오고 있다. 본 연구에서는 개발된 크랙실링 자동화 장비의 현장 실험시 재래식 방식과 자동화 방식의 생산성을 효과적으로 비교 측정할 수 있는 생산성 측정 모델을 개발하고, 이를 통해 도출된 생산성 데이터를 바탕으로 경제성 분석 기법(편익/비용 비율 분석, 수익률 분석, 손익분기점 분석, 민감도 분석)을 활용하여 자동화 방식을 도입 적용함으로써 얻을 수 있는 경제적 타당성 분석을 수행하고자 한다. 또한, 재래식 크랙실링 방식을 자동화함으로써 얻을 수 있는 사회적 편익 즉, 교통 혼잡 비용의 감소로 인한 경제적 편익을 시뮬레이션 기법을 활용하여 분석하고자 한다. 이를 통해, 재래식 방식과 비교한 자동화크랙실링 방식의 경제적 타당성 및 사회적 편익을 정량적으로 분석 제시함으로써 개발된 크랙실링 자동화 장비의 실용화 가능성을 높일 수 있을 것으로 기대된다.

• 한국건설관리학회:학술대회논문집
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• 한국건설관리학회 2002년도 학술대회지
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• pp.535-538
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• 2002

크랙 실링 자동화 장비의 비젼 시스템은 도로면의 영상을 획득하고 이를 컴퓨터로 처리하여 도로면의 랙을 탐지, 분석 및 맵핑하는 역할을 수행하는 것이다. 그러나 실제 도로에는 크랙과 함께 오일 자국, 타이어 자국, 차선, 기 실링된 크랙 등의 수많은 노이즈들을 포함하고 있기 때문에 비젼 시스템을 통해 얻어진 노이즈가 포함된 도로면 영상을 기반으로 크랙을 자동으로 탐지하고 맵핑하는 것은 매우 어려우며 이러한 노이즈는 크랙의 정확한 탐지 및 맵핑의 커다란 방해 요소이기 때문에 이들의 제거가 선결되어야만 한다. 따라서 본 연구에서는 획득된 도로면 영상으로부터 크랙을 탐지하고 맵핑하기 이전에 실링되어질 크랙을 정확히 인지(recognition)하기 위한 노이즈 제거 알고리즘을 제안하고자 한다.

• 한국도로학회논문집
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• 제17권2호
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• pp.55-62
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• 2015

Cracking is an inevitable fact of asphalt concrete pavements and plays a major role in pavement deterioration. Pavement cracking is one of the main factors determining the frequency and method of repair. Cracks can be treated with a number of preventative maintenance actions, including overlay surface treatments such as slurry sealing, crack sealing, or crack filling. Pavement cracks can show up as one or all of the following types: transverse, longitudinal, fatigue, block, reflective, edge, and slippage. Crack sealing is a frequently used pavement maintenance treatment because it significantly extends the pavement service life. However, crack sealant often fails prematurely due to a loss of adhesion. Because current test methods are mostly empirical and only provide a qualitative measure of the bond strength, they cannot accurately predict the adhesive failure of the sealant. This study introduces a laboratory test aimed at assessing the bonding of hot-poured crack sealant to the walls of pavement cracks. A pneumatic adhesion tensile testing instrument (PATTI) was adopted to measure the bonding strength of the hot-poured crack sealant as a function of the curing time and temperature. Based on a limited number of test results, the hot-poured crack sealants have very different bonding performances. Therefore, this test method can be proposed as part of a newly developed performance-based standard specification for hot-poured crack sealants for use in the future. PURPOSES : The purpose of this study was to evaluate both the adhesion and failure performance of a crack sealant as a function of its curing time and curing temperature. METHODS: A pneumatic adhesion tensile testing instrument (PATTI) was adopted to measure the adhesion performance of a crack sealant as a function of the curing time and curing temperature. RESULTS: With changes in the curing time, curing temperature, and sealant type, the bond strengths were found to be significantly different. Also, higher bond strengths were measured at lower temperatures. Different sealant types produced completely different bond strengths and failure behaviors. CONCLUSIONS: The bonding strength of an evaluated crack sealant was shown to differ depending on various factors. Two sealant types, which were composed of different raw materials, were shown to perform differently. The newly proposed test offers the possibility of evaluating and differentiating between different crack sealants. Based on alimited number of test results, this test method can be proposed as part of a newly developed performance-based standard specification for crack sealants or as part of a guideline for the selection of hot-poured crack sealant in the future.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2002년도 Proceedings of the International Welding/Joining Conference-Korea
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• pp.53-58
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• 2002

Electrical insulation and mechanical properties of the plasma sprayed oxide ceramic coatings were studied before and after the sealing treatment of the ceramic coatings. Plasma sprayed A1$_2$O$_3$-TiO$_2$ coating as the reference coating was sealed using three commercial sealants based on polymer. Penetration depth of the sealants to the ceramic coating was evaluated directly from the optical microscope using a fluorescent dye. It is estimated that the penetration depth of the sealants to the ceramic coating is from 0.2 to 0.5 mm depending on the sealants used. The preliminary test results with a DC puncture tester imply that the dielectric breakdown voltage mechanism of plasma sprayed ceramic coatings has been determined to be a corona mechanism. Dielectric breakdown voltage of the as-sprayed and as-ground samples have shown a linear trend with regard to the thickness showing an average dielectric strength of 20 kV/mm for the thickness scale studied. It is also shown that grinding the coating before sealing and adding fluorescent dye do not agent the penetration depth of sealants. All of the microhardness, two-body abrasive wear resistance, bond strength, and surface roughness of the ceramic coating after the sealing treatment are improved. The extent of improvement is different from the sealants used. However, three-point bending stress of the ceramic coating after the sealing treatment is decreased. This is attributed to the reduced micro-crack toughening effect since the cracks propagate easily through the lamellar of the coating without crack deflection and/or branching after the sealing treatment.

• 로봇학회논문지
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• 제11권2호
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• pp.60-72
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• 2016

This study proposes a multi-robot system, using multiple autonomous robots, to explore concrete structures and assist in their maintenance by sealing any cracks present in the structure. The proposed system employed a new self-localization method that is essential for autonomous robots, along with a visualization system to recognize the external environment and to detect and explore cracks efficiently. Moreover, more efficient crack search in an unknown environment became possible by arranging the robots into search areas divided depending on the surrounding situations. Operations with increased efficiency were also realized by overcoming the disadvantages of the infeasible logical behavioral model design with only six basic behavioral strategies based on distributed control-one of the methods to control swarm robots. Finally, this study investigated the efficiency of the proposed multi-robot system via basic sensor testing and simulation.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2005년도 International Meeting on Information Displayvol.II
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• pp.1538-1541
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• 2005

For reliability evaluation of AC-PDP, one of the most important factor is sealing property. In this paper, the reliability evaluation test method of the commercialized sealing glass frit in AC-PDP was studied. 6 inch AC-PDP panels were tested for evaluation of sealing glass frit by vibration shock test, thermal shock test, non -destructive X-ray inspection, residual stress inspection and residual gas detection. These test methods are proposed as a standard for testing the reliability of sealing glass frit. The main failure mode of sealing glass frit in AC-PDP seems to be the crack propagation from thermal cycling rather than mechanical factor.

• 제어로봇시스템학회논문지
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• 제22권5호
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• pp.374-381
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• 2016

The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.