• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.81-86
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• 2019

Robots are used in various industrial sites, but traditional methods of operating a robot are limited at some kind of tasks. In order for a robot to accomplish a task, it is needed to find and solve accurate formula between a robot and environment and that is complicated work. Accordingly, reinforcement learning of robots is actively studied to overcome this difficulties. This study describes the process and results of learning and solving which applied reinforcement learning. The mission that the robot is going to learn is bottle flipping. Bottle flipping is an activity that involves throwing a plastic bottle in an attempt to land it upright on its bottom. Complexity of movement of liquid in the bottle when it thrown in the air, makes this task difficult to solve in traditional ways. Reinforcement learning process makes it easier. After 3-DOF robotic arm being instructed how to throwing the bottle, the robot find the better motion that make successful with the task. Two reward functions are designed and compared the result of learning. Finite difference method is used to obtain policy gradient. This paper focuses on the process of designing an efficient reward function to improve bottle flipping motion.

• Geomechanics and Engineering
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• v.28 no.2
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• pp.145-155
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• 2022

Safety is a most important parameters in underground railway transportation; Also stability of underground tunnel is very important in tunneling engineering. Design of a reliable support system requires an evaluation of both ground demand and support capacity. Iran's traditional railway tunnels are mainly supported with masonry structures or unsupported in high quality rock masses. A decrease in rock mass quality due to changes in groundwater regime creep and fatigue in rock and similar phenomena causes tunnel safety to decrease during time. The case study is an old tunnel in Iran, called "Keshvar"; it is more than 50 years old railway organization. In operating this Tunnel, until the several problems came up based on stability and leaking water. The goal of study is evaluation of the various reinforcement systems for supporting of the tunnel. The optimal selection of the reinforcement system is examined using TOPSIS Fuzzy method in light of the looming and available uncertainties. Several factors such as; the tunnel span, maintenance, drainage, sealing, ventilation, cost and safety were based to choose the method and system of designing. Therefore, by identifying these parameters, an optimal reinforcement system was selected and introduced. Based on optimization system for analysis, it is revealed that the systematic rock bolts and shotcrete protection had a most appropriate result for these kind of tunnel in Iran.

• Journal of Construction Engineering and Project Management
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• v.7 no.1
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• pp.26-29
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• 2017

This paper represents the experimental investigation of chloride penetration into plain concretes and reinforced concretes. The main objective of this work is to study the main influencing parameters affecting corrosion of steel in concrete. Plain cement concrete and reinforced cement concrete with different water-cement ratios and different cover depth were subjected to ponding test. Ponding of specimens were done for different periods into 10% NaCl solution. Depth of penetration of chloride solution into specimens was measured after ponding. Specimens were crushed and reinforcements were washed using $HNO_3$ solution and weight loss due to corrosion was calculated accordingly. There was a linear relationship between depth of penetration and water-cement ratio. It was also observed that, corrosion of reinforcing steel increases with chloride ponding period and with water-cement ratio. Corrosion of steel in concrete can be minimized by providing good quality concrete and sufficient concrete cover over the reinforcing bars. Water-cement ratio has to be low enough to slow down the penetration of chloride salts into concrete.

• Structural Engineering and Mechanics
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• v.22 no.1
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• pp.71-83
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• 2006

This paper deals with the effects of various moisture environments on the structural behavior of concrete beams. The presented results were obtained within a large experimental program carried out at the Laboratoire Central des Ponts et Chauss$\acute{e}$es (LCPC), with Electricit$\acute{e}$ de France (EDF) as a partner. The aim of this paper is to point out and to quantify the strains resulting from unidirectional moisture conditions: a drying gradient applied during 14 months, followed by the re-wetting of the dried surface during 9 months. The effect of reinforcement on the shrinkage and on the deformation due to water absorption is pointed out. Moreover, a lot of tests on companion cylinders and prisms were carried out to determine the mechanical characteristics of the material and help checking analysis methods. The paper focuses on numerous measurements obtained during the 23 months on one plain concrete beam and one reinforced concrete beam: variation of water content, followed by precise weighing and gammadensitometry, relative humidity measurements, local and global deformations in the three directions and deflection of the beams. Thus, the effects of drying and water absorption on the behavior of concrete structures are documented and analyzed in comparison with existing representation of water diffusion.

• The Journal of Engineering Geology
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• v.28 no.2
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• pp.277-295
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• 2018

As it has become difficult to secure new water resources through dam construction due to the critical social public opinions on dam construction from 10 years ago, it is necessary to review the existing water resources through the review of existing dams. Accordingly, access methods, such as planning, construction and management, were carried out using technologies already accumulated in relation to the repair and reinforcement of the dam. As a result of the repair and reinforcement, permeation grouting has been performed in many dams, but the establishment of the technology is insufficient so far, and the published paper at home and abroad is extremely rare. In this thesis, low-pressure penetration and grouting reinforcement technologies for the YC dam are analyzed in detail. As a result, penetration grouting has shown that it can be effectively applied to the improvement in the constallability of the core fill-like a YC dam. In addition, the technical details of the experience-proven penetration grouting are given in relation to the injection criteria. It is deemed that the specific analysis data of the Fill Dam penetration grouting technology through this study can be used as useful data for strengthening the repair of Fill Dam and reservoir.

• Journal of the Korean GEO-environmental Society
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• v.24 no.9
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• pp.5-13
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• 2023

Cement-based reinforcement materials, which are representative slope reinforcement materials, can cause contamination of ground and groundwater when ground injection or surface application is applied. Accordingly, slope reinforcement materials using eco-friendly biopolymers are attracting attention as a means of replacing existing materials, but the biopolymers currently used are easily dissolved when exposed to groundwater or rainfall environments, reducing strength. In order to solve this problem, the cross-linking of protein between sodium casein and Transglutaminase (TGase, C₂₀H₁₆N₄O₂S₂) was used to increase the water resistance of biopolymers, and a rainfall slope test was conducted to evaluate their usability and applicability as a slope reinforcing material. In the case of reinforcement with only sodium casein, the precipitation dissolved sodium casein, and the slope was completely destroyed in 1 hour. On the other hand, it was observed that the slope reinforced by adding a small amount of TGase (0.5%) do not collapse even after 80 hours of rainfall duration due to increased water resistance. Strength and water resistance increases due to the addition of a small amount of TGase, and its applicability as an eco-friendly reinforcement is confirmed.

• Journal of the Korean Geosynthetics Society
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• v.16 no.2
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• pp.121-129
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• 2017

There have been a number of water and sewer pipe breakdown reports followed by ground subsidence. Also, the excavating works for construction due to overcrowding of city have been common. Particularly, in urban areas ground becomes unstable because of the lowered lifeline sinkage followed excavation and backfilling. In order to solve the problem, some reinforcement works for ground by rod tamping or grouting have been applied. However, it is hard to predict when the buried utilities in underground will be damaged. Also, there is a limit for the underground exploration and investigation methods. Therefore, in this study, the estimated about the water soluble polymer pouch including poor mixed admixture which is designed to eliminate the dangerous factors. The reinforcement strength of this method was confirmed by verifying three points: meltiness in a certain period, water solubility in the ground water level, and characteristics of the pouch, which can be stored in daily conditions. It is also proved that this method allows to keep the ground from getting weakened in the installation of water and sewer pipe along with back filling materials.

• Steel and Composite Structures
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• v.51 no.2
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• pp.153-172
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• 2024

Due to the fast development of constructions in recent years, there has been a rapid consumption of fresh water and river sand. In the production of concrete, alternatives such as sea water and sea sand are available. The near surface mounted (NSM) technique is one of the most important methods of strengthening. Aluminum alloy (AA) bars are non-rusting and suitable for usage with sea water and sand concrete (SSC). The goal of this study was to enhance the shear behaviour of SSC-beams strengthened with NSM AA bars. Twenty-four RC beams were cast from fresh water river sand concrete (FRC) and SSC before being tested in four-point flexure. All beams are the same size and have the same internal reinforcement. The major factors are the concrete type (FRC or SSC), the concrete degree (C25 or C50 with compressive strength = 25 and 50 MPa, respectively), the presence of AA bars for strengthening, the direction of AA bar reinforcement (vertical or diagonal), and the AA bar ratio (0, 0.5, 1, 1.25 and 2 %). The beams' failure mechanism, load-displacement response, ultimate capacity, and ductility were investigated. Maximum load and ductility of C25-FRC-specimens with vertical and diagonal AA bar ratios (1%) were 100,174 % and 140, 205.5 % greater, respectively, than a matching control specimen. The ultimate load and ductility of all SSC-beams were 16-28 % and 11.3-87 % greater, respectively, for different AA bar methods than that of FRC-beams. The ultimate load and ductility of C25-SSC-beams vertically strengthened with AA bar ratios were 66.7-172.7 % and 89.6-267.9 % higher than the unstrengthened beam, respectively. When compared to unstrengthened beams, the ultimate load and ductility of C50-SSC-beams vertically reinforced with AA bar ratios rose by 50-120 % and 45.4-336.1 %, respectively. National code proposed formulae were utilized to determine the theoretical load of tested beams and compared to matching experimental results. The predicted theoretical loads were found to be close to the experimental values.

• Corrosion Science and Technology
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• v.4 no.4
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• pp.130-135
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• 2005

In this study, accelerated corrosion tests were conducted on concrete specimens with and without accelerated carbonation beforehand for the purpose of elucidating the effects of carbonation, cover depth, and water-cement ratio (W/C) on the reinforcement corrosion. During testing, the corrosion current between the anode steel and cathode stainless steel was measured to continuously monitor the progress of corrosion throughout the test period, thereby investigating the mechanism of reinforcement corrosion and the relationship between corrosion and crack width, as well as other parameters.

• Computers and Concrete
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• v.31 no.3
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• pp.197-206
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• 2023

In this paper, the bending performance of a MSFRHPC (containing steel fiber, polyvinyl alcohol (PVA) fiber, and CW)-reinforced beam was studied for the first time. Introducing a multiscale fiber system increased the first crack load (up to 150%), yield load (up to 50%), and peak load (up to 15%) of reinforced beams. The multiscale fiber system delays cracking of the reinforced beam, reduces crack width of the reinforced beam in normal use, and improves the durability of the beam. Considering yield load and peak load, the reinforcing effect of multiscale fiber on the high-reinforcement ratio beam (1.00%) is better than that on the low-reinforcement ratio beam (0.57%). Introducing fibers slowed the development of cracks in the reinforced beam under bending. With the added hybrid fiber, the deformation concentration of reinforced beams after yield was more significant with concentration in 1 or 2 cracks. A model for predicting the flexural capacity of MSFRHPC-reinforced beams was proposed, considering the action of multiscale hybrid fibers. This research is helpful for structure application of MSFRHPC-containing CW.