• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2351-2353
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• 1998

This paper suggests the wheel controller for PWS(Power Wheeled Steering) mobile robot. The proposed controller consists of two parts. To control each motor, the sliding mode controller implemented. This method has robustness about modeling error and disturbance, so the velocity tracking is well guaranteed in the presence of varying load. The design of a fuzzy cross-coupling controller for a PWS mobile robot is described here. Fuzzy cross-coupling control directly minimizes the tracking error by coordinating the motion of the two drive wheels. The fuzzy cross-coupling controller has excellent disturbance rejection and therefore is advantageous when the robot is not loaded symmetrically. The capability of the proposed controller was verified through the computer simulation.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2007.11a
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• pp.129-132
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• 2007

From this research the construction civil official is simple with the parking floor finishing material, it improves the durability of the parking floor it uses the flexible FRP it will be able to secure the drainage quality it is excellent and it presents the efficient application plan from the construction site. The performance appraisal only efficiency with of result floor of parking area material bay it knows, the result where also the performance appraisal portion re-with roof bottom finishing is satisfied it showed. The flexible FRP it applies the material to the building as to diminish the damage of the bottom finishing material due to the deterioration and the conduct and the external force of the building it is exposed to the external environment, secures the quality of the material from the construction site and will contribute to the stability against the bottom finishing material.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.1990-1994
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• 2008

In this paper, we present a usable method of driving path in automatic guidance vehicle(AGV). The AGV is precisely driving to follow reference route. The Phileas in Netherland and Bi-modal tram in Korea have one wheel for the each side because of all wheels steering. For this reason, the loading area of wheels is very small. It is a disadvantage for asphalt load. The precise route tracking of vehicle can distort the flexible asphalt load. In this paper, we propose a driving method for alleviation of distortion on asphalt load.

• Proceedings of the Korea Concrete Institute Conference
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• 2008.04a
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• pp.849-852
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• 2008

In the wheel tracking test to evaluate abrasion resistance for concrete surface coating materials applied parking lot, weight of the wheel, test temperature, scattered sand amount, wheel speed, etc. various test condition is used for reliable evaluating the abrasion resistance performance of surface coating materials and the results depends on the test condition. In this paper, we carried experimental study as following on abrasion resistance with 2kinds of different environmental conditions. - Commons : real car tire with 300kg of load, 5km/h of speed, 80,000 cycle. - Control A : no other deterioration condition - Control B : scattering 1.0g of sand per every 30rounds from 1m height.

• International Journal of Highway Engineering
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• v.18 no.4
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• pp.29-35
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• 2016

PURPOSES : The new waste management policy of South Korea encourages the recycling of waste materials. One material being recycled currently is tire-derived fuel (TDF) ash. TDF is composed of shredded scrap tires and is used as fuel in power plants and industrials plants, resulting in TDF ash, which has a chemical composition similar to that of the fly ash produced from coal. The purpose of this study was to evaluate the properties of an asphalt concrete mix that used TDF ash as the mineral filler. METHODS : The properties of the asphalt concrete were evaluated for different mineral filler types and contents using various measurement techniques. The fundamental physical properties of the asphalt concrete specimens such as their gradation and antistripping characteristics were measured in accordance with the KS F 3501 standard. The Marshall stability test was performed to measure the maximum load that could be supported by the specimens. The wheel tracking test was used to evaluate the rutting resistance. To investigate the moisture susceptibility of the specimens, dynamic immersion and tensile strength ratio (TSR) measurements were performed. RESULTS : The test results showed that the asphalt concrete containing TDF ash satisfied all the criteria listed in the Guide for Production and Construction of Asphalt Mixtures (Ministry of Land, Infrastructure and Transport, South Korea). In addition, TDF ash exhibited better performance than that of portland cement. The Marshall stability of the asphalt concrete with TDF ash was higher than 7500 N. Further, its dynamic stability was also higher than that listed in the guide. The results of the dynamic water immersion and the TSR showed that TDF ash shows better moisture resistance than does portland cement. CONCLUSIONS : TDF ash can be effectively recycled by being used as a mineral filler in asphalt, as it exhibits desirable physical properties. The optimal TDF ash content in asphalt concrete based on this study was determined to be 5%. In future works, the research team will compare the characteristics of asphalt concrete as function of the mineral filler types.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2006.05a
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• pp.43-46
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• 2006

In this study on the appliable Asphalt sheet of monolithic and inorganic matter waterproofing material using of field because of problem of complex waterproofing sheet. Before this cement polymer modified waterproof coating and appliable asphalt sheet of monolithic whether have stability by method of construction about all style waterproofing that evaluate to new method of construction development naturally big emphasis put and try to approach. Did performance test item first at, as a result, drew by suitable thing in all KS items. This is considered to have more effective spot construction work because if means that have stability by material as well as method of construction.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.5
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• pp.146-152
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• 2018

In this study, to improve the performance of asphalt mixtures for plastic deformation occurring mainly in Korea, complex modifiers were prepared by mixing powders and liquid type modifiers. The main constituents were powdery diatomaceous earth, mica and carbon black, and liquid type solid 70% SBR latex. The tensile strength ratios for the two asphalt mixtures used in the test were above 0.80 for the Ministry of Land Transportation (2017) asphalt mixture production and construction guidelines. The effects of increasing the tensile strength in the dry state was more than 14% when the composite modifier was added. The deformation rate per minute by the wheel tracking test load was an average of 0.07 to 0.147 for each mixture. The strain rate per minute was improved by the modifier, and the dynamic stability was improved by almost 100% from 295 to 590. In addition, the final settling was reduced from 11.38 mm to 9.57 mm. A plastic deformation test using the triaxial compression test showed that the amount of deformation entering the plastic deformation failure zone at the end of the second stage section and in the third stage plastic deformation section was 1.76 mm for the conventional mixture and 1.50 mm for the complex modifier mixture. The average slope of the complex modifier asphalt mixture mixed with the multi-functional modifier was 0.005 mm/sec. The plastic deformation rate is relatively small in the section where the road pavement exhibits stable common performance, i.e. the traffic load.

• International Journal of Highway Engineering
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• v.14 no.3
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• pp.59-67
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• 2012

This study presents the evaluation of the patching materials that are used to repair the distress of asphalt pavement. Four kinds of patching materials currently used in practice were tested in both laboratory and field. The laboratory tests included the dry and soaked Marshall stability test, indirect tensile test, wheel tracking test and adhesive strength between the asphalt pavement and the repairing material was tested as a performance test. The field study was conducted using the slab samples placed on the location of vehicle tire passing and the performance of the repairing materials were investigated as passing the traffic load. The result of the laboratory tests were satisfied with the current design criteria and material standard except for water-immersion stability. Type C patching material showed the highest adhesive shear strength among the patching materials tested. However, the mature distress, such as rutting and stripping were monitored after construction in 10 days. It was found that performance of patching material is lack of quality behavior when they were applied in the field and required to develop and applu to prevent the mature distress of the current patching materials.

• International Journal of Highway Engineering
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• v.4 no.4 s.14
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• pp.23-39
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• 2002

This study dealt with developing a new approach for finding properties which might represent rut resistance characteristics of asphalt mixture under static loading. Two aggregates, a normal asphalt (pen 60-80) and 5 polymer-modified asphalts were used in preparation of 12 dense-graded mixtures. Marshall mix design was used in determination of OAC and each mixture at the OAC was prepared for a newly-developed Kim test on Marshall specimen (S=10cm) and gyratory specimen (S=15cm), and for wheel tracking test. Kim test used Marshall loading frame and specimens were conditioned for 30min at $60^{\circ}C$ before loading through Kim tester an apparatus consisting of a loading column and a specimen and column holder Diameter (D) of column was 3cm and 4cm with each column having different radius (r) of round cut at the bottom. The static load was applied at 50mm/min in axial direction of the specimen, not in diametral direction. The maximum load ($P_{max}$) and vertical deformation (y) at $P_{max}$ point were obtained from the test. A strength value was calculated based on the $P_{max}$ r, D and y by using the equation $K_D = 4P_{max}/{\pi}(D-2(r-\sqrt{2ry-y^2}))^2$ and is defined as the deformation strength ($kgf/cm^2$). The values of $P_{max}$/y and $K_I=K_D/y$ were also calculated. In general the leading column diameter and radius of round cut were significant factors affecting $K_D$ and $P_{max}$ values while specimen diameter was not. The statistical analyses showed the $K_D$ had the best correlation with rut depth and dynamic stability. The next best correlation was found from $P_{max}$ which was followed by $P_{max}$/y and $K_I$ in order.

• International Journal of Highway Engineering
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• v.20 no.3
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• pp.1-9
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• 2018

PURPOSES : In order to evaluate a crack resistance at cold joint, sealing tape was adopted to apply at cold joint instead of typical tack coat material(RSC-4). The sealing tape was made by hot sealing material. The crack resistance as function of environmental and traffic loading was measured with visual observation. METHODS : In this study, the crack resistance was evaluated as function of environmental and traffic loading. The freeze-thaw method was adopted for environmental loading of asphalt pavement. condition. The damage of cold joint under freeze-thaw action is initiated by ice expansion load and accelerated by the interfacial damage between new and old asphalt pavement. The traffic loading was applied with wheel tracking machine on the cold joint area of the asphalt pavement for 3 hours at $25^{\circ}C$. The evaluation of crack resistance was measured with visual observation. The freeze-thaw results shows that the sealing tape was significantly increased the crack resistance based on. RESULTS : To estimate the crack resistance at cold joint area due to the environmental loading, the Freeze-thaw test was conducted by exposing the product to freezing temperature(approximately $-18^{\circ}C$) for 24 hours, and then allowing it to thaw at $60^{\circ}C$ for 24 hours. The tack coat material(RSC-4) was debonded after 21 cycles of the Freeze-thaw test. The first crack was observed after 14 freeze-thaw cycle with RSC-4 material. But, the sealing tape was not debonded after 24 cycle test. Also, the sealing tape shows the better performance of the crack resistance under the traffic loading with wheel track test. The crack was generated the under traffic loading with RSC-4(tack coating), however, the crack was not shown with sealing tape. It indicates that the sealing tape has a strong resistance of tensile stress due to traffic loading. CONCLUSIONS :Based on limited laboratory test result, a performance of crack resistance using the sealing tape is better than that of general tack coat material(RSC-4). It means that the sealing tape is possible to extend a pavement service life because the crack, one of the main pavement distresses, will be delayed.