• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2502-2507
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• 2003

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

• Advances in concrete construction
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• v.10 no.1
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• pp.21-34
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• 2020

Precast deck joints have larger crack width than cast-in-place concrete decks. The initial crack typically occurs at the maximum moment but cracks on precast joints are significant and lead to failure of the deck. The present crack equation is applied to cast-in-place decks, and requires correction to calculate the crack width of precast deck joints. This research aims to study the crack width correction equation of precast decks by performing static tests using high strength and normal strength concrete. Based on experimental results, the bending strength of the structural connections of the current precast deck is satisfied. However it is not suitable to calculate and control the crack width of precast loop connections using the current design equation. A crack width calculation equation is proposed for crack control of precast deck loop joints. Also included in this paper are recommendations to improve the crack control of loop connections.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.290-296
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• 2005

This paper presents the implementation of a crack tracking mobile robot. The crack tracking robot is built for tracking cracks on the pavement. To track cracks, crack must be detected by laser and camera sensors. Laser sensor projects laser on the pavement to detect the discontinuity on the surface and the camera captures the image to find the crack position. Then the robot is commanded to follow the crack. To detect crack position correctly, neural network is used to minimize the positional errors of the captured crack position obtained by transformation from 2 dimensional images to 3 dimensional images.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1077-1081
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• 2003

In this paper, experimental studies of force tracking control for the crack sealing robot are presented. Crack sealing robot is built to detect, track and seal the crack on the pavement. Before sealing, crack must be detected by a laser sensor and a camera sensor, then cleaned for a better sealing job. In order to maintain contact with the ground force control is required to brush all dirt in the crack out for preparing sealing cracks with tars. Impedance control algorithm is presented to regulate a specified desired force. Experimental studies of the proposed force control algorithm are conducted under unknown environment stiffness and location. Performances of force control algorithm are stable and excellent.

• Proceedings of the Korea Concrete Institute Conference
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• 2004.11a
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• pp.289-292
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• 2004

This study was performed to know effective control of crack occurred by hydration heat, restraint of multiplication of hydration heat, through mechanical test, strength test and crack control test using fluosilicate salt based anti-crack agent made from by-product during phosphoric acid manufacturing process. Mix proportions for experiment were modulated at 0.495 of water to cement ratio and addition amount of fluosilicate salt based anti-crack agent to $1.0\%$. Condensation time was late and compressive strength of hardened concrete cured at several days was executed to evaluate characteristics of crack control for concrete. It is ascertained that characteristics of crack control for concrete could be improved by an adequate addition of fluosilicate salt based anti-crack agent.

• Proceedings of the Korea Concrete Institute Conference
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• 1999.10a
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• pp.809-812
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• 1999

This research analyzed the factors for crack generation and proposed the recommended construction methods for the efficient crack control of underground RC box structures under the roadway. The selected main factors were: details of contraction joints, ratio of crack control rebars in longitudinla direction, and placement of flyash concrete. These factors were tested on the actual structures and the significance of each factor was analyzed, The results show that the flyash concrete placement and the inducting minor cracks in a certain direction by adopting contraction joints are practical and efficient methods to control cracks. The significance of crack generating factors increases as the sectional loss of contraction joint spacing increase. It was recommeded that the sectional loss should be higher than 20 percent to maximize the crack generating effects. It was not possible to verify the effect of crack control rebar spacing, but it was estimated that the ratio of crack control rebar should be increased to minimize cracks.

• Journal of the Korea institute for structural maintenance and inspection
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• v.26 no.4
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• pp.40-47
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• 2022

The present study aimed to examine the effectiveness of different techniques for controlling the diagonal cracks at the corners of openings on the strength, deformation, and crack propagation in reinforced concrete walls. The crack control strip proposed in this study, the conventional diagonal steel reinforcing bars, and stress-dispersion curved plates were investigated for controlling the diagonal cracks at the opening corners. An additional crack self-healing function was also considered for the crack control strip. To evaluate the volume change ratio and crack width propagation around the opening, downsized wall specimens with a opening were tested under the diagonal shear force at the opening corner. Test result showed that the proposed crack control strip was more effective in reducing the volume change and controlling the crack width around the opening when compared to the conventional previous methods. The crack control strip with crack healing feature displayed the superior performance in improving the strength of the wall and reducing the crack width while healing cracks occurred in the previous tests.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.337-343
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• 2005

In this paper, experimental studies of force control of the crack tracking robot are presented. The crack tracking robot should maintain constant contact with the road to perform cleaning process of the crack effectively. Regulating desired force on the road requires a sophisticated force control algorithm. Here, two main force control algorithms such as the impedance force control and the explicit force control are used. Performances of two force control algorithms are compared.

• Journal of the Korean Society of Safety
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• v.21 no.3 s.75
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• pp.114-121
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• 2006

As one of the serviceability limit states, the prediction and control of crack width in reinforced concrete bridges or PSC bridges are very important for the design of durable structures. However, the current bridge design specifications do not provide quantitative information for the prediction and control of crack width affected by the initiation and propagation of corrosion. Considering life span of concrete bridges, an improved control equation about the crack width affected by time-dependent general corrosion is proposed. The developed corrosion and crack width control models can be used for the design and the maintenance of prestressed and non-prestressed reinforcements by varying time, w/c, cover depth, and geometries of the sections. It can also help the rational criteria for the quantitative management and the prediction of remaining life of concrete structures.

• Proceedings of the Korea Concrete Institute Conference
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• 1995.04a
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• pp.201-206
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• 1995

This paper presents the experimental study on crack control of core-wall placed with 700kg/$\textrm{cm}^2$ Ultra high strength concrete. The thermal sensors were installed into the core-walls prior to the concrete casting to measure the heat of hydration and atmospheric temperature whose difference might cause the initial crack. Several curing schemes were taken for each basement floor 8 thru 6 to examine the influence of curing method on the crack width, total crack length and the number of crack occurred. This paper demonstrates that the proper curing scheme have a great favorable effect on the initial crack control on the structural elements with noticiable reduction in crack width.