• Journal of Construction Engineering and Project Management
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• v.2 no.1
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• pp.35-44
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• 2012

In the last two decades, several tele-operated and machine-vision-assisted systems have been developed in the construction and maintenance area, such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for the optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans, which are used in the previously developed pavement crack sealing systems. The comparison is based on the computational cost vs. the overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in the productivity improvement of the developed automatic pavement crack sealing system.

• Structural Engineering and Mechanics
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• v.7 no.6
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• pp.575-588
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• 1999

A boundary element method is applied to the analysis of crack trajectory in materials with complex microstructure, such as discontinuously reinforced composite materials, and systems subjected to complex loading, such as indentation. The path followed by the crack(s) has non-trivial geometry. A study of the stress intensity factors and fracture toughness of such systems must therefore be accompanied by an analysis of crack trajectory. The simulation is achieved using a dual boundary integral method in planar problems, and a single boundary integral method coupled with substructuring in axisymmetric problems. The direction of crack propagation is determined using the maximum mechanical energy release rate criterion. The method is demonstrated by application to (i) a composite material composed of components having the elastic properties of aluminium (matrix) and silicon carbide (reinforcement), and (ii) analysis of contact damage induced by the action of an indenter on brittle materials. The chief advantage of the method is the ease with which problems having complex geometry or loading (giving rise to complex crack trajectories) can be treated.

• Korean Journal of Construction Engineering and Management
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• v.11 no.4
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• pp.68-79
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• 2010

During the last two decades, several tele-operated and machine-vision-assisted systems have been developed in construction and maintenance area such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans which are used in previously developed pavement crack sealing systems. The comparison is based on computational cost versus overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in productivity improvement of the automatic pavement crack sealing system developed.

• Journal of Welding and Joining
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• v.29 no.2
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• pp.64-71
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• 2011

In this paper, crack propagation analyses in the inner diameter (ID) repair weld of the dissimilar metal weldment of a nozzle were performed using a finite element alternating method (FEAM). To calculate the theoretical solution for the crack tip stress intensity factor, a weak type singular integral equation consisted of crack surface traction and dislocation density function was constructed and solved in conjunction with the FEAM. A two-dimensional axisymmetric finite element nozzle model was prepared and ID repair welding was simulated. An initial crack, 10% depth of weld thickness, was assumed and crack propagation trajectory from the initial crack to the 75% depth of thickness was calculated using the FEAM. Crack growth versus time curve was also calculated and compared with the curves obtained from ASME code method. With the method constructed in this paper, crack propagation trajectory and crack growth time were calculated automatically and effectively.

• Journal of Welding and Joining
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• v.28 no.1
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• pp.100-106
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• 2010

In this paper crack propagation analyses in the dissimilar metal weldment of a nozzle were performed using a finite element alternating method (FEAM). A two-dimensional axisymmetric finite element nozzle model was prepared and welding simulation including the thermal heat transfer analysis and the thermal stress analysis was performed. Initial cracks were inserted at weld and heat affected zone in the finite element model which has welding residual stress distribution obtained from the welding simulation. To calculate crack propagation trajectories of these cracks, a new fatigue crack evaluation module was developed in addition to the previous FEAM program. With the new FEAM fatigue crack evaluation module, crack propagation trajectory and crack growth time were calculated automatically and effectively.

• Computers and Concrete
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• v.23 no.2
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• pp.121-131
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• 2019

Due to the heterogeneity nature of the concrete, it is difficult to simulate the hyperdynamic behaviour and crack trajectory of concrete material when subjected to explosion loads. In this paper, a 3D nonlinear numerical study was conducted to simulate the hyperdynamic behaviour of concrete under various loading conditions using Riedel-Hiermaier-Thoma (RHT) model. Detailed calibration was conducted to identify the optimal parameters for the RHT model on the material level. For the component level, the calibrated RHT parameters were used to simulate the failure behaviour of plain concrete (PC) slab under free air blast load. The response was compared with an available experimental result. The results show the proposed numerical model can accurately simulate the crack trajectory and the failure mode of the PC slab under free air blast load.

• Journal of the Korean Society for Nondestructive Testing
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• v.23 no.6
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• pp.622-634
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• 2003

This paper is concerned with a computational method for recovering a crack shape of steam generator tubes of nuclear plants. Problems on the shape identification are discussed arising in the characterization of a structural defect in a conductor using data of eddy current inspection. A surface defect on the generator tube ran be detected as a probe impedance trajectory by scanning a pancake type coil. First, a mathematical model of the inspection process is derived from the Maxwell's equation. Second, the input and output relation is given by the approximate model by virtue of the hybrid use of the finite element and boundary element method. In that model, the crack shape is characterized by the unknown coefficients of the B-spline function which approximates the crack shape geometry. Finally, a parameter estimation technique is proposed for recovering the crack shape using data from the probe coil. The computational experiments were successfully tested with the laboratory data.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.2
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• pp.481-491
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• 2015

Since the crack in the surface of the concrete acts as the main reason influencing the life span of the structure, regular inspections and maintenance are required. The sealing required for maintenance of the concrete surface is a method of repairing the crack in the surface in the beginning, and is effective in preventing additional cracks and expansion that occurs with time. However, sealing on large sized structures such as tall buildings or bottom parts of bridges are difficult to ensure safety of the workers due to inadequate working environments. Due to this reason, the importance of the need for sealing automation for the maintenance of large sized concrete structures is emerging. This study proposes two control methods to apply robot systems to the sealing of cracks on the bottom parts of concrete bridges. First is the method of automatically tracking the trajectory of cracks. The robot gets the trajectory of the cracks using video information obtained from cameras. Comparing the previous several points and new point, the next point can be estimated. Thus, the trajectory of the crack can be tracked automatically. The other method is sealing by maintaining steady force to the contacting surface. The concrete surface exposed to an external environment for a long time gets an irregular roughness. If robots are able to carry out sealing while maintaining a steady contact force on these rough surfaces, complete equal sealing can be maintained. In order to maintain this equal force, a force control method using impedance is proposed. This paper introduces two developed control methods to apply to sealing robots, and conducts a Lab Test and Field Test after applying to a robot. Based on the test results, opinions on the possibilities of field application of the robot applied with the control methods are presented.

• Journal of the Korean Society for Railway
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• v.2 no.1
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• pp.38-46
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• 1999

This study proposes the analysis and evaluation method of time series ultrasonic signal using the attractor analysis. Features extracted from time series signal analyze quantitatively characteristics of weld defects. For this purpose, analysis objective in this study is fractal dimension and attractor quadrant feature. Trajectory changes in the attractor indicated a substantial difference in fractal characteristics resulting from distance shifts such as parts of head and flange even though the types of defects are identified. These differences in characteristics of weld defects enables the evaluation of unique characteristics of defects in the weld zone. In quantitative fractal feature extraction, feature values of 3.848 in the case of part of head(crack) and 4.102 in the case of part of web(side hole) and 3.711 in the case of part of flange(crack) were proposed on the basis of fractal dimensions. Proposed attractor feature extraction in this study can enhance the precision rate of ultrasonic evaluation for defect signals of rail weld zone such as side hole and crack.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.11a
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• pp.25-26
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• 2005

This study suggested the occurrence source of weld-defects and its solution methods in a welding of Electrolyte injection hole by pulsed Nd:YAG laser. In experiment, the ramp down was used in order that solidification crack was removed. Furthermore, shrinkage stress and heat input were reduced by changing of weld trajectory and defocused distance. As a results of a experiment, a sound weld bead shape and crack-free weld bead can be obtained.