• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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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.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.64-70
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• 2001

This work deals with the electrical conductivity of dielectric and cobalt percentage on output parameters such as metal removal rate and surface roughness value of sintered carbides cut by wire-electrical discharge machining (W-EDM). To obtain a precise workpiece with good quality, some extra repetitive finish cuts along the rough cutting contour are necessary. Experimental results show that increases of cobalt amount in carbides affects the metal removal rate and worsens the surface quality as a greater quantity of solidified metal deposits on the eroded surface. Lower electrical conductivity of the dielectric results in a higher metal removal rate as the gap between wire electrode and workpiece reduced. Especially, the surface characteristics of rough-cut workpiece and wire electrode were analyzed too. To obtain a good surface equality without cracks, 4 finish-cuts were necessary by reducing the electrical energy and the offset value.

• Geomechanics and Engineering
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• v.14 no.1
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• pp.29-42
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• 2018

This paper presents the results of an empirical study in which square rock-like blocks containing two parallel pre-existing rough non-persistent joints were subjected to uniaxial compression load. The main purpose of this study was to investigate uniaxial compressive strength and deformation modulus of jointed specimens. Response Surface Method (RSM) was utilized to design experiments and investigate the effect of four joint parameters, namely joint roughness coefficient (JRC), bridge length (L), bridge angle (${\gamma}$), and joint inclination (${\theta}$). The interaction of these parameters on the uniaxial compressive strength (UCS) and deformation modulus of the blocks was investigated as well. The results indicated that an increase in joint roughness coefficient, bridge length and bridge angle increased compressive strength and deformation modulus. Moreover, increasing joint inclination decreased the two mechanical properties. The concept of 'interlocking cracks' which are mixed mode (shear-tensile cracks) was introduced. This type of cracks can happen in higher level of JRC. Initiation and propagation of this type of cracks reduces mechanical properties of sample before reaching its peak strength. The results of the Response Surface Methodology showed that the mutual interaction of the joint parameters had a significant influence on the compressive strength and deformation modulus.

• Journal of the Korean institute of surface engineering
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• v.27 no.3
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• pp.149-157
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• 1994

The formation of spangles on a hot dip galvanized sheet steel by spray cooling the molten zinc coating with air, water and 2.0wt% $NH_4H_2PO_4$ solution has been studied performing laboratory experiments, and their coating properties have been evaluated. Minimized spangles were easily formed by mist spraying the solution for 1 second at the low nozzle spray pressure onto the molten zinc at 420~$422^{\circ}C$ because the solute $NH_4H_2PO_4$ in the sprayed solution imparted a highly rapid cooling effect to the coating through its endothermic de-composition reactions and because the decomposed products acted as numerous nucleation sites for the mini-mized spangles on the coating. Good surface appearances sand sound coating properties were obtained on this coating. Only regular spangles were formed on the coating by the forced convective air cooling. At the high nozzle spray pressure, zero spangles were formed on the coating by the pure water spray cooling. However, the coating had a dull and rough surface with craters sand cracks.

• 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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.322-328
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• 2002

In wire-electrical discharge machining (W-EDM), the dielectric plays an important role as the working fluid. It affects the material removal rate and the properties of the machined surface. This paper deals with the effects of the electrical conductivity of dielectric and cobalt percentage of sintered carbides on the machining characteristics and the machined surface integrities with deionized water as dielectric. A series of experiments have been performed on sintered carbides having different cobalt contents. Experimental results show that a higher cobalt content of WC decreases the metal removal rate and worsens the surface quality. Lower electrical conductivity of the dielectric results in a higher metal removal rate as the gap between wire electrode and workpiece reduced. Especially, the surface integrities of rough-cut workpiece, wire electrode, and debris were analyzed also through scanning electron microscopy(SEM) and surface roughness tester. By energy dispersive spectrometry(EDS), it is confirmed that micro cracks and some of electrode material are found on the workpiece surface.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.10
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• pp.1800-1808
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• 2003

This work deals with the electrical conductivity of dielectric on output parameters such as metal removal rate and surface roughness value of a carbon steel(SM25C) and sintered carbides cut by wire-electrical discharge machining(W-EDM). Dielectric has several functions like insulation, ionization, cooling, the removal of waste metal particles. The presence of minute particles(gap debris) in spark gap contaminates and lowers the breakdown strength of dielectric. And it is considered that too much debris in spark gap is generally believed to be the cause of arcing. Experimental results show that increases of cobalt amount in carbides affects the metal removal rate and worsens the surface quality as a greater quantity of solidified metal deposits on the eroded surface. Lower electrical conductivity of the dielectric results in a lower metal removal rate because the gap between wire electrode and workpiece reduced. Especially, the surface characteristics of rough-cut workpiece and wire electrode were analyzed too. Debris were analyzed also through scanning electron microscopy(SEM) and surface roughness tester. Micro cracks and some of electrode material are found on the workpiece surface by energy dispersive spectrometer(EDS).

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.6
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• pp.15-21
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• 2006

This work deals with the electrical conductivity of dielectric on output parameters such as metal removal rate and surface roughness value of a carbon steel(SM25C) and sintered carbides cut by wire electrical discharge machining (WEDM). Dielectric has several functions like insulation, ionization, cooling, the removal of waste metal particles. The presence of minute metal particles(debris) in spark gap contaminates and lowers the breakdown strength of dielectric. And it is considered that too much debris in spark gap is generally believed to be the cause of arcing. Experimental results show that increases of cobalt amount in carbides affects the metal removal rate and worsens the surface quality as a greater quantity of solidified metal deposits on the eroded surface. Lower electrical conductivity of the dielectric results in a lower metal removal rate because the gap between wire electrode and workpiece reduced. Especially, the surface characteristics of rough-cut workpiece and wire electrode were analyzed too. Debris were analyzed also through scanning electron microscopy(SEM) and surface roughness tester. Micro cracks and some of electrode material are found on the workpiece surface by energy dispersive spectrometer(EDS).

• Journal of the Korean institute of surface engineering
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• v.49 no.2
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• pp.130-134
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• 2016

The anodization of ADC12 aluminum alloy was investigated in the metal anionic acid media. Anodic oxide films containing foreign elements were formed on ADC12 Al alloy by anodization in the anion complex solution. Furthermore, the rough surface and cracks were considerably smoothened by the deposit of metal anions. When the size of metal anion was small, relatively large amount of metal anions was loaded in anodic films. Existence of $MoO_3$, $TiO_2$ and MgO was confirmed by XPS. According to the results of Tafel analysis, Mo oxide represented the most noble anti-corrosion potential due to $MoS_2$ formation. Corrosion current densities were generally higher than that of pristine anodic oxide without anion complexes.

• Restorative Dentistry and Endodontics
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• v.2 no.1
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• pp.50-54
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• 1976

16 healthy teeth extracted have been selected and their color and structural change have been observed at the fixed temperatures of $200^{\circ}F$., $400^{\circ}F$., $600^{\circ}F$., and $800^{\circ}F$. respectively at the intervals of 10min. 30min and 60min. The results were as follows: 1) $200^{\circ}F$ Groop: At the 60 minutes interval, crown surface shows pattern simliars to mottled teeth and roots take on light yellowish colar and interglobular dentin tends to be rough. 2) $400^{\circ}C$ Groop: at the 30 minutes interval, cracks begin to show in the direction of long axis of the teeth and crown surface have been observed on the verge of fracture at the 60 minutes interval. 3) $600^{\circ}F$ Groop: Crowns take on grayish-white color thoroughout 10, 30 and 60 minutes intervals and roots reveal black color. Moreover the seperation of enamel from dentin has been confirmed at the 60 minutes interval and inner dentin has changed black. 4) $800^{\circ}F$ Groop: Crowns take on the same grayish-white color as at the $600^{\circ}F$ at the 10, 30 and 60 minutes intervals and roots reveal gray color at the 30 and 60 minutes intervals, while parts of the crown have fractured at the 10 minutes interval. Inner dentin has turned gray at the 60 minutes interval.