• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.1
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• pp.197-205
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• 2006

This paper presents the moving object tracking method using vision system. In order to track object in real time, the image of moving object have to be located the origin of the image coordinate axes. Accordingly, Fuzzy Control System is investigated for tracking the moving object, which control the camera module with Pan/Tilt mechanism. Hereafter, so the this system is applied to mobile robot, we design and implement image processing board for vision system. Also fuzzy controller is implemented to the StrongArm board. Finally, the proposed fuzzy controller is useful for the real-time moving object tracking system by experiment.

• 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.

• 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 Geotechnical Society
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• v.20 no.1
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• pp.13-19
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• 2004

The major distress types in the domestic asphalt pavement are fatigue cracking, reflection cracking, thermal cracking, and rutting. To decrease the pavement distress by reinforcing asphalt pavement with reinforcement interlayer in geosynthetics to the traditional pavement systems can improve these problems. This study conducted laboratory test with asphalt pavement reinforced by glass fiber sheet to fix systematically geosynthetic asphalt pavement system. Laboratory tests like wheel tracking test and crack resistance test are conducted to analyze the controlling effect of glass fiber sheet on cracking and rutting of asphalt pavement.

• Journal of the Korea Concrete Institute
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• v.15 no.6
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• pp.802-810
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• 2003

In this paper, the modified singular fracture process zone (S-FPZ) model is proposed to consider variation of a fracture criterion for continuous crack propagation in concrete. The fracture properties of the proposed fracture model are strain energy release rate at a micro-crack tip and crack closure stress (CCS) versus crack opening displacement (COD) relationship in the FPZ. The proposed model can simulate the estimated fracture energy of experimental results. The analysis results of the experimental data shows that specimen geometry and loading condition did not affect the CCS-COD relation. But the strain energy release rate is a function of not only specimen geometry but also crack extension. Until 25 mm crack extension, the strain energy release rate is a constant minimum value, and then it increased linearly to the maximum value. The maximum fracture criterion occurred at the peak load for an large size specimen. The fracture criterion remains the maximum value after the peak load. The variation of the fracture criterion is caused by micro-cracking and micro-crack localizing. The fracture criterion of strain energy release rate can simply be the size effect of concrete fracture, and it can be used to quantify the micro-tracking and micro-crack localizing behaviors of concrete.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.3
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• pp.147-153
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• 2018

Cracking in concrete structure must be examined according to appropriate methods, to ensure structural serviceability and to prevent structural deterioration, since cracks opened wide for a long time expedite corrosion of rebar. A site investigation is conducted in a regular basis to monitor structural deterioration by tracking growing cracks. However, the visual inspection are labor intensive. and judgment are subject. To overcome the limit of the on-site visual investigation image processing for identifying the cracks of concrete structures by analyzing 2D images has been developed. This study develops a unique 3D technique utilizing a line laser and its projection image onto concrete surfaces. Automated process of crack detection is developed by the algorithms of automatizing crack map generation and image data acquisition. Performance of the developed method is experimentally evaluated.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.389-396
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• 2016

The sealing robot must be able to calculate the slope of a contact surface for complete adherence of the sealing on different concrete shapes. After the slope is obtained, the robot will track on the surface of the concrete, but this process contains an error in the actual purpose of the force command. The reason this a phenomenon occurs, the non-linearity of the contact surface and the end-effector, is due to parasitic coupling. Errors like make it difficult to measure accurately the respective factors. Therefore, it is regarded as a disturbance that occurs when it follows the work surface it. In this paper, we selected the friction coefficient of the surface as a control factor and designed a compensator to reduce effects of disturbance. Finally, in view of the non-linearity of the end-effector of a robot to contact surfaces directly, we propose a robust force tracking controller in the finite range for managing disturbances that occur during the sealing.

• Nuclear Engineering and Technology
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• v.54 no.4
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• pp.1153-1160
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• 2022

The application of video processing techniques are useful for the safety of nuclear power plants by tracking the people online on video to estimate the dose received by staff during work in nuclear plants. Nuclear reactors remotely visually controlled to evaluate the plant's condition using video processing techniques. Internal reactor components should be frequently inspected but in current scenario however involves human technicians, who review inspection videos and identify the costly, time-consuming and subjective cracks on metallic surfaces of underwater components. In case, if any frame of the inspection video degraded/corrupted/missed due to noise or any other factor, then it may cause serious safety issue. The problem of missing/degraded/corrupted video frame estimation is a challenging problem till date. In this paper a systematic literature review on video processing techniques is carried out, to perform their suitability analysis for NPP applications. The limitation of existing approaches are also identified along with a roadmap to overcome these limitations.

• Journal of Korean Society for Geospatial Information Science
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• v.17 no.3
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• pp.81-87
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• 2009

This study aims to evaluate how efficiently time-worn building could be managed by using GPS-based video-logging systems. The digitally georeferencing video data taken by a hand-hold GPS-based video-logging system allows quick retrieval and effective management for the complicate and various superannuated building in urban area. The results of the study are as follows. Georeferencing data are possible to trace observed positions by using GPS linked with video and to provide building crack information anytime that could be used to inspect and analyze the safety hazard diagnosis of buildings. Building crack information were measured by the proposed method that is merged with feature tracking and image mosaic of sequenced images. From the study, it reveals that the georeferencing video technique provides more realistic and reliable information in safety diagnosis and it can also be used as the essential and modern tool in urban building management.

• Korean Journal of Metals and Materials
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• v.46 no.6
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• pp.329-337
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• 2008

During the continuous casting of boron-bearing steel, the corner cracks on the slab are formed by deformation with low strain rate and rapid cooling at the unbending temperature within the range of 800- $1000^{\circ}C$. Especially, the rapid cooling in the corner of slab during the continuous casting leads to as corner cracking. Therefore, in this study, the hot tensile tests applied to the different cooling rates were taken into account in order to study the effect of cooling rate on the hot ductility of boron-bearing steel. The results revealed that increasing cooling rate deteriorate the hot ductility of boron- bearing steel. Rapid decreasing of the hot ductility is caused by formation of a film-like ferrite and precipitate at the austenite grain boundaries. The morphology of the precipitates in the boron-bearing steel was monitored by PTA (Particle Tracking Autoradiography) and TEM, we observed MnS and BN compound and their morphology was quite different depending on the cooling rates. When the cooling rate is increased, rodshape MnS and BN precipitates can be formed along the austenite grain boundaries. It can cause that weakening the boundary region and decreasing the hot ductility of boron-bearing steel.