• Journal of the Korean Society for Precision Engineering
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• v.18 no.8
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• pp.193-200
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• 2001

Recently, the concrete floor finishing robot, which can be used for flattening and smoothing the concrete floor, has been developed in Korea and Japan. While the previous research assumes that the concrete floor is deformable and the trowel is rigid in modeling the concrete floor finisher, we assume that the concrete floor is rigid and the trowel is deformable. Based on this assumption, we derived the equations of motion and found the convergent velocity of the concrete floor finisher using the computer simulation. From these results, we can understand the relationship between the motion characteristics and the design and control parameter of the robot.

• Proceedings of the Korea Concrete Institute Conference
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• 1994.10a
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• pp.387-392
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• 1994

Recently, as the problems according to lack of skilled labour and superior construction materials were gathering strength, there were required the advent of a special materials in building construction division. As a view of the point, the cement-based Self leveling mortar was developed for improvements of the former problems. The Self leveling mortar has the all kinds of the properties as followed the premixed products in plant, self-smoofhing, non shrinkgae etc, accordingly the finishing of concrete floor don't need skilled labour. The purpose of this study is to establish the introduction of a finishing construction method for concrete floor and slab using the cement-based self leveling mortar. Presented is a study on the basic properties of fresh and hardened self leveling mortar. To this end, an actual floor's finishing construction using the cement-based self leveling mortar was conducted in approximately 1,800㎡ floor as to compare the flatness and levelness after finighing.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.614-617
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• 2004

The construction industry is typical of the ' job of 3D ', the automated construction equipments are getting used in the domestic construction sites and the construction robots began to be sold in the abroad. The research developed the small sized robot which could be used at the apartments and the office buildings with the small floors. But the past finishing robot could not be operated easily, it had expensive controller which could not increase the production of robot. In this paper, user interface is made to operate easily the small concrete floor finishing robot with two trowel which has low cost controller, motion algorithm including modeling and mechanism about the concrete finishing robot is developed to control moving. Simulation and experiment figure out how the finishing robot moves and will contribute to realizing it.lizing it.

• Journal of the Korea Institute of Building Construction
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• v.24 no.5
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• pp.529-540
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• 2024

This research aimed to refine the concrete floor finishing for enhancing its performance compared to the traditional way. The new method involved the removing the deteriorated mortar layer and reinforcing the surface to augment the durability and bond strength of the floor surface. This study performed the experience to evaluate the bond strength, drop depth, rebound hammer hardness, and the surface hardness of the surface by adopting traditional and refined method. The results showed the proposed method enhanced the performance on all the metrics. Based on the experiment, the bond strength increased about 2.79 times before installing the finishing material, and the strength also improved about 1.67 times and 1.44 times at the painted finishing and non-painted finishing, respectively. In addition, the drop depth decreased about 4.42 times when adopting the proposed method, which shows the enhanced resistance to declamination compared with applying the traditional way. Lastly, the surface hardness measured by scratch thickness significantly improved about 505% in this experiment. The finding of this study indicates that the proposed method can substantially enhance in bond strendth and durability of floor finishing, reduce the defects of the concrete-based floor, and extend the life of the products.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.2
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• pp.130-140
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• 2016

Floating floor is most commonly used at apartment houses in Korea for thermal insulation and reducing impact noise. But it in proven that the floating floor is not effective for reducing the floor impact noise in low frequency range. In most cases, impact sound pressure level under 63 Hz frequency band were actually increased by the resonance of resilient material, lightweight concrete and the finishing mortar installed on it. In this paper, an integrated floor system consist of 70 mm light weight concrete and 40 mm finishing mortar successively installed on the concrete slab was suggested to avoid the resonance. Integrated floor system increases total flexural stiffness and mass per unit area. The natural frequencies of first and second vibration mode were increased and acceleration response and floor impact sound level was decreased in all measurement range.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.7
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• pp.501-508
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• 2014

Floor finishing materials such as floor coverings and floor mats can reduce floor impact noise easily. When an impact was applied to the floor, its finishing material is deformed and the impact force that was applied to the concrete slab is changed. The softer finishing materials were, the more impact force decreased. An experimental study was performed using 14 PVC floor coverings and 16 floor mats to capture the characteristics of impact force and impact noise in the residential buildings. The test results show that the impact force spectrum and the floor impact noise spectrum have a linear relationship in the case of a bare concrete slab, and the characteristics of impact force reduction are the same as those of floor impact noise reduction.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.454-461
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• 1999

A concrete floor trowel machine, developed in the U.S in 1990's, consists of only two rotary trowels, and doesn't need any other mechanism for motion such as wheels. When the machine flattens a concrete floor with its rotary trowels, the machine can move in any direction by utilizing the unbalanced friction forces occurring between the rotary wheels and the floor when the trowels are tilted in appropriate directions. In order to automate the trowels machine, this paper proposed the self-propulsive concrete finishing trowel robot which has twin trowels. For the control of the robot, this paper discussed the following. Firstly, the dynamics model of the driving frictional force applied on each trowel from the floor is derived. Secondly, the relationship between the driving force for the robot and the control variable of the robot is derived. Finally, the basic motion of the robot are realized by using the obtained relationship. This paper figures out how the concrete floor finishing robot with tow trowels moves and will contribute to realizing it.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1480-1484
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• 2004

In this paper, a self-propulsive and small concrete floor finishing trowel robot with twin trowels is proposed. Due to the small size and omni-directional moving capability, it is adequate for small space such as apartment. By adjusting the posture of trowels, it can move in any direction without wheels. We used cheap PIC processor for the cost saving design of the modules and adopted mode processors for easy operation of control stick. For the position control of the robot, we made a motion control algorithm appealing to the stepping motor driver module and the wireless communication module between the robot and PC (or control stick). In this paper, we discuss the control problem of the floor finishing robot in order to move to the right position. By comparing experimental result with simulation, we show the validity of the robot mechanism, sensors, and the control system.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2012.05a
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• pp.279-282
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• 2012

This study attempted to the effect on the physical performance of silane coupling agent on solventless epoxy-based concrete surface finishing material for parking floor. Tests were carried out in accordance with KS F 4041 and KS F 4937. The results of compressive strength, flexural compressive are 95.6N/㎟, 25.4N/㎟ and after wheel moving load testing, average abrasive depth is 0.96mm, these results satisfied the quality standard of KS F 4041, KS F 4937. As conclusion, this study confirmed that the silane coupling agent greatly effected on the physical performance of solventless epoxy resin.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.5
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• pp.390-398
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• 2014

Heavy-weight floor impact noise is directly related to the impact source and floor vibration property. Dynamic properties of the standard floating floor that is used in Korea was investigated using accelerance, acceleration energy spectral density(ESD), and structural modal test. In the standard floating floor, natural frequency was decreased by the finishing mortar mass and the damping ratio was increased. Bang-machine force spectrum acting on the concrete slab can be calculated using inverse system analysis. Impact force acting on concrete slab is changed by interaction of finishing mortar and resilient material. The amplitude of the bang-machine force spectrum was amplified in low frequency range(below 100 Hz), and over 100 Hz was decreased. Changed force spectrum influence to the response of structure vibration, so the heavy-weight floor impact noise level was changed.