PURPOSES : The use of hydrated lime or other liquid anti-stripping agents (ASA) is the most common method of improving the moisture susceptibility of asphalt mixes. ASAs are also known to have an anti-aging effect, according to several researchers. Therefore, the use of ASAs is expected to enhance the stability of asphalt pavements. The purpose of this study is to investigate the anti-aging effect of ASAs that are found in the domestic market. METHODS : In this study, an asphalt binder and a mixture mixed with typical domestic solid and liquid ASAs were prepared and aged to evaluate the physicochemical changes. A liquid additive developed by a Korean oil refinery was used as the liquid ASA, and hydrated lime was utilized as the solid ASA. The aging process of the asphalt was determined in the laboratroy based on previous studies to simulate the aging process inh te field. RESULTS : The result of the laboratory experiment indicates that both the solid and liquid ASAs have an anti-aging effect. Moreover, the liquid additive performed relatively better than the hydrated lime. CONCLUSIONS : If ASAs have an anti-aging effect in addition to the anti-stripping function, it is expected to improve the stability of the asphalt pavement significantly. However, few studies have been carried out on the anti-aging effect of ASAs found in the domestic market. In this study, we conducted a fundamental study on the anti-aging effect to help in the selection and use of ASAs in the domestic asphalt-paving industry.

In this paper, we introduce the pipe cleaning robot developed to clean the gas impurities of the iron manufacturing equipments. The pipe cleaning robot is composed of two driving modules and one cleaning module. 2-DOF joint units were developed for connections among the modules. To maximize the traction power of the driving parts, it became caterpillar type. The extension links have been developed to maintain the traction force in case the pipe inner diameters change. Three cleaning modules were developed for the effective cleaning in the pipe. The driving and cleaning performance tests of the pipe cleaning robot were proceeded in the field of the iron manufacturing equipments.

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.