In this study, the characteristics of density and flow value of mortar substituted heavy weight waste glass were compared with the aggregate ratio. From the results, the density and flow value increase as the substitution of waste glass increase, however, it is considered that the increase of the aggregate ratio of 30% or more does not contribute to the increase of the density.

In general, polymer cement mortars that is made from organic polymer dispersion and cement have good workability compared with ordinary cement due to ball-bearing acting of polymer particles in cement mortar. The purpose of this study is to evaluate the workability of cement mortar according to adding of admixtures such as polymer dispersions, blast-furnace slag and fly ash. From the test results, the flow of polymer-modified mortars is increased with increasing polymer-cement ratio, and also is a little improved according to adding of fly ash compared to blast-furnace slag.

In general, polymer cement mortars that is made from organic polymer dispersion and cement have good workability compared with ordinary cement due to ball-bearing acting of polymer particles in cement mortar. The purpose of this study is to evaluate the workability of cement mortar according to adding of admixtures such as polymer dispersions, blast-furnace slag and fly ash. From the test results, the flow of polymer-modified mortars is increased with increasing polymer-cement ratio, and also is a little improved according to adding of fly ash compared to blast-furnace slag.

Investigated the factors to effect on the flow of geopolymer mortar based on on ground granulated blast furnace slag in order to develop cementless alkali-activated concrete GGBS.

Many intelligent robots have to be given environmental information to perform tasks. In this paper an intelligent robot, that is, a cleaning robot used a sensor fusing method of two sensors: LRF and StarGazer, and then was able to obtain the information. Throughout wall following using laser displacement sensor, LRF, the working area is built during the robot turn one cycle around the area. After the process of wall following, a path planning which is able to execute the work effectively is established using flow network algorithm. This paper describes an algorithm for minimal turning complete coverage path planning for intelligent robots. This algorithm divides the whole working area by cellular decomposition, and then provides the path planning among the cells employing flow networks. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The proposed algorithm is applied to two different working areas, and verified that it is an optimal path planning method.

A URC, which is a Ubiquitous Robot Companion, provides services to users in ubiquitous computing environments and has advantage of simplifying robot's hardware and software by distributing the complicated functionality of robots to other system. In this paper, we propose SOWL, which is a software architecture for URC robots and a mixed word of SOMAR and CAWL. SOWL keeps the advantages of URC and it also has the loosely-coupled characteristics. Moreover it makes it easy to develop of URC robot software. The proposed architecture is composed of 4 layers: device software, robot software, robot application, and end user layer. Developers of the each layer is able to build software suitable for their requirements by combining software modules in the lower layer. SOWL consists of SOMAR and CAWL engine. SOMAR, which is a middleware for the execution of device software and robot software, is based on service-oriented architecture(SOA) for robot software. CAWL engine is a system to process CAWL which is a context-aware workflow language. SOWL is able to provide a layered architecture for the execution of a robot software. It also makes it possible for developers of the each layer to build module-based robot software.