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1.
Corrosion monitoring of steel structure coating degradation
Bojan Zajec, Mirjam Bajt Leban, Tadeja Kosec, Viljem Kuhar, Andraž Legat, Stanislav Lenart, Karmen Fifer Bizjak, Gavin Kenneth, 2018, original scientific article

Abstract: An important aspect regarding the sustainability of steel structures is to ensure the structure is protected from corrosion. A number of surface coatings are availablethat play an important role in protecting these structures. An important part of the management of these structures is reliable and regular inspection along with methods forearly detection of corrosion processes. In this paper, a development and application of sensors for monitoring the steel coating degradation and corrosion damage to steelsubstrate are presented. An encapsulated corrosion kit with integrated EIS sensors and ER probes was developed. To test its efficiency, steel probes were coated withselected coatings in the laboratory and their performance was assessed under various aggressive atmospheres, including; salt, industrial and humid atmosphere.
Keywords: coatings, corrosion, electrochemical impedance spectroscopy, electrical resistance probes, railways, steel structures
Published in DiRROS: 13.12.2023; Views: 154; Downloads: 79
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2.
Hierarchical learning of robotic contact policies
Mihael Simonič, Aleš Ude, Bojan Nemec, 2023, original scientific article

Abstract: The paper addresses the issue of learning tasks where a robot maintains permanent contact with the environment. We propose a new methodology based on a hierarchical learning scheme coupled with task representation through directed graphs. These graphs are constituted of nodes and branches that correspond to the states and robotic actions, respectively. The upper level of the hierarchy essentially operates as a decision-making algorithm. It leverages reinforcement learning (RL) techniques to facilitate optimal decision-making. The actions are generated by a constraint-space following (CSF) controller that autonomously identifies feasible directions for motion. The controller generates robot motion by adjusting its stiffness in the direction defined by the Frenet–Serret frame, which is aligned with the robot path. The proposed framework was experimentally verified through a series of challenging robotic tasks such as maze learning, door opening, learning to shift the manual car gear, and learning car license plate light assembly by disassembly.
Keywords: autonomous robot learning, learning, experience, compliance and impedance contro
Published in DiRROS: 21.09.2023; Views: 346; Downloads: 171
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3.
Characterizing steel corrosion in different alkali-activated mortars
Nina Gartner, Miha Hren, Tadeja Kosec, Andraž Legat, 2021, original scientific article

Abstract: Alkali-activated materials (AAMs) present a promising potential alternative to ordinary Portland cement (OPC). The service life of reinforced concrete structures depends greatly on the corrosion resistance of the steel used for reinforcement. Due to the wide range and diverse properties of AAMs, the corrosion processes of steel in these materials is still relatively unknown. Three different alkali-activated mortar mixes, based on fly ash, slag, or metakaolin, were prepared for this research. An ordinary carbon-steel reinforcing bar was installed in each of the mortar mixes. In order to study the corrosion properties of steel in the selected mortars, the specimens were exposed to a saline solution in wet/dry cycles for 17 weeks, and periodic electrochemical impedance spectroscopy (EIS) measurements were performed. The propagation of corrosion damage on the embedded steel bars was followed using X-ray computed microtomography (XCT). Periodic EIS measurements of the AAMs showed different impedance response in individual AAMs. Moreover, these impedance responses also changed over the time of exposure. Interpretation of the results was based on visual and numerical analysis of the corrosion damages obtained by XCT, which confirmed corrosion damage of varying type and extent on steel bars embedded in the tested AAMs.
Keywords: corrosion, alkali-activated mortars, steel reinforcement, electrochemical impedance spectroscopy, X-ray computed microtomography, visual analysis
Published in DiRROS: 05.07.2023; Views: 334; Downloads: 157
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