Company Purtech in Dals-Ed manufactures molded polyurethane (PUR). Examples of products that include polyurethane are car seats. Robots are used to fill the molds with PUR and to apply the release agent (wax) in the empty molds. Turning from online programming into a graphical offline programming of release agent spraying robots is going to simplify the process by: Applying less of release agent to avoid polluting environment, to produce an easier removal of moulds, for the sake of homogeneous moulds and for economical saving in the cost of release agent Adaption of spraying paths to variation in production speed. Programming of complex spraying trajectories to deal with sharp geometrical subsurface Decreasing onsite programming time (when program a new workpiece or modify an old one); so that robots would be free for production. While turning into offline programming brought the challenges of: Impact of variation in the production speed Lack of 3D models of workcell’s equipments Robot joint configuration when paths and robtargets are in move. Physical Joint limits, Singularities & Reach limits Collisions within the cell space. At the end, the following objectives are successfully met: Adaption of spraying programs to variation in production speed by developing and embedding a method in those programs. Graphical offline generation of spraying trajectories and optimization of those trajectories to the Purtech condition of spraying allowed time for each carrier. Simulation of release agent spraying process; and producing of a well structured RAPID program that reflect the simulated process.

As estruturas de concreto são moldadas em formas tratadas com desmoldantes e sua presença dificulta a adesão da argamassa fresca, com posterior descolamento no estado endurecido. Este estudo tem por objetivo explorar o potencial de uso de agentes retardadores em substituição aos desmoldantes convencionais na moldagem de concreto para obtenção de superfícies com maior capacidade de ancoragem das argamassas. A viabilidade do uso de agentes retardadores foi verificada determinando-se de modo comparativo a resistência de aderência à tração da argamassa e do chapisco aplicados sobre corpos de prova de concreto moldados em formas de madeira plastificada tratadas com agente retardador e com desmoldante convencional. O ensaio de aderência mostrou que a utilização de agentes retardadores possibilita maior facilidade para a remoção da camada superficial do concreto, resultando em aumento de rugosidade e absorção superficial, permitindo maior resistência de aderência da argamassa e chapisco. Posteriormente, foram coletados agentes retardadores do mercado e avaliados: desempenho na aplicação sobre as formas, impacto dos produtos na saúde do trabalhador e no meio ambiente, e o efeito retardador na hidratação do cimento. Também foram avaliados quanto: a aplicabilidade dos produtos e sua influência no preparo da superfície para o recebimento da argamassa quando tratadas com produtos retardadores e convencionais em três tipos de formas. O estudo mostrou que o uso de agente retardador pode ser uma técnica viável para reduzir os problemas de descolamento do revestimento aplicado sobre superfícies de concreto. Através dos ensaios específicos desenvolvidos e adaptados para esta pesquisa, foi possível identificar que existem diferenças de comportamentos entre os produtos, sendo eles convencionais ou retardadores, e que os tipos de forma influenciam nestes comportamentos. Foi verificado também que as formas mais simples e com custos menores podem ser mais apropriadas para utilização destes produtos. / The concrete structures are cast in molds treated with a release agent (demolding product), and its presence hinders the mortars initial adhesion in the plastic state, as well as the bond strength after hardening. The study aims is to explore the potential use of retarding agents to replace conventional release agents in the concrete formwork. The technical viability of using a retarding agent was verified by comparing the tensile bond strength of rendering mortars applied on concrete surfaces cast with a conventional release agent and on concrete surfaces cast with a retarding release agent. The results showed that, through the use of retarding products, the removal of the concrete surface layer was possible by increasing the surface roughness, the surface water absorption and the tensile bond strength of the mortar to this concrete. Performance tests were also done with retarding products commercially available in the Brazilian market to verify the behavior of such products during application on molds, their impact on workers health and on the environment, and the retarding effect in cement hydration. It was also evaluated the applicability of these products and their influence on surface preparation to receive mortar when treated with retarding and conventional products, in three types of molds. Retarding products showed to be a viable technique for reducing the detachment problems of rendering mortars applied on concrete surfaces. Through the specific tests developed and adapted for this study, it was observed that there are differences in behavior between the conventional or retarding products, and also observed how these types of molds can influence the performance of the products. It was also observed that the simplest molds with lower cost can be more suitable in this application.

As estruturas de concreto são moldadas em formas tratadas com desmoldantes e sua presença dificulta a adesão da argamassa fresca, com posterior descolamento no estado endurecido. Este estudo tem por objetivo explorar o potencial de uso de agentes retardadores em substituição aos desmoldantes convencionais na moldagem de concreto para obtenção de superfícies com maior capacidade de ancoragem das argamassas. A viabilidade do uso de agentes retardadores foi verificada determinando-se de modo comparativo a resistência de aderência à tração da argamassa e do chapisco aplicados sobre corpos de prova de concreto moldados em formas de madeira plastificada tratadas com agente retardador e com desmoldante convencional. O ensaio de aderência mostrou que a utilização de agentes retardadores possibilita maior facilidade para a remoção da camada superficial do concreto, resultando em aumento de rugosidade e absorção superficial, permitindo maior resistência de aderência da argamassa e chapisco. Posteriormente, foram coletados agentes retardadores do mercado e avaliados: desempenho na aplicação sobre as formas, impacto dos produtos na saúde do trabalhador e no meio ambiente, e o efeito retardador na hidratação do cimento. Também foram avaliados quanto: a aplicabilidade dos produtos e sua influência no preparo da superfície para o recebimento da argamassa quando tratadas com produtos retardadores e convencionais em três tipos de formas. O estudo mostrou que o uso de agente retardador pode ser uma técnica viável para reduzir os problemas de descolamento do revestimento aplicado sobre superfícies de concreto. Através dos ensaios específicos desenvolvidos e adaptados para esta pesquisa, foi possível identificar que existem diferenças de comportamentos entre os produtos, sendo eles convencionais ou retardadores, e que os tipos de forma influenciam nestes comportamentos. Foi verificado também que as formas mais simples e com custos menores podem ser mais apropriadas para utilização destes produtos. / The concrete structures are cast in molds treated with a release agent (demolding product), and its presence hinders the mortars initial adhesion in the plastic state, as well as the bond strength after hardening. The study aims is to explore the potential use of retarding agents to replace conventional release agents in the concrete formwork. The technical viability of using a retarding agent was verified by comparing the tensile bond strength of rendering mortars applied on concrete surfaces cast with a conventional release agent and on concrete surfaces cast with a retarding release agent. The results showed that, through the use of retarding products, the removal of the concrete surface layer was possible by increasing the surface roughness, the surface water absorption and the tensile bond strength of the mortar to this concrete. Performance tests were also done with retarding products commercially available in the Brazilian market to verify the behavior of such products during application on molds, their impact on workers health and on the environment, and the retarding effect in cement hydration. It was also evaluated the applicability of these products and their influence on surface preparation to receive mortar when treated with retarding and conventional products, in three types of molds. Retarding products showed to be a viable technique for reducing the detachment problems of rendering mortars applied on concrete surfaces. Through the specific tests developed and adapted for this study, it was observed that there are differences in behavior between the conventional or retarding products, and also observed how these types of molds can influence the performance of the products. It was also observed that the simplest molds with lower cost can be more suitable in this application.

In the development of concrete structures and its finishes we are constantly looking for new ways to highlight the aesthetic value of the concrete. With all the possibilities of shapes, textures and colours, an architectural concrete in the hands of an architect and designer becomes a material, which can be used to express different individual and specific ideas. It is necessary to recognize and cope with these possibilities, but also the limits, which determine the properties of concrete as the proper design and implementation creates excellent finishes that are otherwise inaccessible to other materials and technologies. The theoretical part includes an extensive summary carries out a research on issues of architectural concrete and its production. From this research comes a new definition of architectural concrete and the newly redesigned and determined classes of architectural concrete with respect to the continuous development of technologies and production possibilities, rendering and surfacing. The aim of the thesis is to verify the possibilities of producing quality architectural concrete and additional treatment of the surface with respect to the desired aesthetic quality.

La croissance de caution vis-à-vis l'utilisation des produits pétroliers dans la construction a nécessité le besoin de développement des alternatives. Le BTP, en particulaire pour le secteur routière, a un certain nombre des piste ou les produits pétrolières ont utilisés, par exemple le liant pour les enrobés comme les agents régénérant (pour recyclage des enrobés), mais aussi le produits qui sont utilisés sur le chantier comme les anti-adhérents (ARA) et les débituminants (BR). Alors, il y a une besoin de remplacer les produits d'origines pétrolières par les alternatives bio-sourcés. Ce présent ouvre est une partie d'un projet qui va développer une nouvelle filière dédiée à la production de nouvelles formulations pour le BTP à partir de la transformation des huiles végétales et des graisses animales. Ce thèse concerne les produits développés seront destinés au l'asphalte, et alors, deux types d'applications sont particulièrement visés : (i) des agents anti-adhérents et (ii) des agents régénérants. Un débituminant sera développé aussi. Les produits anti-adhérents ont pour fonction d'empêcher le bitume d'adhérer aux engins de travaux sans effet secondaire, théoriquement, sur la matrice liante.. L'objet du travail est de caractériser l'efficacité et l'innocuité des agents anti-adhérents développés dans le cadre du projet et de développer les méthodes expérimentales visant à les évaluer. Trois essais principaux ont été développés pour caractériser la performance et innocuité des anti-adhérents vis-à-vis des essais qui ont optimisé leur implémentation et paramètres. La performance des anti-adhérents a été caractérisé par l'essai de glissance des enrobés. L'innocuité des anti-adhérents ont été caractérisés par des essais de fendage sur les enrobés et par l'essai de la dégradation de bitume. L'essai de la dégradation de bitume a servi aussi comme une mesure de la performance de débituminant. Les essais sur les anti-adhérents commerciaux d'Etats-Unis et la France a trouvé que ils ont deux modes de fonctionnement : i) lixiviation du bitume et ii) en formation d'une interface entre le les enrobés et la surface métallique. Même comme les deux modes ont été trouvé dans des certains anti-adhérents, le mode interface ont été trouvé préférable, grâce à l'option de garder les mêmes applications du produit pour plusieurs cycles de usage. Ensuite, un produit - basé sur glycérol sourcé de l'agro-industrie - a été développé. Les débituminants commerciaux ont été essayé, aves les conclusions : i) les débituminants plus effectifs ont eu les plus grande % des esters et ii) que les esters chaines courtes (C7-10) d'hautes concentrations ont été trouvé les plus efficace. L'agent régénérant est destiné à régénérer le bitume vieilli issu des agrégats d'enrobés (RAP) en lui redonnant ses propriétés originelles et en assurant leur maintien dans le temps. Le travail sur les agents régénérants se compose de la caractérisation physico-chimique du vieillissement du bitume et du bitume vieilli avec l'agent. Plus précisément, le travail se serve des techniques de spectrométrie IRTF (avec imagerie) et thermogravimétrie. Dans ce contexte, une produit bio-sourcé a été évalué comme une régénérant. Pour la spectroscopie FTIR, une moyenne de polir le mastique a été développé pour rassuré la platitude des échantillons. La régénération du bitume a été observé avec la spectrométrie ITRF, donc quelques peaks (notamment les indices IC=O and IS=O) pendant 0-42 jours de vieillissement dans l'étuve (loin-durée). Il a été trouvé qu'une période de vieillissement de 14 jours à l'étuve était à peu près équivalente au bitume vieilli par un cycle de RTFOT + PAV en termes de rhéologie et de la pénétration. Le mastic (vieilli 14 jours) a ensuite été mélangé avec un agent de bio-source (à 7,5% en poids de mastic). Il a été constaté par imagerie FTIR que l'indicateur de l'oxydation IS=O a été réduit par l'incorporation de l'agent régénérant dans le bitume. / The growing health and environmental concerns brought on by the use of petroleum based products in the asphalt construction industry have necessitated the development of alternatives. Infrastructure, especially that involving transportation has many uses for petroleum products including, as fuel, as well as in asphalt pavement construction - where petroleum products have traditionally constituted the binder for the mix as well as the rejuvenating agents (for asphalt recycling) - along with various agents used in the construction process including bitumen removers and asphalt release agents. Thus, there is a need to replace petroleum base agents with bio-sourced and biodegradable substitutes. The present work is part of a project to develop bio-sourced (recycled from agricultural waste) products for the construction industry. This work is dedicated to developing products relating to the asphalt industry. Two types of product applications were envisioned: i) an asphalt release agent (ARA) and ii) an asphalt rejuvenating agent. Additionally, a bitumen remover (BR) developed as part of the work on the ARA. ARAs prevent asphalt from adhering to tools and equipment used in asphalt production, without producing overly negative side effects with regards to the pavement. Three principal tests methods were developed and optimized for the performance and damage to asphalt of the ARAs. The asphalt slide test was developed to quantify the performance of the ARA by sliding hot asphalt mix down a plate with the ARA applied. The testing of the damage to asphalt from ARAs consisted of testing an asphalt cylinder - in contact with an ARA for seven days - in indirect-tensile strength (ITS). The bitumen degradation test consisted of submerging a bitumen sample in an agent over a certain time and weighing the bitumen that did not dissolve in the agent. This was followed by the observation of the bitumen-ARA chemical interaction by FTIR spectrometry. This test served as an assessment of ARA damage to bitumen as well as of the performance of BRs. The testing of the commercial ARAs from both the French and USA markets found that they had two primary modes of functioning: i) by softening the bitumen and ii) by forming an interface between the asphalt and the metal surface. While some agents had elements of both, it was found that interface agents are preferable, due to the ability to use a single ARA application for multiple occasions. With this completed, a water-based bio-sourced substrate ARA - based on glycerol derived from agricultural waste - was developed. The commercially available BRs were tested as well, finding that i) the most effective BRs had the highest ester concentration and ii) that highly concentrated short chained ester (C7-10) were very effective bitumen dissolvers. The goal of rejuvenating agents is to regenerate the old bitumen from recycled asphalt pavement (RAP) by restoring the original properties and ensuring the stability of these properties over time. This part consisted of the development of methods for bitumen and aging, as well as characterization of the chemical rejuvenation of bitumen by FTIR spectrometry (including imaging) and thermogravimetric analysis. A bio-sourced rejuvenating agent was evaluated as well. For the imaging, a mastic polishing method was developed in order to attain as samples as flat as possible for the analysis. The bitumen rejuvenation was observed using FTIR spectroscopy analysis. Several peaks (notably IC=O and IS=O) were observed for bitumen oven aged up to 42 days (long term). It was found that an oven aging period of 14 days was roughly equivalent to bitumen aged by a RTFOT+PAV cycle it terms of rheology and penetration. The mastic (aged for 14 days) was then combined with a bio-sourced agent (at 7.5%w of mastic). It was found by FTIR imaging that the oxidation indicator IS=O, was reduced by the incorporation of the rejuvenating agent.