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Steel sleeve grouting connections are widely used in prefabricated concrete structures. It is well known that insufficient grouting increases the chance of structural failure. As such, it is critical to monitor the density and compactness of grouting sleeve during the construction process, which however remains significant challenges as it is deeply buried in the beam and column. In this study, a lead zirconate titanate (PZT)-based sleeve grouting compactness detection method was systematicallydoi:10.3390/app10010149 fatcat:5aid5zka75cw3ne5e52pblrgty