• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.41 no.9
• /
• pp.1071-1084
• /
• 1992

In this paper, the method for navigation and obstacle avoidance of the autonomous mobile robot is proposed. The proposed algorithms are based on the fuzzy inference system which is able to deal with imprecise and uncertain information. The self-tuning algorithm, which adopts the simplex method, modifies the parameters of membership functions of the input-output linguistic variables by changing the support of these fuzzy sets according to the integral of absolute error(IAE) of the system response. The wall-follwing navigation and obstacle avoidance of the mobile robot are based on range data measured from the internal sensors(encoder) and the outer sensors(sonar sensor). In addition, the algorithm for the obstacle detection proposed in this paper is based on the expert's experience. Finally, the effectiveness of navigation and obstacle avoidance algorithm is demonstrated through simulation and experiment.

• The Journal of the Acoustical Society of Korea
• /
• v.12 no.6
• /
• pp.53-61
• /
• 1993

이 논문은 접은 도체박판의 단순한 구조가 전자유도형 변환기 역할을 한다는 것을 기술하고 있다. Endoh 등은 볼록한 나선코일과 동박판으로 구성된 볼록한 방사면 모양을 한 전자유도형 변환기가 시간적으로 짧은 충격파를 발생할 수 있기 때문에 뚜렷한 초음파 영상을 얻을 목적으로 Eisenmenger에 이어 전자유도형 EMAT를 보고한 바 있다. 여기서는 코일이 없는 EMAT를 소개한다. 이것은 두께 0.05mm, 폭 5cm 길이 임의의 동박판으로 구성되며 동박판은 절연도료를 칠한 종이로 절연되고 접어서 견고하게 밀착시키며, 여러번 접는 경우는 손부채처럼 접는 방향은 교대로 반대방향으로 접는다. 그리고는 엷은 고무판을 표면에 밀착시키고 연변을 실리콘 충전제등으로 고정시키거나, polyester molding을 하여 표면을 concave형으로 하여 완성하였다. 완성된 EMAT들은 수조에서 축전기방전방식으로 실험을 하였으나 EMAT에서 발생되는 으파의 진폭은 접는 회수에 비례하였으녀, 단접형 EMAT보다 다접형 EMAT의 발생음파가 보다 강력하였다. Concave형 EMAT의 음속은 예견한 바와 같이 잘 집속되었다. 그러나 평판형의 경우는 지향성은 100도로서 넓은 지향각을 나타내었다. 2μF, 600Volt의 축전기 방전에 의한 집속형 concave EMAT를 여기시키기 위한 축전기의 용량이 작을수록 대역폭은 더욱 넓었다.

• Journal of the Korean Society of Radiology
• /
• v.84 no.6
• /
• pp.1220-1232
• /
• 2023

The prostate cancer diagnosis has traditionally been based on a systematic biopsy method in which tissue samples are randomly obtained from the prostate 10-12 sites. However, there are concerns as the method can fail to diagnose all prostate cancers or lead to over-detection of clinically insignificant cancers. MRI-guided prostate targeted biopsy has been proposed to address these shortcomings. This method involves identifying suspicious lesions using MRI and performing targeted biopsies under ultrasound or MRI guidance. We review the methods of MRI-based targeted biopsy and discuss recent guidelines and trends in prostate cancer diagnosis.

• Journal of Korean Society of Environmental Engineers
• /
• v.33 no.4
• /
• pp.281-288
• /
• 2011

Recently, researches that a variety of contaminants in water are removed by sonolysis technology with oxidation and pyrolysis process from cavitation were conducted. However, there are few studies for sonochemical treatment by a pilot-scale ultrasound system. This research focused on developing pilot-scale ultrasound systems, which could be an continuously effective treatment for a large volumes of contaminants, and demonstrating the feasibility of utilizing these systems to remove naphthalene from groundwater. V-120 type reactor was found to be 1.4~2.2 times higher effective than the normal type. A total of three different pilot scale's systems consisted of installing effluent and irrigation water in order to be a continuos system, including supplemental additives, and applying a V-120 type reactor and a external cooling cycle system. Naphthalene levels treated by three systems were lower than a recommended guideline of naphthalene for drinking water in EPA. Especially, the naphthalene removal efficiencies of PS1 and PS2 systems were over 97%. The pilot-scale continuous ultrasound clean-up system delivered over 84~95% naphthalene removal efficiency for treatment of 10~20 liter of groundwater. In addition, the ultrasound system could be successfully applied to the conditions of artificial and genuine groundwater contaminated with naphthalene.

• Journal of Korean Society of Transportation
• /
• v.23 no.4 s.82
• /
• pp.17-28
• /
• 2005

About 91.1% of Railway-Highway Crossings (RHC) in Korea use a Constant Distance Warning System(CDWS), while about 8.9% use a Constant Warning Time System(CWTS). The CDWS does not recognize speed differences of approaching trains and provides only waiting times to vehicles and pedestrians based on the highest speed of approaching trains. Under the CDWS, therefore, low speed trains provide unnecessary waiting times at crossings which often generates complains to vehicle drivers and pedestrians and may cause wrong decisions to pass the crossings. The objective of this research is to improve the safety of the RHC by developing accurate a CWTS. In this research a train speed and location detection system was developed with ultra sonic detectors. Locations of the detectors was decided based on the highest speed and the minimum warning time of Saemaul of 160 km/h. To validate the algorithms of the newly developed systems the lab tests were conducted. The results show that the train detection system provides accurate locations of trains and the maximum error between real speeds of trains and those of the system was 0.07m/s.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.20 no.1
• /
• pp.175-184
• /
• 2016

In this paper, we propose the method to measure the capacitances using not LCR meter but capacitance to voltage(C/V) conversion. And we design the analog MUX circuits that convert 192 channels to 6 MUX channels in order to implement the diagnosis of multi-channel ultrasonic probe. This paper derives the conversion function that converts the digital voltage of each MUX channel to the capacitance using the least squares method because the circuit characteristics that convert the voltage of each MUX channel to the capacitance are different. The developed prototype illustrates the performance test results that the measure times are measured by within 4sec and the measure error rates of maximum, minimum, and average values are within 5% in terms of the repeated measurements of all 192 channels.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.29 no.5
• /
• pp.458-465
• /
• 2009

In general, ultrasonic guided wave techniques that used for an evaluation of the internal defect have been applied without considering energy loss. It can be found out that the significant attenuation is observed in the signal of structure with defect by the scattering and absorption. Even in the signal acquired from defect-free structure, this attenuation can be also significant. Therefore, it is very essential to determine the Lamb wave propagation characteristics depending on modes because the dispersibility of Lamb wave can be easily influenced by the attenuation effect with frequency and thickness. For this reason, changing the propagation distance, attenuation coefficient of each Lamb wave mode needs to be investigated by the contact pitch-catch method with PZT(piezoelectric) sensors. In this paper, the experimental attenuation coefficient is measured by choosing the following three different variables; mode, thickness and plate materials. As a result, experimental attenuation coefficient is obtained as the function of variables.

• Journal of Advanced Marine Engineering and Technology
• /
• v.38 no.6
• /
• pp.688-697
• /
• 2014

In this study, electrode bonding technology needed for high density of rechargeable battery is studied, which is recently researched for electric vehicle, the small leisure vessel. For the alternative overcoming the limit of stacking amount able to be stacked by conventional ultrasonic welding, the low temperature bonding method, eligible for minimum of degeneration of chemical activator on the electrode surface which is generated by thermal effect as well as the increase of conductivity and tension strength caused by electrode bonding using filler metal, not using conventional direct heating on the electrode material method, is studied. Specifically to say, recently used more generally the ultrasonic welding and spot welding method are not usable for satisfying stable electric conductivity and bonding strength when much electrode is stacking bonded. If the electrical power is unreasonably increased for the welding, due to the effect of welding temperature, deformation of electrode and activating material degeneration are caused, and after the last packaging, decline of electrical output and generating heat cause to reduce stability of battery. Therefore, in this study, induction heating system bonding method using high frequency heating and differentiated electrode method using filler metal pre-treatment of hot dipping are introduced.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2011.02a
• /
• pp.75-75
• /
• 2011

전이금속(transition metal) 질화물(nitride)은 높은 경도, 내마모성, 부식 저항성 그리고 내열성 등과 같은 우수한 기계적 물성 때문에 많은 연구가 되어 왔다. 이 중 질화 티타늄은 높은 경도, 내식 및 내마모의 우수한 기계적 특성으로 공구(tool)와 같은 제품의 수명 향상을 위한 표면 코팅으로 사용되어 왔으며, 금(gold)색의 미려한 색상을 이용한 제품의 외관 표면처리, 정형외과 및 치과용 보형물의 수명 및 안정성 향상 등 다양한 분야에 응용 되고 있다. 본 연구에서는 Cathodic Arc 코팅 방식을 이용하여 질화 티타늄을 합성하였으며, 경사 코팅에 따른 단층 및 다층 피막(3-layer)의 미세조직 변화와 그 물성을 평가하였다. 아크 소스에 장착된 타겟은 99.5%의 Ti 타겟을 사용하였고, 시편과 타겟 간의 거리는 약 31 cm이며, 시편은 알코올과 아세톤으로 초음파 세척 된 냉연강판과 SUS 304를 사용하였다. 시편을 진공용기에 장착하고 ~10-6 Torr까지 진공배기를 실시하고, Ar 가스를 진공용기 내로 공급하여 ~10-4 Torr에서 시편에 bias (Pulse : 400V)를 인가한 후 아크를 발생시켜 약 5분간 청정을 실시하였다. 플라즈마 청정이 끝나면 시편에 인가된 bias를 차단하고 코팅하였다. 경사 코팅을 위한 시편의 회전각은 $30^{\circ}$, $45^{\circ}$, $60^{\circ}$이며, 질화 티타늄의 두께는 약 $3{\mu}m$로 동일하게 코팅 하였다. 경사 코팅된 박막의 경우는 동일 시간 코팅하였을 경우 경사각이 커질수록 두께가 감소하였다. 경사각에 따라 코팅 층이 성장하였고, Bias를 인가 할 경우에는 경사 입사의 효과가 상쇄됨이 관찰되었다. 또한 경사 코팅에 의해 제조된 티타늄 질화물의 경도는 저하 되었으며, $30^{\circ}$와 $60^{\circ}$에 비해 $45^{\circ}$ 경우 경도 저하가 가장 적었다. 결론적으로 Cathodic 아크 코팅 방법으로 질화티타늄을 합성하였고, 경사 코팅을 통해 박막의 미세조직 변화를 확인 하였다. 본 연구에서 얻어진 결과를 이용하여 다양한 구조로 박막의 성장을 유도 할 수 있으며, 이를 통해 경도, 내마모성, 내식성 등의 물성을 변화시킬 수 있는 장점을 가질 것으로 예상된다.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.8 no.1
• /
• pp.1-12
• /
• 1997

The acousto-optical spectrometer as a new type backend of the receiver system for radio astronomical observations is manufactured for radio signal analysis. We studied on the effect of Acousto-Optic and Acousto-Optic devices and designed the optics system. We manufactured the optical mount and the CCD detector for deflected beam and interface card. This acousto-optical spectrometer consisted of a laser, optics, acousto-optic deflector, CCD detector and Interface card. This system use He-Ne laser as a light source and use optics to get parallel beam and to focus the deflected beam. Acousto-optic deflector converts IF signal to ultrasonic wave and deflect the laser beam according to the Bragg deflection. The ultra wide band acousto-optic deflector has 1 GHz bandwidth and a total of 2,048 channel Charge Coupled Device for signal detection. In this study, we discuss the theoretical description on the effect of Acousto-optics, the design of the optics, manufacture of optical mount, CCD detector, interface card and we presented the results of experiment. As a result of measurement, we have 1,000 channels bandwidth from CCD channels.