• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.832-837
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• 1991

After many years of proliferation, the nuclear industry is indebted for a formidable consequence, the safe management of spent fuel. Naturally, the high radioactivity involved with such process motivates the development of effective telerobotic systems. Nevertheless, the existing master-slave type of tele manipulators are limited in effectiveness by the human operator's limited sensory and manipulation capabilities. This paper presents the result of a research effort to resolve such problems by assigning the slave manipulator a certain degree of intelligence; sensing and actuation. In the presented system, a perception-action loop is achieved using ultrasonic range sensor and laser distance sensor interfaced with the PUMA 760 industrial robot system, and applied to automating impact wrenching task for unbolting the lid of nuclear spent fuel cask. The perception-action loop performs determination of the cask location, collision avoidance and centering of the impact wrench onto the bolt head. To aid the insertion task and to provide versatility a mounting module consisting of an RCC device and an automatic tool changer is designed and implemented. The performance of the developed system is tested on the model cask and the result is given.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.34-41
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• 2001

More accurate and fast inspection method for mechanical parts and structure is required to guarantee the safety. Conventional methods using compliance method, eddy current method, ultrasonic wave, acoustic emission for non-destructive testing in mechanical parts and structure have been performed as the method of contact with objects to be inspected. With this reason these methods have been taken relatively much time, money, and manpower. In this study, in order to overcome these shortcomings, we used In-plane Electronic Speckle pattern Interferometry(In-plane ESPI) that was full-field measurement and noncontact method. We detected the cracks of the specimen at a real time and measured the length of the crack by using In-place ESPI system. Finally, we compared this results with conventional microscope method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.10
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• pp.780-787
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• 2014

This paper experimentally deals with the vibration characteristics of flat ring transducers used for ultrasonic sensors and actuators. Radial vibration mode, which is the fundamental mode of a thin piezoelectric transducer, was measured by a laser in-plane vibrometer. An impedance analyzer was used to measure natural frequencies. The results measured by experiments verified theoretical predictions. The vibration characteristics of ring transducers were identified according to the outer diameter size. The shape of the fundamental mode is almost uniform but slightly decreases from the inner to the outer circumferential surfaces. The natural frequency of the fundamental mode decreases as the outer diameter increases. It appears that the ring type transducer is suitable to excite uniformly distributed vibration on a flat surface.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.41.6-41
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• 2001

As autonomous mobile robot become more widely used in industry, the importance of navigation system is rising, But eh primary method of locomotion is with wheels, which cause man problems in controlling tracked mobile robots. In this paper, we discuss the used navigation control of tracked mobile robots with multiple sensors. The multiple sensors are composed of ultrasonic wave sensors and vision sensors. Vision sensors gauge distance using a laser and create visual images, to estimate robot position. The 80196 is used at close range and the vision board is used at long range. Data is managed in the main PC and management is distributed to ever sensor. The controller employs fuzzy logic.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.2
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• pp.76-85
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• 2011

In conventional methods for measuring snow height, a graduated pole is installed on ground in an area of interest and the snow height is manually read from the pole. Recently, automated snow height measurement systems have been introduced to improve the conventional methods. The automated measurement systems, however, are quite expensive since they use the reflection of ultrasonic waves or laser beams. In addition, it is not easy to move the location of the automated measure systems. This paper proposes a snow height measurement system equipped with image sensors and wireless communication capability via a USN and the Internet. The proposed system has a resolution of 5 cm and easy to deploy without difficulties, which can be usefully used to monitor unforseen local snowfalls.

• Atmosphere
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• v.22 no.1
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• pp.97-107
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• 2012

To investigate variation of aerosol number concentration at each different size with three-dimensional (3D) wind components in ocean area, aerosol particles and 3D wind components were measured in the Ieodo Ocean Research Station, which is located to 419 km southwest from Marado, the southernmost island of Korea, from 25 June to 8 July 2010. The Laser Particle Counter (LPC) and ultrasonic anemometer were used to measure the size of aerosol particles and 3D wind components (zonal (u), meridional (v), and vertical (w) wind) respectively. Surface weather chart, NCEP/NCAR reanalysis data and sounding data were used to analyze the synoptic condition. The distribution of aerosol number concentration had a large variation from bigger particles more than 1.0 ${\mu}m$ in diameter by wind direction during precipitation. In the number concentration of aerosol particles with respect to the weather conditions, particles larger than 1.0 ${\mu}m$ in size were decreased and sustained to the similar concentration at smaller particles during precipitation. The increase in aerosol number concentration was due to the sea-salt particles which was suspended by southwesterly and upward winds. In addition, the aerosol number concentration with vertical wind flow could be related with the occurrence and increasing mechanism of aerosol in marine boundary layer.

• Journal of Ocean Engineering and Technology
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• v.25 no.6
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• pp.42-48
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• 2011

The present study makes three original contributions to nanoskinned Ti-6Al-4V materials. The nanoskins were fabricated on Ti-6Al-4V material using various surface treatments: deep rolling (DR), laser shot peening (LSP), and ultrasonic nanocrystal surface modification (UNSM). These surface treatments are newly developed techniques and are becoming more popular in industrial fields. A fatigue strength comparison at up to 106 cycles was conducted on these nanoskinned Ti-6Al-4V materials. Fatigue tests were carried out using MTS under axial loading tension-compression fatigue (R = -1, RT, 5 Hz, sinusoidal wave). The analysis of the crack initiation patterns in the nanoskinned Ti-6Al-4V materials found an interior originating crack pattern and surface originating crack type. Microscopic observation was mainly used to investigate the fatigue fractured sites. These surface modification techniques have been widely adopted, primarily because of the robust grade of their mechanical properties. These are mainly the result of the formation of a large-scale, deep, and useful compressive residual stress, the formation of nanocrystals by the severe plastic deformation (SPD) at the subsurface layer, and the increase in surface hardness.

• Journal of Sensor Science and Technology
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• v.29 no.1
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• pp.33-39
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• 2020

Typically, photoacoustic images are obtained in water or gelatin because the impedance of these mediums is similar to that of the human body. However, these acoustic mediums can have an additional mass effect that changes the resonance frequency of the transducer. The acoustic radiation impedance in air is negligible because it is very small compared to that of the transducer. However, the high acoustic impedance of mediums such as the human body and water is quite large compared to that of air, making it difficult to ignore. Specifically, in a case where the equivalent mass is very small, such as with a micro-machined ultrasound transducer, the additional mass effects of the acoustic medium should be considered for an accurate resonance frequency design. In this study, a piezoelectric micro-machined ultrasonic transducer (pMUT) was designed to have a resonance frequency of 10 MHz in the acoustic medium of water, which has similar impedance as the human body. At that time, the resonance frequency of the pMUT in air was calculated at 15.2 MHz. When measuring the center displacement of the manufactured pMUT using a laser vibrometer, the resonance frequencies were measured as 14.3-15.1 MHz, which is consistent with the finite element method (FEM) simulation results. Finally, photoacoustic images of human hair samples were successfully obtained using the fabricated pMUT.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.4
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• pp.443-449
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• 2012

Nanoskins were fabricated on a Ti-6Al-4V material by carrying out various surface treatments, i.e., deep rolling, laser shot peening, and ultrasonic nanocrystal surface modification (UNSM). These surface treatments are newly developed techniques and are becoming more popular for industrial applications. Fatigue tests were carried out using material test system (MTS); these tests included the axial loading tension-compression fatigue test (R = -1, RT, 5 Hz, sinusoidal wave) and rotating bending fatigue test (R = -1, RT, 3200 rpm). The analysis of the crack initiation pattern in the UNSM-treated material indicated that the crack was interior originating in the axial loading tension-compression cycle, and was surface originating in the bending fatigue test. UNSM treatment significantly improved the fatigue strength for the regime of above $10^6$ cycles that S-N curve of rotating bending stress clearly show the performance of a 5 mm titanium specimen after UNSM treatment is similar to that of an untreated 6 mm titanium specimen.

• The Journal of Korean Academy of Prosthodontics
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• v.51 no.3
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• pp.167-174
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• 2013

Purpose: This study was conducted to evaluate the roughness and surface alternations of three differently blasted titanium discs treated by $Nd:YVO_4$ Laser irradiation in different conditions. Materials and methods: Thirty commercially pure titanium discs were prepared and divided into three groups. Each group was consisted of 10 samples and blasted by $ZrO_2$ (zirconium dioxide), $Al_2O_3$ (aluminum oxide), and RBM (resorbable blasted media). All the samples were degreased by ultrasonic cleaner afterward. Nine different conditions were established by changing scanning speed (100, 300, 500 mm/s) and repetition rate (5, 15, 35 kHz) of $Nd:YVO_4$ Laser (Laser Pro D-20, Laserval $Korea^{(R)}$, Seoul, South Korea). After laser irradiation, a scanning electron microscope, X-ray diffraction analysis, energy dispersive X-ray spectroscopic analysis, and surface roughness analysis were used to assess the roughness and surface alternations of the samples. Results: According to a scanning electron microscope (SEM), titanium discs treated with laser irradiation showed characteristic patterns in contrast to the control which showed irregular patterns. According to the X-ray diffraction analysis, only $Al_2O_3$ group showed its own peak. The oxidation tendency and surface roughness of titanium were similar to the control in the energy dispersive X-ray spectroscopic analysis. The surface roughness was inversely proportional to the scanning speed, whereas proportional to the repetition rate of $Nd:YVO_4$. Conclusion: The surface microstructures and roughness of the test discs were modified by the radiation of $Nd:YVO_4$ laser. Therefore, laser irradiation could be considered one of the methods to modify implant surfaces for the enhancement of osseointegration.