• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.70-75
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• 2003

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.12
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• pp.2085-2091
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• 2003

An ultrasonic machining process has been known as efficient and economical means fer precision machining of glass or ceramic materials. However, because of its complexity, the mechanism of the machining process is still not well understood. Therefore, it is hard to optimize the process parameters effectively. The conventional ultrasonic machining which uses the abrasive slurry only, furthermore, is time-consuming and gives the relatively rough surface. In order to increase the material removal rate and improve the integrity of the machined surface, we have introduced the novel ultrasonic machining technique, Chemical-assisted UltraSonic Machining(CUSM). The desktop-style micro ultrasonic machine has been developed and the z-axis feed is controlled by the constant load control algorithm. To obtain the chemical effects, the low concentration HF(hydrofluoric acid) solution, which erodes glass, added to alumina slurry. Through various experiments and comparison with conventional results, the superiority of CUSM is verified. MRR increases over 200%, the surface roughness is improved and the machining load decreases dramatically.

• Geotechnical Engineering
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• v.12 no.5
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• pp.117-126
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• 1996

In spite of many advantages such as the simplicity in test procedure, Standard Penetration Test(SPT) results contain some errors caused by the variability of test equipment, instruments and test procedures. Especially, it is inevitable that the measured SPT hammer energy is different from the theoretical value because of energy loss. In this paper, the hammer energy level is measured during the performance of the field SPT in Korea by using a ultra-sonic system and PC.program. As the results of this study, the average hammer energy ratio of the R-P hammer and the Trip hammer is calculated at 64.2%, and at 75.0% respectively. The average energy ratio of the SPT for the R-P hammer is calculated at 46% and at 54% for the Trip hammer, by applying the rod energy ratio 0.72.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.5
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• pp.803-807
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• 2008

A making process of DSC(dye sensitized solar cell) was presented. In general, Photo electrodes of DSC was made by using colloid paste of nano $TiO_2$ and processing of Doctor-blade printing and high temperature sintering for porous structure. These methods lead to cracks on $TiO_2$ surface and ununiform of $TiO_2$ thickness. This phenomenon is one factor that makes low efficiency to cells. After $TiO_2$ printing on TCO glass, a physical vibration was adapted for reducing ununiform of $TiO_2$ thickness. And a thermal treatment at low temperature(under $75^{\circ}C$) was adapted for reducing cracks on $TiO_2$ surface. In this paper, we have designed and manufactured an ultrasonic circuit (100W, frequency and duty variable) and a thermal equipment. Then, we have optimized forcing time, frequency and duty of ultrasonic irradiation and thermal heating for surface treatment of photo-electrode of DSC. In I-V characteristic test of DSC, ultrasonic and thermal treated DSC shows 19% improved its efficiency against monolithic DSC. And it shows stability of light-harvesting from drastically change of light irradiation test.

• Journal of the Korean institute of surface engineering
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• v.27 no.2
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• pp.109-117
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• 1994

Effect of ultrasonic agitation on the contact properties was studied in Ni electroless plating and Pd activation. P-type Si bare wafers were used as substrate and DMAB was used as reducing agent due to its good electrical properties, solderability and compatibility to substrate. In activation, high density Pd nuclei of small size were formed during ultra-sonic agitation compared to that of no stirring. In electroless plating, the plating rate was enhanced by 30∼90% by using ultrasonic agitation. In elecrtoless plating, inhibitor is the most effective additives in ultrasonic agitation. In this experi-ment, thiourea was used as inhibitor. The less the amount of the inhibitor, the more ultrasonic agitation efficiency. It is confirmed by SEM that Ni-B films formed by ultrasonic were coarser, less porous, and denser than those of no stirring. In ultrasonic agitation, boron content of the films was more than those of no stirring. In this case, the more DMAB concentration, the higher the temperature, the less pH, the more boron content. Resistivity of the films formed by ultrasonic agitation was higher than that of no strirring. As the content of boron was increased, the resistivity of the films was increased exponentially.

• Proceedings of the Korean Institute of Surface Engineering Conference
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• 2017.05a
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• pp.148-148
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• 2017

Surface modification is a type of mechanical manipulation skills to achieve extensive aims including corrosion control, exterior appearance, abrasion resistance, electrical insulation and electrical conductivity of substrate materials by generating a protective surface using electrical, physical and chemical treatment on the surface of parts made from metallic materials. Such surface modification includes plating, anodizing, chemical conversion treatment, painting, lining, coating and surface hardening; this study conducted cavitation experiment to assess improvement of durability using anodizing. In order to observe surface characteristics with applied current density, the electrolyte temperature, concentration was maintained at constant condition. To prevent hindrance of stable growth of oxide layer due to local temperature increase during the experiment, stirring was maintained at constant speed. In addition, using galvanostatic method, it was maintained at processing time of 40minutes for 10 to $30mA/cm^2$. The cavitation experiment was carried out with an ultra sonic vibratory apparatus using piezo-electric effect with modified ASTM-G32. The peak-to-peak amplitude was $30{\mu}m$ and the distance between the horn tip and specimen was 1mm. The specimen after the experiment was cleaned in an ultrasonic bath, dried in a vacuum oven for more than 24 hours, and weighed with an electric balance. The surface damage morphology was observed with 3D analysis microscope. As a result of the study, differences were observed surface hardness and anti-cavitation characteristics depending on the development of oxide film with the anodizing process time.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.2
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• pp.118-128
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• 2012

The goal of this paper is to design the target tracking controller for a quadrotor micro UAV using a vision sensor. First of all, the mathematical model of the quadrotor was estimated through the Prediction Error Method(PEM) using experimental input/output flight data, and then the estimated model was validated via the comparison with new experimental flight data. Next, the target tracking controller was designed using LQR(Linear Quadratic Regulator) method based on the estimated model. The relative distance between an object and the quadrotor was obtained by a vision sensor, and the altitude was obtained by a ultra sonic sensor. Finally, the performance of the designed target tracking controller was evaluated through flight tests.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.4
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• pp.2883-2890
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• 2015

As the research about increasing the efficiency of dredging soil transport, the technology, which reduce the friction between pipe wall and fluid in the pipe and disturbed generating pipe blockage, has been developed. So for the purpose of applying this technology to real construction site, main test has been tried at the real scale test in field(500m dredging soil transport length). As a test result, this paper will show 30% flow efficiency increasing by permitted electro magnetic force to the pipe. And test result was evaluated as a ultra sonic velocity profiler.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.15 no.2
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• pp.9-18
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• 2012

The street canyon forms the geometric unit of the built environment. The geometry makes up urban canyons and it influences the urban climate. In order to investigate the wind characteristics of urban street canyon at Dogok-dong, Gangnam-gu in Seoul, the wind direction and wind speed data were observed and analyzed by using 2-D ultra sonic and propeller wind monitor from May 5, 2010 to May 4, 2011. The results show that the prevailing wind direction was west at Station A(Military Mutual Aid Association Building), southwest at Station B(Sookmyung Girls' High School) and the wind speed of Station B was higher than Station A. There were diurnal differences about prevailing wind direction between two stations : it was westerly wind at Station A for a whole day, but at Station B only from 22 : 00 to 04 : 00. However, Station B is different from Station A at other time. At Station B, it was easterly wind from 04 : 00 to 12 : 00, southwesterly wind from 12 : 00 to 22 : 00. In terms of seasonal(except winter) frequency, the spring shows the highest frequency and fall was the next.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.05b
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• pp.62-65
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• 2003

When a mobile robot moves around autonomously without man-made corrupted bye landmarks, it is essential to recognize the placement of surrounding objects especially for self localization, obstacle avoidance, and target classification and localization. To recognize the environment we use many Kinds of sensors, such as ultrasonic sensors, laser range finder, CCD camera, and so on. Among the sensors, ultra sonic sensors(sonar)are unexpensive and easy to use. In this paper, we analyze the sonar data and propose a method to recognize features of indoor environment. It is supposed that the environments are consisted of features of planes, edges, and corners, For the analysis, sonar data of plane, edge, and corner are accumulated for several given ranges. The data are filtered to eliminate some noise using the Kalman filter algorithm. Then, the data for each feature are compared each other to extract the character is ties of each feature. We demonstrate the applicability of the proposed method using the sonar data obtained form a sonar transducer rotating and scanning the range information around a indoor environment.