• Proceedings of the KSME Conference
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• 2001.06a
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• pp.78-83
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• 2001

It's required mechanical properties of in-service facilities to maintain safety operation in power plants as well as chemical plants. In this study the four classes of the thermally aged 1Cr-1Mo-0.25V specimens were prepared using an artificially accelerated aging method at $630^{\circ}C$. Ultrasonic tests, tensile tests, $K_{IC}$ tests and hardness tests were performed in order to evaluate the degree of degradation of the material. The mechanical properties were decreased as degraded, but the attenuation coefficient and the harmonic generation level of a ultrasonic signal were increased. Expecially the nonlinear parameter of the signal is sensitive and will be a good parameter to evaluate the material degradation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.8
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• pp.1089-1098
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• 2018

In this paper, we propose an autonomous feeding robot and its obstacle classification system using ultrasonic sensors to secure the driving safety of the robot and efficient feeding operation. The developed feeding robot is verified by operation experiments in a cattle shed. In the proposed classification algorithm, not only the maximum amplitude of the ultrasonic echo signal but also two gradients of the signal and the variation of amplitude are considered as the feature parameters for object classification. The experimental results show the efficiency of the proposed classification method based on the Support Vector Machine, which is able to classify objects or obstacles such as a human, a cow, a fence and a wall.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.556-559
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• 2008

In this study, an automated ultrasonic testing system and post signal and image processing techniques are developed in order to construct ultrasonic flaw images in weldments. The automated ultrasonic testing system developed in the present study adopted an 8 channel pulser/receiver-ADC unit and a 2 axis motion driving unit and the post signal and image processing algorithms are built into the system program of the automated ultrasonic testing system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2519-2523
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• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Journal of the Korean Society for Nondestructive Testing
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• v.21 no.6
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• pp.612-617
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• 2001

A nondestructive evaluation technique for detecting internal defects of an hot forged Al-Si alloy part is established in this study. Ultrasonic characteristics of various internal planar defects are investigated by experiments for establishing a reliable test procedure. The effect of the angle between ultrasonic energy propagation directions and planar defects on the ultrasonic signal configuration is evaluated in the pulse-echo technique. A characteristic of ultrasonic signal for the internal planar defect located near the edge is also evaluated. The applicability of the through-transmission technique is also discussed. Reliability of the presented approach is validated by the destructive testing for more than 500 specimens.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2006.05a
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• pp.11-16
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• 2006

The object of this study is to develop new examination techniques for detecting the debonds in adhesive interface of different kinds of the material. Ultrasonic signal was modeled by theoretically analyzing ultrasonic propagation phenomenon of the adhesive interface and debonding interface. The test method using the phase reversal of the debonding interface applied to the FRP/Rubber test block. Aluminum/Rubber test block with the flat bottom hole was manufactured to quantitatively evaluate the minimum detection ability of the defects. The pulse echo reflection method and the phase reversal method were mutually compared and it was estimated that the phase reversal method could detect the debonds on the basis of the theoretically predicted ultrasonic signal and ultrasonic test data.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.7 s.166
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• pp.1065-1074
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• 1999

This study proposes the analysis and evaluation method of time series ultrasonic signal using the chaotic feature extraction for ultrasonic pattern recognition. Features extracted from time series data using the chaotic time series signal analysis quantitatively welding defects. For this purpose analysis objective in this study is fractal dimension and Lyapunov exponent. Trajectory changes in the strange attractor indicated that even same type of defects carried substantial difference in chaoticity resulting from distance shills such as 0.5 and 1.0 skip distance. Such differences in chaoticity enables the evaluation of unique features of defects in the weld zone. In experiment fractal(correlation) dimension and Lyapunov exponent extracted from 6dB ultrasonic defect signals of weld zone showed chaoticity. In quantitative chaotic feature extraction, feature values(mean values) of 4.2690 and 0.0907 in the case of porosity and 4.2432 and 0.0888 in the case of incomplete penetration were proposed on the basis of fractal dimension and Lyapunov exponent. Proposed chaotic feature extraction in this study enhances ultrasonic pattern recognition results from defect signals of weld zone such as vertical hole.

• Korean Journal of Materials Research
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• v.13 no.10
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• pp.651-657
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• 2003

Ultrasonic microscope has been used to detect the defects on surface or inner solid. Conventionally, it has used at a single operating frequency. The resolution and quality of the measured images are determined by a characteristic of the transducer of the ultrasonic microscope. The conventional ultrasonic microscope has been used envelope detector to detect the amplitude of reflected signal, but the changes in amplitude is not sensitive enough for specimen with microstructure that in phase. In this paper, we have studied multi-frequency depth resolution enhancement with ultrasonic reflection microscope for the reflectors of a stainless steel reference specimen and a reference calibration block to be used as the material in nuclear power plants for ISI, PSI. Increased depth resolution can be obtained by taking two, three-dimensional images at more that one frequency and numerically combining the results. As results of the experiment, we could get enhanced images with the rate of contrast in proportion and high quality signal distribution for the image to the changing rate of depth for the reflectors of the two kinds of specimens.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.6
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• pp.167-174
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• 1998

The ultrasonic test is recognized for its significance as a non-destructive testing method to detect volume defects such as porosity and incomplete penetration which reduce strength in the weld zone. This paper illustrates the defect detection in the weld zone of ferritic carbon steel using ultrasonic wave and the evaluation of pattern recognition by chaotic feature extraction using time series signal of detected defects as data. Shown in the time series data were that the time delay was 4 and the embedding dimension was 6 which indicate the geometric dimension of the subject system and the extent of information correlation. Based on fractal dimension and lyapunov exponent in quantitative chaotic feature extraction, feature value of 2.15, 0.47 is presented for porosity and 2.24, 0.51 for incomplete penetration The precision rate of the pattern recognition is enhanced with these values on the total waveform of defect signal in the weld zone. Therefore, we think that the ultrasonic pattern recognition method of weld zone defects of ferritic carbon steel by ultrasonic-chaotic feature extraction proposed in this paper can boost precision rate further than the existing method applying only partial waveform.