• 전자공학회논문지
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• 제54권6호
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• pp.93-99
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• 2017

본 연구에서는 Xilinx의 Zynq SoC (system on chip)를 이용하여 초음파 신호의 TOF (Time of Flight)를 측정한다. TOF는 특정 거리를 이동하는 데 소요되는 RF (radio frequency) 기준 신호와 초음파 신호의 시간차이로 부터 계산되고, 공기중 초음파의 속도를 곱하여 초음파 이동거리를 알아낸다. 이를 위해 Zynq의 내장 ADC, FIR (finite impulse response) 필터, Kalman 필터로부터 초음파 펄스를 생성하고, RF 인터페이스로부터 RF 기준펄스를 생성한다. Kalman 필터와 RF 인터페이스는 baremetal 멀티프로세싱에 의해 Zynq의 듀얼 프로세서 코어에 c-코드로 프로그래밍하고 나머지 구성 요소들은 Zynq의 FPGA 내에 설계하여, HW/SW co-design을 구현한다. 이를 통해 HW design에 비해 Zynq 자원의 가용률을 낮추고, 설계 시간을 대폭 줄일 수 있었다. 설계 툴로 Vivado IDE (integrated design environment)를 이용하여, 전체 신호처리 시스템을 계층적 블록 다이어그램의 형태로 설계하였다.

• 한국전자통신학회논문지
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• 제12권1호
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• pp.53-60
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• 2017

현재 대부분의 초음파를 이용한 거리 측정 기술은 송신부로부터 수신기까지 초음파가 진행하는 시간 즉, TOF(: Time of Flight)를 측정하여 그 동안 음파가 진행한 거리를 산출하는 방법을 활용한다. 이 경우 거리 측정 정확도를 높이기 위해서는 정확한 TOF의 측정이 필요하다. 본 논문은 정확한 TOF를 산출하기 위해 초음파 송수신기의 수학적 모델을 이용하여 수신된 파형의 수학적 모델을 얻어내고 이를 바탕으로 TOF를 산출하는 방식을 제안한다. 이 방식은 트리거링 후부터 수신된 파형를 이미 얻어진 수학적 모델과 최소자승법을 이용하여 비교하여 초음파 신호가 수신기에 도달한 시점을 역으로 추정하는 방식이다. 제안된 방법을 사용할 경우 트리거링 시점의 변동에 의한 영향을 줄일 수 있음을 실험을 통하여 확인하였다.

• Journal of Electrical Engineering and Technology
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• 제13권2호
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• pp.981-988
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• 2018

In order to acquire an accurate TOF, this paper proposes a method that produces TOF by using a mathematical model for the envelope of the received signal obtained from a system dynamic model of ultrasonic transducer. The proposed method estimates the arrival time of the received signal retrospectively by comparing its wave form obtained after triggering point with its mathematical envelope model. Experimental result shows that the error due to variation of triggering point can be dramatically decreased by implementing the proposed method.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2013년도 춘계학술대회
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• pp.293-298
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• 2013

본 연구는 수중 거리 측정을 위한 초음파 센서를 개발한다. 초음파 트랜스듀서는 음파를 발신하고 발신된 음파가 물체에 부딪혀 되돌아오는 반사파를 수신한다. 초음파 드라이버는 반사된 물체까지 거리 측정을 위해 음파의 비행시간을 검출해 음속을 곱한다. 본 연구에서는 비행시간을 검출하기 위해 임계값과 상호 상관 기법을 적용하고 그 결과를 보인다. 반사파가 노이즈에 감염되어 신호의 형태가 왜곡될 때 상호상관 기법은 기준 신호와 수신 신호의 유사성을 이용하여 비행시간을 검출한다. 기준 신호를 수중 환경에 따라 다르게 적용해 반사파와 유사성을 높여 센서의 성능을 향상시킨다. 논문에서는 초음파 센서 드라이버를 설명하고 실험환경에 따른 센서의 성능을 분석한다.

• 센서학회지
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• 제23권1호
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• pp.46-50
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• 2014

In this paper, we report a novel algorithm based on phase displacement, which supplements conventional TOF methods for distance measurement using an ultrasonic wave. The proposed algorithm roughly measures the distance between the transmission part and the receiving part by using the initial TOF. Thereafter, the precise distance is determined by measuring the phase displacement value between the synchronizing transmission signal and the signal obtained at the receiving end. A distance measurement experiment using a micrometer was performed to verify the accuracy of the ultrasonic wave sensor system. We found that the mean errors from the one adopting the distance measurement algorithm based on phase displacement varied from a minimum of 0.03 mm to a maximum of 0.09 mm. In addition, the standard deviation varied from a minimum of 0.04 mm to a maximum of 0.07 mm, thus giving a precision of ${\pm}0.1$ mm.

• 전기학회논문지
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• 제66권8호
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• pp.1250-1256
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• 2017

In this research, a high-performance ultrasonic positioning system is proposed to track the positions of an indoor mobile object. Composed of an ultrasonic sender (mobile object) and a receiver (anchor), the system employs three ultrasonic time-off-flights (TOFs) and trilateration to estimate the positions of the object with an accuracy of sub-centimeter. On the other hand, because ultrasonic waves are interfered by temperature, wind and various obstacles obstructing the propagation while propagating in air, ultrasonic pulse debounce technique and Kalman filter were applied to TOF and position calculation, respectively, to compensate for the interference and to obtain more accurate moving object position. To perform tasks in real time, ultrasonic signals are processed full-digitally with a Zynq SoC, and as a software design tool, Vivado IDE(integrated design environment) is used to design the whole signal processing system in hierarchical block diagrams. And, a hardware/software co-design is implemented, where the digital circuit portion is designed in the Zynq's fpga and the software portion is c-coded in the Zynq's processors by using the baremetal multiprocessing scheme in which the c-codes are distributed to dual-core processors, cpu0 and cpu1. To verify the usefulness of the proposed system, experiments were performed and the results were analyzed, and it was confirmed that the moving object could be tracked with accuracy of sub-cm.

• Journal of Electrical Engineering and Technology
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• 제9권5호
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• pp.1753-1761
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• 2014

Due to the inherent inhomogeneous and anisotropy nature of the composite materials, the detection of internal defects in these materials with non-destructive techniques is an important requirement both for quality checks during the production phase and in service inspection during maintenance operations. The estimation of the time-of-arrival (TOA) and/or time-of-flight (TOF) of the ultrasonic echoes is essential in ultrasonic non-destructive testing (NDT). In this paper, we used split-spectrum processing (SSP) combined with matching pursuit signal decomposition (MPSD) to develop a dedicated ultrasonic detection system. SSP algorithm is used for Signal-to-Noise Ratio (SNR) enhancement, and the MPSD algorithm is used to decompose backscattered signals into a linear expansion of chirplet echoes and estimate the chirplet parameters. Therefore, the combination of SSP and MPSD (SSP-MPSD) presents a powerful technique for ultrasonic NDT. The SSP algorithm is achieved by using Gaussian band pass filters. Then, MPSD algorithm uses the Maximum Likelihood Estimation. The good performance of the proposed method is experimentally verified using ultrasonic traces acquired from three specimens of carbon fibre reinforced polymer multi-layered composite materials (CFRP).

• 한국통신학회논문지
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• 제31권7B호
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• pp.595-601
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• 2006

이 연구는 유비쿼터스 컴퓨팅 환경에서 절대 위치 좌표를 제공할 수 있는 초음파 위치인식 시스템에 관한 것이다. 무선(RF: Radio Frequency) 신호에 의해 동기화된 다수의 고정된 발신기가 순차적으로 초음파를 발신하며, 초음파 신호들을 수신한 수신기에서 TOF를 파악하여 이를 거리로 환산한 다음 위치정보를 계산한다. 초음파의 전파시간(TOF: Time of Flight)은 주기인식 방법을 통해 파악한다. 또한 유비쿼터스 컴퓨팅을 위한 인식 영역의 확장을 위해 셀 매칭 기법과 부호화된 초음파 기법을 제안한다. 초음파 위치인식 시스템인 U-SAT을 사용하여 주기인식 기법의 유용성을 입증하기 위하여 다양한 거리에서 실험을 수행하였다. 또한 셀 매칭 기법에 의한 영역 확장에서도 위치 측정의 정확도를 검증하였으며 부호화된 초음파 기법의 분석으로 그 유용성도 입증하였다. 그 결과로 인해 저가격, 높은 갱신율, 그리고 상대적으로 뛰어난 정밀도의 입장에서 GPS가 적용될 수 없는 환경에서의 유비쿼터스 컴퓨팅의 위치인식 시스템으로서의 가능성을 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 제어로봇시스템학회논문지
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• 제10권11호
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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.