• Journal of the Korean Society for Nondestructive Testing
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• v.28 no.1
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• pp.40-45
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• 2008

Immersion ultrasonic testing (UT) was used to determine elastic moduli of solid materials instead of the widely-used contact UT method. Conventionally, immersion UT is only used for determining the longitudinal wave speed. However, in this research, transverse wave speed was measured through finding transverse wave echoes caused by mode-conversion at material's boundary. Also, even in the cases when wave speeds could not be determined due to unknown thickness, Poisson's ratio was able to be calculated from the ratio of longitudinal and transverse wave speeds. This technique was verified for several materials, and it was found that higher accuracy was obtained by immersion UT method for materials either with relatively high wave speed or with relatively small Poisson's ratio. This technique thus will be suitable fur ceramics or high strength materials.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.658-662
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• 1991

In this paper, a real-time obstacle avoidance for mobile robot based on the readings of the ultrasonic sensors is presented. The twenty eight ultrasonic sensors are arranged in ring and controlled by microprocessor. The readings of the ultrasonic sensor is converted into the virtual forces called repulsive forces, which are the elastic and damping forces. Then, the direction and speed of mobile robot in the cluttered environment are determined by the virtual forces. The effectiveness of the proposed method is verified from a series of simulation studies.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.68-71
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• 2001

This paper has been studied for a comparison of the propagation and noise characteristics between ultrasonic and electromagnetic wave for the high speed communication of the short range telemetry. We analyze the propagation depth of electromagnetic and ultrasonic wave by skin depth effect and by ultrasonic loss ratio. We also studied several effects such as near field effect in electromagnetic wave and Rayleigh scattering noise of ultrasonic wave, etc. We show the experimental results of their propagation loss and modulation experiments in water. The experimental results show that both method is good for the implementation of short range telemetry.

• The Transactions of the Korean Institute of Power Electronics
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• v.5 no.2
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• pp.105-114
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• 2000

To chive a traveling wave type ultrasonic motor with the series""-resonant inverter, the external inductor is i lnserted between the motor and inverter. In $\psi$is paper, we proposed a novel 3Ilalysis method to design the 3 ~xternal inductor. An equivalent model of the ultrasonic motor is expressed, and a selection method of the , ;;eries inductor is proposed from the basis of the model. When the series inductor has an optimal value, it is v velified by computer simulation results that power is efficiently transmitted to the mechanical resonant c component in the motor. The frequency and speed characteristics of the ultrasonic motor are investigated by e experiments for several external inductors. The validity of the proposed method for selecting external inductor i is clarified.clarified.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1999.11a
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• pp.233-239
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• 1999

The feasibility of an ultrasonic technique using a pulse-echo method of normal-incident compressional waves was evaluated for its sensitivity to the worn surface and near surface damage due to wear. Worn surfaces were generated at various oscillation frequency under a given load and amplitude and these surface were in situ monitored using a ultrasonic wave detection system. Analysis of the ultrasonic waves received from the worn surface revealed a close relationship between the surface and near-surface damage and the maximum echo-amplitude of the compressional waves. The ultrasonic technique was successful in assessing the level of severity of the worn surface in real time during the wear process. It is also shown that the wear depth can be easily measured by the calculation of change of the specimen thickness based on the wave speed measured for the specimen medium.

• Tribology and Lubricants
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• v.16 no.5
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• pp.351-356
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• 2000

The feasibility of an ultrasonic technique using a pulse-echo method of normal-incident compressional waves was evaluated for its sensitivity to the worn surface and near surface damage due to wear. Worn surfaces were generated at various oscillation frequency under a given load and amplitude and these surface were in situ monitored using a ultrasonic wave detection system. Analysis of the ultrasonic waves received from the worn surface revealed a close relationship between the surface and near-surface damage and the maximum echo-amplitude of the compressional waves. The ultrasonic technique was successful in assessing the level of severity of the worn surface in real time during the wear process. It is also shown that the wear depth can be easily measured by the calculation of change of the specimen thickness based on the wave speed measured for the specimen medium.

• Proceedings of the KIEE Conference
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• 1998.07d
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• pp.1534-1536
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• 1998

We designed and fabricated plate-type linear ultrasonic motor. It used multi-vibration mode, 1st Longitudinal and 4th Bending mode. To analyze vibration mode and find maximum displacement point, we simulated using FEM(Finite Element Method). The plate-type linear ultrasonic motor was fabricated by the simulation results. Also, to confirm application to card-forwarding device, frequency and load characteristics were measured. Its resonance frequency was 49.6 kHz, and its maximum speed was about 0.6m/s when no load. Also, its maximum efficiency was 1.2 % and in that time, speed and torque was 0.3 m/s and 0.7 mNm, respectively.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.53-58
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• 2023

In general, in order to operate an autonomous underwater vehicle (AUV) in an underwater environment, a navigation system such as a Doppler Log (DVL) using a Doppler phenomenon of ultrasonic waves is used for speed and direction estimation. However, most of the ultrasonic sensors in underwater is large for long-distance sensing and the cost is very high. In this study, not only canal neuromast on the fish's lateral lines but also superficial neuromast are studied on the simulation to obtain pressure values for each pressure sensor, and the obtained pressure data is supervised using spherical CNN. To this end, through supervised learning using pressure data obtained from a pressure sensor attached to an underwater vehicle, we can estimate the speed and angle of the underwater vehicle in a quasi-static underwater environment and propose a method for a non-ultrasonic based navigation system.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.754-756
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• 2004

The ultrasonic piezo motor is a new type motor that has an excellent performance and many useful features that electromagnetic motors do not have. But, it suffers from severe system non-linearities and parameter variations especially during speed control. Therefore, it is difficult to accomplish satisfactory control performance by using the conventional PID controller. In this paper, to achieve the precise control, we analyzed response time & change with a driving time, and proposed PD controller combined with neural network. The backpropagation algorithm is used to train a given trajectory. The effectiveness of the used method is confirmed by experiments. The effectiveness of the used method is confirmed by experiments using the ultrasonic motor made in Korea.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.1113-1116
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• 1999

For mobile robot, the navigation effectiveness can be improved by providing autonomy, but this autonomy requires the mobile robot to detect unknown obstacles and avoid collisions while moving it toward the target. This paper presents an effective method for autonomous navigation of the mobile robot in structured environments. This method uses ultrasonic sensor array to detect obstacles and utilizes force relationship between the obstacles and the target for avoiding collisions. Accuracy of sensory data produced by ultrasonic sensors is improved by employing error eliminating rapid ultrasonic firing (EERUF) technique. Navigation algorithm controlling both the velocity and steering simultaneously is developed, implemented to the mobile robot and tested on the floor filled with the cluttered obstacles. It is verified that from the results of the field tests the mobile robot can move at a maximum speed of 0.66 m/sec without any collisions.