• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.4
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• pp.586-591
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• 2015

This paper proposes a force feedback system of telepresence robot for remote operation. The ultrasonic sensors attached at the robot detect the obstacles, and generate the force to the operation joystick. In order to consider the network delay, we developed the fuzzy control system using ultrasonic data and robot speed. The method to calculate the force vector from the ultrasonic data is also presented to operate the robot more accurately. The simulation and experimental results are presented to verify the safe and accurate operation of the proposed system.

• Journal of the Institute of Convergence Signal Processing
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• v.24 no.3
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• pp.172-177
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• 2023

In this paper, 2-dimensional backtracking method for ultrasonic signals. Ultrasonic sensors are a common technology used in industrial fields as many studies have been conducted on distance measurement and indoor location tracking using transmission and reception devices in pairs. A method for tracking a signal of an arbitrary ultrasonic transmission device on a 2D plane using only a receiver of an ultrasonic signal is proposed. In order to track the ultrasonic signal, the receiver receives the signal by making at least three. The three receivers may calculate a direction and a distance using a time difference in which the ultrasound reception sound is reached. The existing method of tracking signal sources using ultrasonic waves has a problem of time synchronization of devices because the transceivers must be paired or installed independently for each sensor. In order to solve this problem, the distance of the ultrasonic receiver is minimized, and it is configured as one device. The sensor installed as one device may be processed by one operator, thereby solving the time synchronization problem. To increase time difference accuracy, high-speed 32-bit timers with high time resolution can be used to quickly calculate and track distances and directions.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.83.1-83
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• 2002

$\textbullet$ Introduction $\textbullet$ Control System Structure $\textbullet$ Coefficient Diagram Method $\textbullet$ Controller Design $\textbullet$ Experimental Results $\textbullet$ Conclusions

• Journal of the Korean Society for Nondestructive Testing
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• v.24 no.2
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• pp.180-185
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• 2004

Conventional ultrasonic examination to detect micro and small surface cracks is based on the pulse-echo technique using a normal immersion focused transducer with high frequency, or an angle-beam transducer generating surface waves. It is difficult to make an automatic ultrasonic system that can detect micro and small surface cracks and position in a large structure like steel and ceramic rolls, because of the huge data of inspection and the ambiguous position data of the transducer. In this study, a high-precision scanning acoustic microscope with a 10MHz large-aperture transducer has been used to assess the existence, position and depth of a surface crack from the real-time A, B, C scans obtained by exploiting the ultrasonic diffraction. The ultrasonic method with large aperture transducer has improved the accuracy of the crack depth assessment and also the scanning speed by ten times, compared with the conventional ultrasonic methods.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.8
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• pp.1191-1199
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• 2003

This paper describes to observe the combustion process of only one droplet cluster. In this study, liquid fuel was atomized by ultrasonic wave to form an acoustically levitated droplet cluster. In order to elucidate the detailed structure of burning process of the droplet cluster, laser tomography method was applied. Time-series planar images of fuel droplets were processed and diameter of the each droplet was calculated based on the Mie-scattering theory. Using these data, the modified droplet group combustion number was estimated in time-series. As the result, when the internal droplet group combustion occur, the modified group combustion number dose not decrease monotonically, but show a tow-staged decreasing process. In all case of combustion process, combustion reactions were measured two types that combustion speed was fast and slow. It was casued by difference of concentration degree and droplet size distribution.

• Proceedings of the KIPE Conference
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• 2003.07a
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• pp.146-149
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• 2003

To control the position, velocity and torque of the ultrasonic motor, a great variety of method are proposed such as the amplitude, phase difference, frequency and so on. In the case of phase difference method, it has some advantages: it can control the direction and velocity of rotation only adjusting the phase difference and it has wide control-band. During the USM driving on adjusting phase difference, its characteristic was transformed by the change of resonance-frequency of stator, which means that the resonance frequency is different according to the phase difference. Consequently, we need to set up the most suitable driving frequency according to each phase difference.

• Proceedings of the KIEE Conference
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• 2003.10a
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• pp.42-44
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• 2003

The paper presents the method and apparatus for conformal photoresist spray coating on the 3D structured substrate. The system consists of a high-temperature-rotational chuck, ultrasonic spray nozzle module, angle control module and nozzle moving module. The coating uniformity is acquired by controlling the moving speed of the ultrasonic spray nozzle across the substrate which is rotated constantly. To coat the photoresist conformally the spray angle of the nozzle and the temperature of the substrate are controlled during spray coating. The rotational chuck can be heated up by hot air or $N_2$. The photoresist (AZ1512) has been coated on the 3D structured wafer by spray coating system and the characteristics have been evaluated.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.891-895
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• 2013

This paper proposes the development of a new method for online analysis which measured acid concentration in a pickling line. Pickling is the most important step to remove surface scale layers and is strongly depending on the exactly controlled pickling liquor composition. Today, there is no feasible system available for the online control of pickling lines. Within this paper, new methods for online analysis of pickling liquors have been tested and implemented into an overall pickling process control tool. This method measured simultaneously the hydrochloric acid and iron ion concentration in a solution of hydrochloric acid by measuring the ultrasonic speed, the solution temperature, and the electrical conductivity. Experimental results showed excellent precision and the measurement error was ${\pm}2g/l$ compared with the neutralization titration measurement.

• Journal of the Korean Institute of Navigation
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• v.19 no.4
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• pp.1-8
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• 1995

Although ship's draught information onboard is substantial for both the safety of navigation and the estimation of loaded cargoes, its accuracy depends, in conventional surveying method, on the skillfulness of observers and the condition of the sea surface round the vessel. To obtain more accurate information accessibly, measuring instruments with sophisticated sensors such as mechanical, electronic and ultrasonic transducers have been developed. However, they have still limitation in accuracy and in making up a system due to the complexity of processing signal. In this paper, we propose a new technique for analyzing ultrasonic pulse signal, in order to improve the measurement accuracy and simplify a remote sensing system of draught by ultrasonic waves. In this technique, pulse signal is translated into phase curve which is composed of the phase value defined in time domain. Then, the time interval between two signals different in waveform, is waveform, is analytically determined by calculating average time difference on phase curves. Also, analytical procedure can be carried out in real time with the successive five data sampled at T/4, for high speed digital processing with computer and A/D converter. This technique is useful for measuring draught under the influence of sea condition and for interfacing its data briefly to the integrated bridge system.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.242-247
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• 2008

As an absolute positioning system, iGS is designed based on ultrasonic signals whose speed can be formulated clearly in terms of time and room temperature, which is utilized for a mobile robot localization. The iGS is composed of an RFID receiver and an ultra-sonic transmitter, where an RFID is designated to synchronize the transmitter and receiver of the ultrasonic signal. The traveling time of the ultrasonic signal has been used to calculate the distance between the iGS system and a beacon which is located at a pre-determined location. This paper suggests an effective operation method of iGS to estimate position of the mobile robot working in unstructured environment. To expand recognition range and to improve accuracy of the system, two strategies are proposed: utilization of beacons belonging to neighboring blocks and removal of the environment-reflected ultrasonic signals. As the results, the ubiquitous localization system based on iGS as a pseudo-satellite system has been developed successfully with a low cost, a high update rate, and relatively high precision.