• Smart Structures and Systems
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• v.10 no.3
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• pp.229-251
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• 2012

Guided waves have shown a great potential for structural health monitoring (SHM) applications. In contrast to traditional non-destructive testing (NDT) methodologies, a key element of SHM approaches is the high process of automation. The monitoring system should decide autonomously whether the host structure is intact or not. A basic requirement for the realization of such a system is that the sensors are permanently installed on the host structure. Thus, baseline measurements become available that can be used for diagnostic purposes, i.e., damage detection, localization, etc. This paper contributes to guided wave-based inspection in anisotropic materials for SHM purposes. Therefore, computational strategies are described for both, the solution of the complex equations for wave propagation analysis in composite materials based on exact elasticity theory and the popular global matrix method, as well as the underlying equations of two active damage localization algorithms for anisotropic structures. The result of the global matrix method is an angular and frequency dependent wave velocity characteristic that is used subsequently in the localization procedures. Numerical simulations and experimental investigations through time-delay measurements are carried out in order to validate the proposed theoretical model. An exemplary case study including the calculation of dispersion curves and damage localization is conducted on an exemplary unidirectional composite structure where the ultrasonic signals processed in the localization step are simulated with the spectral element method. The proposed study demonstrates the capabilities of the proposed algorithms for accurate damage localization in anisotropic structures.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.198-204
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• 2007

In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.4
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• pp.280-285
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• 2011

Recently, with the development of service robots and the concept of ubiquitous, the position estimation of mobile objects has received great interest. Some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter. The RFID receiver gets the synchronization signal from the mobile robot and the ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can acquire the ultrasonic signals from only one or two beacons, due to the obstacles located along the moving path. In this paper, a position estimation scheme using fewer than three sensors is developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.6
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• pp.989-995
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• 2013

Unlike fossil-or nuclear fuel-based power generation, wind power generation using inexhaustible wind energy is a pollution-free, hazardless power generation method. In this study, ultrasound thermography is used for fabricating specimens of wind power generator bearings and wind power generator supplement flanges, and an optimally designed ultrasound horn and ultrasound excitation system are used for detecting damage to part materials of a wind power generation setup. In addition, thermal flow analysis and ultrasonic thermography imaging are comparatively analyzed for improving the detection reliability in terms of surface and internal defects of part materials and for verifying the developed system's field applicability and reliability.

• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.74-81
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• 2005

A 3-D localization method of an autonomous underwater vehicle (AUV) has been developed, which can solve the limitations oj the conventional localization, such as LBL or SBL that reduces the flexibility and availability of the AUV. The system is composed of a mother ship (small unmanned marine prober) on the surface of the water and an unmanned underwater vehicle in the water. The mother ship is equipped with a digital compass and a GPS for position information, and an extended Kalman filter is used for position estimation. For the localization of the AUV, we used only non-inertial sensors, such as a digital compass, a pressure sensor, a clinometer, and ultrasonic sensors. From the orientation and velocity information, a priori position of the AUV is estimated by applying the dead reckoning method. Based on the extended Kalman filter algorithm, a posteriori position of the AUV is, then, updated by using the distance between the AUV and a mother ship on the surface of the water, together with the depth information from the pressure sensor.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.4
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• pp.167-174
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• 2018

Presently, the exploration of an unknown environment is an important task for the development of mobile robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, In mobile robotics, multi-sensor data fusion(MSDF) became useful method for navigation and collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within indoor environments. Simulation results with a mobile robot will demonstrate the effectiveness of the discussed methods.

• Journal of Sensor Science and Technology
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• v.32 no.2
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• pp.118-123
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• 2023

This study presents sensor system for autonomous mobile robot capable of floor-to-floor self-navigation. The robot was modified using the Turtlebot3 hardware platform and ROS2 (robot operating system 2). The robot utilized the Navigation2 package to estimate and calibrate the moving path acquiring a map with SLAM (simultaneous localization and mapping). For elevator boarding, ultrasonic sensor data and threshold distance are compared to determine whether the elevator door is open. The current floor information of the elevator is determined using image processing results of the ceiling-fixed camera capturing the elevator LCD (liquid crystal display)/LED (light emitting diode). To realize seamless communication at any spot in the building, the LoRa (long-range) communication module was installed on the self-navigating autonomous mobile robot to support the robot in deciding if the elevator door is open, when to get off the elevator, and how to reach at the destination.

• Advanced Composite Materials
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• v.18 no.1
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• pp.43-59
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• 2009

The current study assessed the effect of a bolt hole on tensile fatigue properties of CFRP laminates. Two specimens, i.e. $[(0/90)_3]S$, $[(0/45/90/-45)_2]_S$, were analyzed using a finite element method and were experimentally tested for cases, both with and without a hole, whose diameter corresponded to 0.12 times the specimen width. Delamination positions predicted by a 3-dimensional static finite element analysis were matched well to those observed by an ultrasonic imaging system in the middle of fatigue test. A hole whose diameter corresponds to 0.12 times the specimen width caused the fatigue strength to decrease by 9% and 11% under 5 Hz loading frequency, and by 22% and 25% under 10 Hz loading frequency for $[(0/90)_3]_S$ and $[(0/45/90/-45)_2]_S$, respectively. Because the decrease in sectional area due to the hole was normalized in calculation of the tensile strength, a stress concentration around the hole is believed to induce the strength degradation of fatigue specimens. From the finite element analyses, the stress concentration factor around a hole was expected as 8.8 and 9.5 for $[(0/90)_3]_S$ and $[(0/45/90/-45)_2]_S$, respectively.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.10a
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• pp.430-433
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• 2018

This paper proposes the Kalman filter (KF) with optical flow method to estimate the position and the velocity of unmanned aerial vehicles (UAVs) in the absence of global positioning system (GPS). A downward-looking camera, a gyroscope and an ultrasonic sensor are fused to compensate the measurement from optical-flow method. To overcome the problem of dealing with noise in onboard sensors, the KF is incorporated to efficiently predict the velocity and estimate the position. Basic mechanisms of optical flow and the KF are introduced and experiments are conducted to show how the techniques involved improve the estimations.

• Korean Journal of Materials Research
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• v.26 no.12
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• pp.714-720
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• 2016

We performed this study to understand the effect of a single-crystalline anode on the mechanical properties of as-deposited films during electrochemical deposition. We used a (111) single- crystalline Cu plate as an anode, and Si substrates with Cr/Au conductive seed layers were prepared for the cathode. Electrodeposition was performed with a standard 3-electrode system in copper sulfate electrolyte. Interestingly, the grain boundaries of the as-deposited Cu thin films using single-crystalline Cu anode were not distinct; this is in contrast to the easily recognizable grain boundaries of the Cu thin films that were formed using a poly-crystalline Cu anode. Tensile testing was performed to obtain the mechanical properties of the Cu thin films. Ultimate tensile strength and elongation to failure of the Cu thin films fabricated using the (111) single-crystalline Cu anode were found to have increased by approximately 52 % and 37 %, respectively, compared with those values of the Cu thin films fabricated using apoly-crystalline Cu anode. We applied ultrasonic irradiation during electrodeposition to disturb the uniform stream; we then observed no single-crystalline anode effect. Consequently, it is presumed that the single-crystalline Cu anode can induce a directional/uniform stream of ions in the electrolyte that can create films with smeared grain boundaries, which boundaries strongly affect the mechanical properties of the electrodeposited Cu films.