• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.433-439
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• 2010

This paper proposes a beacon color code scheduling algorithm for the localization of multiple robots in a multi-block workspace. With the developments of intelligent robotics and ubiquitous technology, service robots are applicable for the wide area such as airports and train stations where multiple indoor GPS systems are required for the localization of the mobile robots. Indoor localization schemes using ultrasonic sensors have been widely studied due to its cheap price and high accuracy. However, ultrasonic sensors have some shortages of short transmission range and interferences with other ultrasonic signals. In order to use multiple robots in wide workspace concurrently, it is necessary to resolve the interference problem among the multiple robots in the localization process. This paper proposes an indoor localization system for concurrent multiple robots localization in a wide service area which is divided into multi-block for the reliable sensor operation. The beacon color code scheduling algorithm is developed to avoid the signal interferences and to achieve efficient localization with high accuracy and short sampling time. The performance of the proposed localization system is verified through the simulations and the real experiments.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.172-177
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• 2022

In general, detection robots using ultrasonic sensors are equipped with sensors to protrude outward or to contact objects. However, in the case of a screw-propelled robot that detects the inside of a reactor tendon duct, if the ultrasonic sensor protrudes to the outside, resistance due to grease is generated, and thus the propulsion efficiency is reduced. In order to increase the propulsion efficiency, the screw must be sharp, and the sharper the screw, the more difficult it is to apply a high-performance ultrasonic sensor, and the detection efficiency decreases. This paper proposes a screw shape-changing mechanism that can improve both propulsion efficiency and detection efficiency. This mechanism includes an overlapped helical ring (OHR) structure and a magnetic clutch system (MCS), and thus the shape of a screw may be changed to a compact size. As a result, the Screw-propelled robot with this mechanism can reduce the overall length by about 150 mm and change the shape of the screw faster and more accurately than a robot with a linear actuator.

• Journal of KIISE:Software and Applications
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• v.36 no.6
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• pp.462-470
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• 2009

We propose a wearable system to help the visually impaired persons for walking safely to destination. If a user selects a destination, the system guides the user to destination with position data from GPS receiver and shortest path algorithm. At the same time, after acquiring complex spatial structures in front of the user with ultrasonic sensors, we categorize them into several predefined patterns, and determine an avoidance direction by estimating the patterns. As a result, visually impaired persons can arrive at destination safely and correctly without others help.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 1996.11a
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• pp.283-286
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• 1996

A signal generated by partial discharge in low density Polyethylene (LDPE) and cross- linked polyethylene (XLPE) has been detected by ultrasonic sensors. The observed signal is analysed with the quantity of partial discharge, number of peaks, and energy ($\Sigma$y$^2$). It was found that signals between LDPE and XLPE are quite different and that the signal of XLPE has very long duration time and rising time, and that the quantity of partial discharge of XLPE is saturated. It was also found that tree retardant XLPE (TR-XLPE) has lower quantity of partial discharge, number of peaks, and energy than naturalal XLPE.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.8 no.2
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• pp.46-53
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• 1994

This paper presents a diagnosis teclmique using ultrasonic sensors for monitoring the growth of partial discharge in power transformers. This teclmique counts the ultrasonic pulses generated from partial discharge over a threshold leveL In experiments, a ultrasonic generator and the point to plane electrodes generated ultrasonic pulses. With a constant voltage between the electrodes, the ultrasonic pulses over a threshold were a fairly constant. When the voltage increased or insulation paper was inserted between the electrodes, the partial discharge increased. In this case the number of ultrasonic pulses also increased and therefore the proposed teclmiques successfully diagnosed the growth of partial discharge.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.370-373
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• 2002

This paper proposes a new measurement system determine the localization and the type of object which use only three ultrasonic sensors, one the transmitter, one the receiver and one transduce doing both transmitter and receiver. this system can classifies the type and determines the pose of the target object. it used the method of Pseudoamplitude Scan. So it significantly simple the sensing system and reduce the signal processing time so that the working environment can be recognized in real time.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2337-2340
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• 2002

This paper presents the method of AGV(Automatic guided vehicle)'s moving environment(plane, corner, edge) recognition using SONAR sensor configuration. As for the SONAR sensor, the Crosstalk effect has been generally considered as an inevitable noisy phenomenon in the indoor environment. However, this effect can be used as a clue for classifying and localizing targets in the indoor environment if those can be controlled and used well. EERUF(error eliminate rapid ultrasonic firing) is a method for firing multiple ultrasonic sensors in mobile robot application and multi-echo mode of POLARIOD Device can reduce the Crosstalk effect. Here, Crosstalk effect was reduced using EERUF and applied to the AGV with a simple wall-following algorithm in the indoor environment. This method was tesed by a typical AGV with multi SONAR sensors in the laboratory environment.

• Journal of Sensor Science and Technology
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• v.30 no.1
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• pp.25-29
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• 2021

In this study, we successfully developed a highly reliable ultrasonic sediment sensor to detect the sediment levels in sewer pipes in harsh environments. The ultrasonic transducer employed in the ultrasonic sediment sensor was designed so as to possess a simple structure. The developed sensor was carefully optimized by simulating the electromechanical characteristics, radiated sound wave pressures, and directivity via finite element analysis. It was also designed to possess a simple mounting structure minimizing the flow disturbance in a 400-mm sewer pipe; additionally, eight ultrasonic transducers were arranged in a four-channel mode, allowing for measurement of the sediment height in five easy steps. Through experimental evaluations, we verified the performance of the ultrasonic sediment-level sensor and its industrial applicability. The results suggested that although the precision value was notably low at 15 mm, the sediment detection performance was adequate; therefore, the developed sensor can potentially be used in industrial applications.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.9
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• pp.1040-1047
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• 2011

This paper proposes a novel method based on error back propagation neural networks to fuse laser sensor data and ultrasonic sensor data for enhancing the accuracy of mapping. For navigation of single robot, the robot has to know its initial position and accurate environment information around it. However, due to the inherent properties of sensors, each sensor has its own advantages and drawbacks. In our system, the robot equipped with seven ultrasonic sensors and a laser sensor navigates to map two different corridor environments. The experimental results show the effectiveness of the heterogeneous sensor fusion using an error backpropagation algorithm for mapping.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.943-944
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• 2006

In this paper, we implemented the autonomous mobile robot which can recognize and avoid obstacles, then move to its destination using a camera and ultrasonic sensors. The mobile robot can avoid both stationary obstacles with a camera and moving obstacles with ultrasonic sensors. It can find the self-location with the map-based system, that is, it attempts to localize by collecting sensor data, then updating some belief about its position with respect to a map of the environment.