• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.2
• /
• pp.140-146
• /
• 2007

This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used fur tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.21 no.2
• /
• pp.158-165
• /
• 2018

Recently there is a great interest in the bi-static sonar. However, since the transmitter and the receiver operate on different platforms, it may be necessary to operate the system in a non-cooperative mode. In this situation, the detection and localization performance are limited. Therefore, it is necessary to classify the received pulse from the transmitter to overcome the performance limitation. In this paper, we proposed a robust automatic pulse classification method that can be applied to real systems. The proposed method eliminates the effects of noise and multipath propagation through post-processing and improves the pulse classification performance. We also verified the proposed method through the sea experimental data.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.30 no.3
• /
• pp.261-270
• /
• 2010

This paper presents an analytical investigation for a baseline-free imaging of a defect in plate-like structures using the time-reversal of Lamb waves. We first consider the flexural wave (A0 mode) propagation in a plate containing a defect, and reception and time reversal process of the output signal at the receiver. The received output signal is then composed of two parts: a directly propagated wave and a scattered wave from the defect. The time reversal of these waves recovers the original input signal, and produces two additional side bands that contain the time-of-flight information on the defect location. One of the side band signals is then extracted as a pure defect signal. A defect localization image is then constructed from a beamforming technique based on the time-frequency analysis of the side band signal for each transducer pair in a network of sensors. The simulation results show that the proposed scheme enables the accurate, baseline-free detection of a defect, so that experimental studies are needed to verify the proposed method and to be applied to real structure.

• Smart Structures and Systems
• /
• v.4 no.3
• /
• pp.343-365
• /
• 2008

In this study, the frequency domain method which utilizes the evaluation of changes in the structural mode shape is adopted to identify regions which contain localized damages. Frequency response function (FRF) values corresponding to the modal frequency, analogous to the mode shape coefficients, are used since change in natural frequency of the system is usually insignificant for localized damage. This method requires only few sensors to obtain the dynamic response of the structure at specific locations to determine the FRF via fast-Fourier transform (FFT). Numerical examples of an aluminum plate, which includes damages of varying severity, locations and combinations of multiple locations, are presented to demonstrate the feasibility of the method. An experimental verification of the method is also done using an aluminum plate with two different degrees of damage, namely a half-through notch and a through notch. The inconsistency in attaining the FRF values for practical applications due to varying impact load may be overcome via statistical averaging, although large variations in the loading in terms of the contact duration should still be avoided. Nonetheless, this method needs special attention when the damages induce notable changes in the modal frequency, such as when the damages are of high severity or cover more extensive area or near the boundary where the support condition is modified. This is largely due to the significant decrease in the frequency term compared to the increase in the vibration amplitude. For practical reasons such as the use of limited number of sensors and to facilitate automation, extending the resolution of this method of identification may not be efficient. Hence, methods based on wave propagation can be employed as a complement on the isolated region to provide an accurate localization as well as to trace the geometry of the damage.

• Smart Structures and Systems
• /
• v.25 no.1
• /
• pp.1-22
• /
• 2020

The modal strain energy method is one of the efficient methods for detecting damage in the structures. Due to existing some limitations in real-world structures, sensors can only be located on a limited number of degrees of freedom (DOFs) of a structure. Therefore, the mode shape values in all DOFs of structures cannot be measured. In this paper, a modified modal strain energy based index (MMSEBI) is introduced to locate damaged elements of structures when a limited number of sensors are used. The proposed MMSEBI is based on the reconstruction of mode shapes using Improved Reduction System (IRS) method. Therefore, in the first step by employing IRS method, mode shapes in slave degrees of freedom are estimated by those of master degrees of freedom. In the second step, the proposed MMSEBI is used to located damage elements. In order to evaluate the efficiency of the proposed method, two numerical examples are considered under different damage patterns considering the measurement noise. Moreover, the universal threshold based on statistical hypothesis testing principles is applied to damage index values. The results show the effectiveness of the proposed MMSEBI for the structural damage localization when comparing with the available damage index named MESBI. The results demonstrate that the presented method can be used as a practical strategy for structural damage identification, especially when a limited number of sensors are installed on the structure. Finally, the combination of MMSEBI and IRS method can provide a reliable tool to identify the location of damage accurately.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.19 no.5
• /
• pp.30-37
• /
• 2015

The estimation of system damping parameter of the response signal with lower natural frequency and higher damping parameter from free vibration is affected by the wavelet center frequency. This study discusses these considerations in the context of the wavelet's multi-resolution character and includes guidelines for selection of wavelet center frequency. The experiment with H-Beam and numerical examples with respect to three cases (i)single mode, (ii)separated modes and (iii)close modes demonstrate the validity of method to improve the accuracy of the estimated damping parameter. The localization of the corresponding scale for the total scales is determined by the natural frequency of the analysing mode and is affected by the wavelet center frequency. Thus, the reliability for the accuracy of the estimated damping parameter can be improved by the corresponding scale of the natural frequency for the analysing mode is localized at the half of the total scales.

• Journal of Positioning, Navigation, and Timing
• /
• v.2 no.1
• /
• pp.67-74
• /
• 2013

In this study, a remote controller was designed using localization technique. The designed remote controller system consists of infrared transmit/receive module for time synchronization, ultrasonic transmit/receive module for measuring the TOA value, and micro-controller for processing the measured data value. For the position estimation method of remote controller, the Savarese method was used which does not have a problem of diverging solution depending on initial value. The noise included in the measured value was removed by separating the signal and noise with the use of EMD method which is the non-stationary signal analysis technique. The designed system was tested by constructing a simulation environment, and the improvement of accuracy and precision for the application of EMD method was examined.

• Computers and Concrete
• /
• v.17 no.3
• /
• pp.407-421
• /
• 2016

This paper presents numerical modeling of the structural behavior of CFRP (carbon fiber reinforced polymer) strengthened RC (reinforced concrete) beams under four-point bending. Simulation of debonding at the CFRP-concrete interface was focused, as it is the main failure mode of CFRP strengthened RC beams. Here, cohesive layer was employed to model the onset of debonding, which further helps to describe the post debonding behavior of the CFRP strengthened RC beam. In addition, the XFEM approach was applied to investigate the effects of crack localization on strain field on CFRP sheet and rebar. The strains obtained from the XFEM correlate better to the test results than that from CDP (concrete damaged plasticity) model. However, there is a large discrepancy between the experimental and simulated loaddisplacement relationships, which is due to the simplification of concrete constitutive law.

• Proceedings of the Materials Research Society of Korea Conference
• /
• 2003.11a
• /
• pp.22-22
• /
• 2003

Studies on the optical properties related to the built-in internal field and the carrier localization present in various GaN-based structures are essential not only for the physical interest but in designing practical visible and ultraviolet light emitting device applications with better performance and quantum efficiency. We report on the optical characteristics of various dimensional GaN-based structures such as (i) GaN self-assembled quantum dots grown in Stranski-Krastanov mode (OD), vertically-aligned GaN nanorods (1D), graded-In-content InGaN quantum wells (2D), laterally-overgrown GaN pyramids (3D), and GaN epilayers grown on various substrates. We used a wide variety of optical techniques, such as photoluminescence (PL), PL excitation, micro-PL, cathodoluminescence, optically-pumped stimulated emission, and time-resolved PL spectroscopy. An overview and comparison of the optical characteristics of the above GaN-based structures will be given.

• Structural Engineering and Mechanics
• /
• v.46 no.2
• /
• pp.231-244
• /
• 2013

An efficient method is proposed here to identify multiple damage cases in structural systems using the concepts of flexibility matrix and strain energy of a structure. The flexibility matrix of the structure is accurately estimated from the first few mode shapes and natural frequencies. Then, the change of strain energy of a structural element, due to damage, evaluated by the columnar coefficients of the flexibility matrix is used to construct a damage indicator. This new indicator is named here as flexibility strain energy based index (FSEBI). In order to assess the performance of the proposed method for structural damage detection, two benchmark structures having a number of damage scenarios are considered. Numerical results demonstrate that the method can accurately locate the structural damage induced. It is also revealed that the magnitudes of the FSEBI depend on the damage severity.