• 제어로봇시스템학회논문지
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• 제20권4호
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• pp.428-436
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• 2014

This paper proposes a statistical regression method for classifying pillars and vehicles in parking area using a single ultrasonic sensor. There are three types of information provided by the ultrasonic sensor: TOF, the peak and the width of a pulse, from which 67 different features are extracted through segmentation and data preprocessing. The classification using the multiple SVM and the multinomial logistic regression are applied to the set of extracted features, and has achieved the accuracy of 85% and 89.67%, respectively, over a set of real-world data. The experimental result proves that the proposed feature extraction and classification scheme is applicable to the object classification using an ultrasonic sensor.

• Water Engineering Research
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• 제7권1호
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• pp.21-28
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• 2006

The scouring process is complex and subject to many factors. Recently, experiments for real-time bridge scour monitoring have been active as means for a more reliable scour prediction. Riverbed materials are an important factor in bridge scouring; therefore, an accurate estimation of riverbed material is critical in predicting a scour. As a part of this approach, an ultrasonic sensor, which can not only detect river bottom during floods but can also be installed lose to the underwater structures, was developed. This sensor is able to map the river bottom using an ultrasonic waves with the characteristics of the returning wave, reflected from an object or bottom ground. The reflected wave is unique according to the situations, or materials below. Therefore, it would be possible to identify the consisting materials of a riverbed if we could reveal each characteristic in the received signals. In this study, a preliminary experiment was performed in the laboratory to identify and classify received signals, which is unique to each material. The analysis of this experiment gives the graph, which makes it possible to identify materials of the river bottom through the ultrasonic signals. The proposed graph was verified through a comparison with the actual field data measured in river.

• 대한전자공학회논문지TE
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• 제42권4호
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• pp.33-40
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• 2005

본 논문에서는 이동 로봇 주위의 환경 인식과 자기 위치 인식을 위하여 초음파 센서와 한 개의 카메라를 이용하여 안정적인 이동 경로를 확보할 수 있는 방식을 제시하였다. 개발된 초음파 센서(SRF04)시스템은 주행환경의 지도 작성을 위하여 목표물의 특징 데이터를 작성하고, SDC313(SAMSUNG) 카메라에서 수집된 영상자료와 결합하도록 하여 안정적인 경로탐색이 가능한 이동로봇 제어방식을 실험을 통하여 구현하였다.

• 한국정밀공학회지
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• 제14권5호
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• pp.85-91
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• 1997

Air grinding time in grinding process has a great effect on its efficiency due to low feedrate. This paper presents a reduction methos of air grinding time in cylindrical plunge grinding operation. Tje reduction of air grinding time is accomplished by finding the distance between contact point and rising point of ultra- sonic signal of the grinding wheel to workpiece. It uses a variation of sound signal generated by the flow of coolant when the grinding wheel approaches to workpiece. The ultrasonic sensor with 23 kHz center fre- quency and 8 kHz bandwidth is used to find the nearest approaching point(NAP). Monitoring and control system of the grinding conditions is implemented with CNC controller to control feedrate override and ultrasonic sensor to find NAP. The experimental result shows that the ultrasonic signal is a good measure- ment to find NAP. But it needs the considerations for the effect of the relationship between flowrate of coolant and diameter of workpiece.

• 항공우주시스템공학회지
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• 제15권3호
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• pp.99-104
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• 2021

멀터콥터형 드론에 적용할 목적으로 바람 센서의 특성을 분석하고 실험을 통하여 비교하였다. 회전식 풍속계의 경우 동역학 효과가 측정 오차를 만들며, 초음파식 센서는 제작 오차와 신호처리 오차가 주요한 것으로 나타났다. 초음파식 센서는 트랜스듀서의 거리가 멀수록 오차가 줄어든다. 실험을 통하여 이러한 특성들을 확인하였으며, 멀티콥터에는 전압 출력 혹은 10 hz 이상의 데이터 출력이 가능한 초음파식 센서가 적합하다고 판단한다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.741-742
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• 2006

In this paper, we suggested a method for game operation tools by Ultrasonic sensor. Various ideas are necessary for the development that a game is industrial. I use a Ultrasonic sensor in this study and use a model case, and an operation is going to hold a case shooting play. Therefore, I showed a former circuit and a formula related to this.

• 전자공학회논문지B
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• 제32B권9호
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• pp.1154-1161
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• 1995

In this paper, a new method is proposed where the vision and ultrasonic sensor are used to recognize obstacles and to obtain its position and size. Ultrasonic snsors are used to obtain the actual navigation path width of the mobile robot. In conjunction with camera images of the path, recognition of obstacles and the determination of its distance, direction, and width are carried out. The characteristics of the sensors and the mobile robots used generally make it difficult to recognize all environments; accordingly, a restricted environment is employed for this study.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.571-576
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• 2015

This paper proposes an auto-parking controller for omnidirectional mobile robots. The controller uses the multi-sensor system including ultrasonic sensor and camera. The several ultrasonic sensors of robot detect the distance between robot and each wall of the parking lot. The camera detects the global position of robot by capturing the image of artificial landmarks. To improve the accuracy of position estimation, we applied the extended Kalman filter with adaptive fuzzy controller. Also we developed the fuzzy control system to reduce the settling time of parking. The experimental results are presented to verify the usefulness of the proposed controller.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.336-339
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• 2007

A sensor having capability to measure two different kinds of ultrasonic waves selectively is described. Under the same bias field configuration, this magnetostrictive type sensor can selectively measure longitudinal waves and flexural ones. Since the switching operation of mode selection is made only by changing the polarity of the permanent magnets used to configure the bias field, it will be very useful after the permanent magnet are interchanged with electromagnets. In order to find the optimal operating bias field, finite elements analysis is used and the condition for flexural wave measurements to meet is found. The linearity of the sensor is verified by experiments and the requirements for linearity also are proposed.

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.1068-1076
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• 2005

In order to increase the autonomous navigation capability of a mobile robot, it is very crucial to develop a method for the robot to be able to recognize a priori hon structured environmental characteristics. This paper proposes an ultrasonic sensor based real-time method for recognizing a priori known structured indoor environmental characteristics like a wall and comer Unlike the methods reported in the literature the information obtained from the sensor can be processed in real-time by extended Kalman filter to update estimations of the position and orientation of robot with respect to known environmental characteristics.