• 융합신호처리학회논문지
• /
• 제10권3호
• /
• pp.198-206
• /
• 2009

본 논문에서는 빔 폭이 중첩된 초음파 센서 링을 이용하여 초음파 센서의 위치 불확실성을 감소시키고 이를 토대로 이동로봇이 효율적으로 장애물을 탐지하도록 하는 방안에 대해 기술하도록 한다. 기본적으로, 원형 이동로봇 측면에 상대적으로 적은 개수의 중저가의 저지향성 초음파 센서들이 일정 간격으로 상호 빔 폭이 중첩되도록 배치되어 있다고 가정한다. 첫째, 단일 및 이중 장애물에 대해 빔 폭 중첩 상태를 이용하여 초음파 센서 고유의 위치 불확실성을 감소시킬 수 있음을 보이고 또한 그 향상 정도를 정량적으로 제시한다. 둘째, 2개 또는 1개의 초음파 센서로부터 장애물 측정 거리 데이터가 주어질 때, 이동로봇의 중심을 기준으로 하여 장애물의 위치를 산정하는 기하학적 방법을 고안한다. 셋째, 정규 분포, 포물선 분포, 균일 분포, 임펄스 등 기존의 단일 초음파 센서 모델을 비교 검토한 후, 위치 불확실성 및 소요 연산량 측면에서 장애물 탐지에 적합한 중첩 초음파 센서 모델을 수립한다. 마지막으로, 자체 제작된 초음파 센서 링을 이용한 단일 장애물 및 복수 장애물 탐지 실험을 통해 제안된 중첩 초음파 센서의 효용성을 입증한다.

• 센서학회지
• /
• 제26권1호
• /
• pp.66-72
• /
• 2017

The three dimensional ultrasonic anemometer was constructed to reduce the disadvantages of the two-dimensional anemometer and to be free from the use environment. Three pairs of transmitting and receiving ultrasonic sensors were designed to face each other at an angle of $45^{\circ}$ to the upper and lower surfaces at intervals of $120^{\circ}$. 200 kHz ultrasonic sensor Oscillation, transmission and reception, level detection, power supply circuit were designed and U, V, W wind speed vector components were obtained by measuring the time of first received ultrasonic pulse by transmitting pulse ultrasound. It is implemented as firmware in ARM Coretex-M3 processor so that horizontal and vertical wind direction and wind speed can be converted into digital signal by vector calculation. In this study, The three-dimensional ultrasonic anemometer can complement the disadvantages of the two-dimensional anemometer (mechanical and ultrasonic), and it is expected to gradually replace the two-dimensional anemometer due to its high utilization rate by collecting additional information such as vertical wind.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1775-1780
• /
• 2005

One of the most important factors so that mobile objects can achieve their purpose is the information about their positions. In this paper, we propose an improved beacon system, to which ultrasonic sensors are attached, for the indoor localization of mobile objects. We have researched so that it can cover the wider space and estimate more accurate positions than the existent beacon systems. The existent beacon systems have the constraint that one beacon cannot cover wide area since ultrasonic sensors have limits in the angle of signal (beam-angle) on which their signal strength depends. Hence, we used the active beacon which consists of a pan-tilt mechanism and a beacon module. The active beacon system can always aim at mobile objects in order to transmit the strongest signal of the ultrasonic sensors into the objects using the pan-tilt mechanism. In addition, this system is inexpensive because it can decrease the number of beacons by about a half of the beacons of the existent system. Finally, the results show what is the difference between the active beacon system and existent beacon systems, and how accurate it is.

• 한국콘텐츠학회:학술대회논문집
• /
• 한국콘텐츠학회 2008년도 춘계 종합학술대회 논문집
• /
• pp.846-850
• /
• 2008

밀폐형 초음파 센서와 구동회로를 모듈화하는 기술이 개발되면 지능형 로봇의 거리측정 능력이 향상될 것으로 예상된다. 초음파 센서의 모듈화 기술은 ASIC 기술 및 MEMS 기술과 접목되어 발전될 것으로 전망된다. 밀폐형 초음파 센서 모듈의 국내 시장규모는 2008년 약 10억원, 2012년 57억2천만원으로 예상된다. 최근 서비스 로봇에 대한 관심과 정부주도의 시범사업으로 인하여 서비스 로봇 시장이 급속히 성장하고 있다. 밀폐형 초음파 센서 모듈이 서비스 로봇에 성공적으로 적용될 경우 기존의 광 센서를 빠르게 대체할 것으로 예상된다.

• 한국자동차공학회논문집
• /
• 제3권3호
• /
• pp.58-65
• /
• 1995

In this study an air flow meter was developed for MPI engine using ultrasonic sensors. The major characteristcs of the ultrasonic flow meter are high speed response, flow direction recognition and linear output. The air flow rate measurements were conducted at upstream of the throttle and intake manifold. The characteristics of the ultrasonic flow meter are compared with those of the Bosch hot wire flow meter at both steady and unsteady engine conditions.

• 한국정밀공학회지
• /
• 제26권8호
• /
• pp.62-71
• /
• 2009

In mobile robotics, ultrasonic sensors became one of the most popular devices for collision avoidance and navigation primarily due to data robustness, the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic sonic sensors are subject to noise which results in inaccuracy of mapping and localization of the robot. This paper introduces a new approach to enhance environmental maps based on ultrasonic range data using linear interpolation and Newton interpolation. The simulation and experimental results show that the proposed method improves of the accuracy of the map through better distance estimation between the mobile robot and obstacles.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2000년도 춘계학술대회 논문집 전자세라믹스 센서 및 박막재료 반도체재료 일렉트렛트 및 응용기술
• /
• pp.168-171
• /
• 2000

Underwater acoustic communications have made considerable advances in the past decade. The purpose of this paper is to achieve the underwater communication by ultrasonic sensors and to investigate conditions of good underwater acoustic communicators. As a result of this experiments, the ultrasonic sensors, MA40E7R/S, made by Nicera can be used as ultrasonic transducers for underwater communication using AM(Amplitude Modulation) signal and Transmission Loss is 17.328[dB] at 65[cm]. To make a good underwater communicator, proper diameter of disk PZT transduers is the one of most important factors, because radiation of acoustic wave depends on proper diameter of transduers and the transmission loss strongly depends on the spreading loss.

• Journal of Biosystems Engineering
• /
• 제37권5호
• /
• pp.319-326
• /
• 2012

Purpose: Cheese texture is an important sensory attribute mainly considered for consumers' acceptance. The feasibility of nondestructive measurements of cheese texture was explored using non-contact ultrasonic sensors. Methods: A novel non-contact air instability compensation ultrasonic technique was used for five varieties of hard cheeses to measure ultrasonic parameters, such as velocity and attenuation coefficient. Five texture properties, such as fracturability, hardness, springiness, cohesiveness, and chewiness were assessed by a texture profile analysis (TPA) and correlated with the ultrasonic parameters. Results: Texture properties of five varieties of hard cheese were estimated using ultrasonic parameters with regression analysis models. The most effective model predicted the fracturability, hardness, springiness, and chewiness, with the determination coefficients of 0.946 (RMSE = 21.82 N), 0.944 (RMSE = 63.46 N), 0.797 (RMSE = 0.06 ratio), and 0.833 (RMSE = 17.49 N), respectively. Conclusions: This study demonstrated that the non-contact air instability compensation ultrasonic sensing technique can be an effective tool for rapid and non-destructive determination of cheese texture.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
• /
• pp.113-116
• /
• 2002

In this paper, we propose the sound-mapping algorithm of the detected obstacle by ultrasonic sensors. We apply this algorithm to a Obstacle alarm for the visually impaired. In our system, we acquire obstacles information using ultrasonic sensors, and transform two-dimensional and distance information into sound-imaging information and vibrator with azimuth (direction) and distance. We implement this system with ultrasonic sensors to more effective expression of the obstacle information. The distance of an obstacle can be expressed by sound pressure level, and azimuth of the obstacles can be expressed by inter-aural time difference (ITD) and inter-aural level difference (ILD) that are two important cues in a binaural system. These are the principal cues for sound localization, to detect sound source. In this system, the obstacle is substituted with a sound source. The visually impaired receive sound information of obstacles by headphone.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.71.1-71
• /
• 2001

In this paper, an improved method of environment map building and a region search algorithm for mobile robot are presented. For the environment map building of mobile robot, measurement data of ultrasonic sensors and certainty grid representation is usually used. In this case, inaccuracies due to the uncertainty of ultrasonic data are included in the map. In order to solve this problem, an environment map building method using a Bayesian model was proposed previously[5]. In this study, we present an improved method of probability map building that uses infrared sensors and shift division Gaussian probability distribution with the existing Bayesian update method using ultrasonic sensors. Also, a region search algorithm for ...