• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.1241-1246
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• 2007

In recent years, the semiconductor industry and the optical industry are developed rapidly. The recent demands have expanded for optical components such as the optical lens, the optical semiconductor and the measuring instrument. Object transport systems are driven typically by the magnetic field and the conveyer belt. Recent industry requires more faster and efficient transport system. However, conventional transport systems are not adequate for transportation of optical elements and semiconductors. The conveyor belts can damage precision optical elements by the contact force and magnetic systems can destroy the inner structure of semiconductor by the magnetic field. In this paper, the levitation transport system using ultrasonic wave is developed for transporting precision elements without damages. The steady state flexural vibration of the beam is expressed using Euler-Bernoulli beam theory. The transport direction of an object is examined according to phase difference and frequency. The theoretical results are verified by experiments.

• Journal of Power System Engineering
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• v.17 no.6
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• pp.142-148
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• 2013

High-power ultrasonic promotes a chemical reaction by its own energy, thus it has been used for sonochemistry applications. For example, it has been mostly used for mixing, reaction catalyst, dispersion and disintegration. High-power ultrasonic transducer is made with structure based on a Bolt-clamped Langevin type Transducer (BLT), But it has difficulty in the development because degradation of piezoelectric ceramic by the heat generation of BLT. In this study, for a development of the transducer of 25 kHz and 1000 W used in sonochemistry and industrial cleaning, BLT with a hole in its center and tubular type waveguide of the transducer were designed based on finite element method (FEM). The transducer was fabricated based on the design parameter, and the impedance characteristics are measured experimentally and compared with the numerical results.

• Agricultural and Biosystems Engineering
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• v.2 no.2
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• pp.50-58
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• 2001

Chemical application is very hazardous in confined spaces under the canopy ceiling in Korean vineyard. For a small orchard sprayer adaptable to such a working condition, a low-cost autonomous steering control system was developed using two ultrasonic sensors, two electrically-operated cylinders and 80196kc microprocessor. A distance ranging system timed the round-trip for each ultrasonic wave to travel against parallel targets, placed every 1.5m spacing along both sides of a desired path. A steering control algorithm of the autonomous operation began with ranging left and right targets and the heading was decided using difference between the distances. Electrically-operated cylinders actuated steering clutches to guide the sprayer. Evaluation tests showed that the orchard sprayer could travel within RMS value of 5cm along the desired path. Ground speed did not affect the performance of the autonomous guidance system at the speed ranges of 0.29~0.52m/sec.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.109.4-109
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• 2001

We have developed a laser ultrasonic system for visualization of elastic waves propagating on a solid surface, in order to visualize ultrasonic waves propagating on opaque media. This system can produce a series of successive images as an animation of wave propagation, because of scanning an optical heterodyne probe to measure surface transient displacements. Using this visualization technique, we observed the scattering and diffraction of ultrasonic waves around various shapes of artificial defects, and examined its application to nondestructive inspection. This imaging system provides various kinds of visualization images such as propagation image, amplitude image, arrival time image and velocity image. We have been confident that this technique is available for nondestructive inspection and materials ...

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.3
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• pp.40-45
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• 2008

This paper presents a linear positioning system and its control algorithm design with nano accuracy/resolution. The basic linear stage structure is driven by an ultrasonic motor and its displacement feedback is detected by a LDGI (Laser Diffraction Grating Interferometer), which can achieve nanometer resolution. Due to the friction driving property of the ultrasonic motor, the driving situation differs in various ranges along the travel. Experiments have been carried out in order to observe and realize the phenomena of the three main driving modes: AC mode (for mm motion), Gate mode (for ${\mu}m$ motion), and DC mode (for nm motion). A proposed FCMAC (Fuzzy Cerebella Model Articulation Controller) control algorithm is implemented for manipulating and predicting the velocity variation during the motion of each mode respectively. The PCbased integral positioning system is built up with a NI DAQ Device by a BCB (Borland $C^{++}$ Builder) program to accomplish the purpose of an intelligent nanopositioning control.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.6
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• pp.132-145
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• 2008

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.1
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• pp.30-36
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• 2015

This paper presents the theoretical development of a complete navigation problem of a nonholonomic mobile robot by using ultrasonic sensors. To solve this problem, a new method to computer a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constranits of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic system modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonci sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory antomation.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.239-244
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• 2010

This paper is to present map building of mobile robot using RFID (Radio Frequency Identification) technology and ultrasonic sensor. For mobile robot to perform map building, the mobile robot needs its localization and accurate driving in space. In this reason, firstly, kinematic modeling of mobile robot under non-holonomic constrains is introduced. Secondly, based on this modeling, a tracking controller is designed for tracking a given path based on backstepping method using Lyapunov function. The Lyapunov function is also introduced for proving the stability of the designed tracking controller. Thirdly, 2D map building is performed by RFID system, mobile robot system and ultrasonic sensors. The RFID mobile robot system is composed of DC motor, encoder, ultra sonic sensor, digital compass, RFID receiver and RFID antenna. Finally, the path tracking simulation results and map building experimental results are presented to show the effectiveness of the designed controller.

• Journal of ILASS-Korea
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• v.2 no.3
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• pp.8-16
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• 1997

Ta investigate characteristics and spray of emulsified fuet we are mixed water with diesel oil using ultrasonic energy fuel feeding system. Separation ratio of emulsified fuel was shown good condition that of water content is small and longer ultrasonic energy adding time. Viscosity of emulsified fuel increased 79% with addition to water content and surface tension increased 1.6% in comparision to pure diesel oil. The SMD of emulsified fuel adding ultrasonic energy decreased with 3% in comparision to pure diesel oil. With increasing 5, 10% water content the SMD decreased 15.6, 20.1% in comparision to pure diesel oil. The mind-explosion was investigated with 4step.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1995.11a
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• pp.184-192
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• 1995

Although ship's draught information onboard is substantial for both the safety of navigation and the estimation of loaded cargoes its accuracy depends in traditional surveying method on the skillfulness of observers and the condition of the sea surface round the vessel. To obtain more accurate information accessibly measuring instruments with sophisticated sensors such as mechanical electronic and ultrasonic transducers have been developed. however they have still limitation in accuracy and in making up a system due to the complexity of processing signal. In this paper we propose a he technique for analyzing ultrasonic pulse signal in order to improve the measurement accuracy and simplify a remote sensing system of draught by ultrasonic waves. This technique is useful for measuring draught being considered the influence of sea surface fluctuation and for transferring its data briefly to required equipment in integrated bridge system.