• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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• pp.707-713
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• 2003

We investigate the ultrasonic gas flow meter for the measurement of gas volume quantity, which passing through pipe, using the transit time difference method. We have designed a receiving system of an ultrasonic signal and hardware system of a flow meter Also, we have designed an experimental system for the characteristic test and calibration of a gas flow meter system. We have developed an ultrasonic gas flow meter, which has a measurement uncertainty within $\pm$ 1.7 %. For the test, we have compared our system with a difference pressure type flow meter for a few months in the real field. Through the test, we have confirmed that our system have a good reliability and durability. Also, we have confirmed that our system follows very well the variation of gas volume quantity, which was measured by a difference pressure type flow meter.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.955-961
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• 2006

The global ultrasonic system for the self-localization of a mobile robot consists of several ultrasonic transmitters fixed at some reference positions in the global coordinates of robot environment. By activating the ultrasonic transmitters, the mobile robot is able to get the distance to the ultrasonic transmitters and compute its own position in the global coordinate. Due to the limitation on the ultrasonic signal strength and beam width as well as the environmental obstacles however, the ultrasonic signals from some generator may not be transmitted to the robot. Thus, instead of activating the all ultrasonic transmitters, it is necessary to select some ultrasonic generators to activate based on the current robot position. In this paper, we propose a selective activation algorithm for self-localization with the global ultrasonic system. The selective activation algorithm gets the meaningful ultrasonic data at every sampling instants, which results in the faster and more accurate response of the self-localization than the conventional sequential activation. Through the self-localization and path following control, we verify the effectiveness of the proposed selective activation algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.8
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• pp.49-56
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• 1997

In recent years, ultrasonic technics has been widely applied to industrial fields and its application range has been expanded as a result of continuous research and development. This paper is concerned with development of post-processor program for ultrasonic test and two-axis automatic ultrasonic system for application of industrial fields. Test results of ultrasonic test post-processor program and two-axis auto- matic ultrasonic system have a good agreement with results of ultrasonic evaluation for defect detection in industrial fields. Therefore we think that the developed ultrasonic test post-processor program and two- axis automatic ultrasonic system in this work is very useful for application of industrial fields.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.846-851
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• 2004

In this paper, we propose a global ultrasonic system for the self-localization and autonomous navigation of indoor mobile robots. The ultrasonic sensor is regarded as the most cost-effective ranging system among the possible alternatives, and it is widely used for general purpose, since it requires simple electronic drivers and has relatively high accuracy. The global ultrasonic system presented in this paper consists of four or more ultrasonic generators fixed at reference positions in the global coordinates of an indoor environment and two receivers mounted on the mobile robots. By using the RF (Radio Frequency) modules added to the ultrasonic sensors, the robot is able to control the ultrasonic generation and to obtain the critical distances from the reference positions, which are required in order to localize is position in the global coordinates. A kalman filter algorithm designed for the self-localization using the global ultrasonic system and the experimental results of the autonomous navigation are presented in this paper.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.54 no.12
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• pp.553-557
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• 2005

This paper describes the application results of an ultrasonic detection system for the power transformer. The ultrasonic detection system with 6 sensors was applied to detect partial discharge in a 154kV transformer with a dangerous levels of $C_{2}H_{2},\;C_{2}H_4$ and $CH_{4}$ gases. The ultrasonic detection tests were carried out 2 times, respectively, to confirm the existence and location of the partial discharge in the transformer. As a result of internal inspection, the arc trace between the pressure ring and core due to the partial discharge was found at the estimated position based on the amplitude and arriving time of the ultrasonic signals. Therefore, it was verified that the ultrasonic detection system is effective as a preventive diagnosis method for the power transformer. Also, the reliability of the ultrasonic detection system in detecting partial discharges in the transformer was also confirmed. It is expected, therefore, that the ultrasonic detection system will have beneficial effects on applications and verifications in detecting partial discharges for the power transformer.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1117-1124
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• 2010

This paper presents a foot movement tracking system using ultrasonic sensors and inertial sensors, where the position and velocity of foot are computed using inertial sensors and ultrasonic sensors mounted on a shoe. A foot movement can be estimated using an inertial navigation algorithm only; however, the error tends to increase due to biases of gyroscopes and accelerometers. To reduce the error, a localization system using ultrasonic sensors is additionally used. In the localization system using ultrasonic sensors, the position is continuously calculated in the absolute coordinate. An indirect Kalman filter is used to combine inertial sensors and ultrasonic sensors. Through experiments, it is shown that the proposed system can track a foot movement.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1170-1173
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• 2003

In the semiconductor and the optical industry a new transport system which can replace the common system is required. The common systems are driven by magnetic field and conveyer belt. The magnetic field damages semiconductor and contact force scratches, the optical lens. The ultrasonic wave driven system solve these problem. In this paper the object transport system using the excitation of ultrasonic wave is proposed. the experiments for finding the optimal excitation frequency, finding phase-difference between two ultrasonic wave generators are performed. The effect of transporting speed according to the change of amplification voltage is verified. In addition, the system performance for actual use is evaluated

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.696-699
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• 2003

In the semiconductor and the optical industry a new transport system which can replace the conventional sliding system is required. There systems are driven by magnetic field and conveyer belt. The magnetic field damages semiconductor and contact force scratches the optical lens. The ultrasonic wave driven system can solve these problem. In this paper, the object transport system using the excitation of ultrasonic wave is proposed. The experiments for finding the optimal excitation frequency, finding phase-difference between two ultrasonic wave generators are performed. The relationship of transporting speed according to the change of flexural beam shape is verified and the system performance for practical use is evaluated.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.956-959
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• 2003

In the semiconductor and the optical industry a new transport system which can replace the common system is required. The common systems are driven by magnetic field and conveyer belt. The magnetic field damages semiconductor and contact force scratches the optical lens. The ultrasonic wave driven system solve these problem. In this paper the object transport system using the excitation of ultrasonic wave is proposed. The experiments for finding the optimal excitation frequency, finding phase-difference between two ultrasonic wave get orators are performed. The effect of transporting speed according to the change of weight and amplification voltage are verified. In addition, the system performance for actual use is evaluated.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.2
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• pp.30-37
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• 2008

An object transport system is driven by a conveyor belt system or a magnetic levitation system. It is an indispensable device in many fields and especially it is very important in the factory automation. However, the conventional transport system can damage precision optical components by the contact force and destroy the inner structure of semiconductor by the magnetic field. The new transport system for transporting without damage is required. The ultrasonic transport system is a device that transports objects on the elastic body using ultrasonic wave. In this paper, an object transport system using the ultrasonic wave is developed for transporting precision elements without damage. Traveling waves are generated by the ultrasonic wave generator fixed in both ends of the beam. The traveling wave of the ultrasonic transport system is theoretically analyzed. Transport direction of the object is examined according to phase difference and frequency. The theoretical results are verified by experiments.