• 제어로봇시스템학회논문지
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• 제16권11호
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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.

• Nuclear Engineering and Technology
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• 제36권1호
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• pp.12-23
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• 2004

In the present study a new measurement technique has been developed, which uses an ultrasonic transmission signal in order to identify the vertical two phase flow pattern. The ultrasonic measurement system developed in the present study not only provides the information required for the identification of vertical two phase flow patterns but also makes real time identification possible. Various vertical two phase flow patterns such as bubbly, slug, churn, annular flow etc. have been accurately identified with the present ultrasonic measurement system under atmospheric condition. In addition, the present test apparatus can practically simulate the ultrasonic propagation characteristics under high temperature and high pressure systems. Therefore, it is expected that the present ultrasonic flow pattern identification technique could be applicable to the vertical two phase flow systems under high temperature and high pressure conditions.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.996-1001
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• 2006

This paper proposes an ultrasonic location system based on the spread spectrum principle. Though there are several conventional ultrasonic systems, the proposed system is the first one that combines spread spectrum and amplitude modulation principles. The proposed ultrasonic location system is advantageous in that it can improve positioning accuracy and detection sensitivity by the spread spectrum principle, it simplifies transmitter and receiver circuits, and it is easy to upgrade its performance by modifying only the software functionalities. By several real data experiments, the advantage and performance of the proposed location system is demonstrated.

• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1240-1247
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• 2011

The localization of mobile robot in environment is a major concern in mobile robot navigation. So, many kinds of localization techniques have been researched for several years. Among them, the positioning system using ultrasound has received attention. Most of these ultrasonic positioning systems to synchronize the transmitters and receivers are used for RF (Radio Frequencies). However, due to the use of RF, the interference problems can not be avoided and the performance of radio frequencies directly affects the positioning performance. So we proposed the ultrasonic positioning system without synchronizing RF. The proposed system is based on existing USAT (Ultrasonic Satellite System) adopted infrastructure transmitting type, and consists of transmitter and receiver synchronizing modules instead of the radio frequency transmitters and receiver. The ultrasonic transmitters and receivers are synchronized individually by the transmitter and receiver synchronizing modules. In order to calculate the bias between the transmitter and receiver synchronizing modules, new positioning algorithm similar to GPS was proposed. The positioning performance of the improved USAT without synchronizing RF and the validity of the proposed positioning algorithm are verified and evaluated by experiments.

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.353-361
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• 2011

A precise embedded ultrasonic localization system is developed for autonomous mobile robots in indoor environments, which is essential for autonomous navigation of mobile robots with various tasks. Although ultrasonic sensors are more cost-effective than other sensors such as LRF (Laser Range Finder) and vision, they suffer inaccuracy and directional ambiguity. First, we apply the matched filter to measure the distance precisely. For resolving the computational complexity of the matched filter for embedded systems, we propose a new matched filter algorithm with fast computation in three points of view. Second, we propose an accurate ultrasonic localization system which consists of three ultrasonic receivers on the mobile robot and two or more transmitters on the ceiling. Last, we add an extended Kalman filter to estimate position and orientation. Various simulations and experimental results show the effectiveness of the proposed system.

• 한국안전학회지
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• 제32권4호
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• pp.53-58
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• 2017

The rebound hammer test and the measurement of ultrasonic pulse velocity(UPV) have been widely used for the physical properties & condition evaluation of reinforced & prestressed concrete structures for a long time, but the acoustoelastic effects by the prestressing in the prestressed concrete structures on the rebound number and ultrasonic pulse velocity have not been studied clearly. Therefore, this study investigated the data distribution of the rebound numbers and ultrasonic pulse velocities in reinforced and prestressed concrete slabs of $3000{\times}3000mm$ with a thickness of 250 mm. Also, the Kolmogorov-Smirnov goodness-of-fit test was done in order to identify statistical consistency and reliability. The statistical analysis results show that the rebound number and ultrasonic pulse velocities increased about 1.9% and 2.5%, respectively when prestressing was applied. As expected, the UPV shows better statistical reliability and potential for in situ evaluation than the RB because the RB are more sensitive to testing posture, surface condition, temperature and humidity so on. The experimental data in this study can be used for the condition assessment of reinforced and prestressed concrete structures by the rebound number and ultrasonic pulse velocity.

• 제어로봇시스템학회논문지
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• 제14권7호
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• pp.647-655
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• 2008

This paper presents real-time algorithm for an ultrasonic Local Positioning System(LPS). An ultrasonic LPS consists of 4 transmitters and n receivers. Each transmitter transmits an sequential ultrasonic signal to avoid interference of ultrasonic signal. This method is a noneffective application for a fast object. Because receiver detects four sequential transmissive ultrasonic signal and calculates a position. This paper proposes the method which 4 transmitters transmit simultaneous ultrasonic signal and each transmitter distinguished by frequencies and codes. And Auto-Correlation Function(ACF) method separates codes from an ultrasonic echo signal which is interference of each transmitter's code. If the receiver uses only ACF method, it is difficult to implement real time application for increased computation. This paper implements LPS using dual frequencies and ACF method. Using dual frequencies reduces codes length. The reduced codes length save computation in ACF. To prove this algorithm by experiment, high performance DSP(digital signal processor) used. The result shows the performance of the designed system is good enough positioning.

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

• Journal of Biosystems Engineering
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• 제27권4호
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• pp.317-326
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• 2002

Characteristics of a twin-fluid spray with ultrasonic vibration were examined in order to obtain a high efficiency of cold-fog spray of the automatic pest control machine which has been widely used in protected horticulture recently. An electrostrictive vibrator of PZT BLT and a magnetostrictive $\pi$-type vibrator were used applied as the ultrasonic transducers with a frequency of 28 kHz. All experiments were conducted in 4 methods of spray ; a conventional spray method without ultrasonic forcing, an indirect vibration method with ultrasonic forcing, an improving-quality method by ultrasonic forced within liquid, and a combined-use method with both of the indirect vibration method and the improving quality method. It was found that the ultrasonic energy increased the atomization efficiency of spray droplets about 10% and especially much more in the case of the combined-use method.

• 제어로봇시스템학회논문지
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• 제14권6호
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• pp.543-547
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• 2008

In the paper, we develop the ultrasonic bonding technique for LCD driver chips having small size and high pin-density. In general, the mounting technology for LCD driver ICs is a thermo-compression method utilizing the ACF (An-isotropic Conductive Film). The major drawback of the conventional approach is the long process time. It will be shown that the conventional ACF method based on thermo-compression can be remarkably enhanced by employing the ultrasonic bonding technique in terms of bonding time. The proposed approach is to apply the ultrasonic energy together with the thermo-compression methodology for the ACF bonding process. To this end, we design a bonding head that enables pre-heating, pressure and ultrasonic excitation. Through the bonding experiments mainly with LCD driver ICs, we present the procedures to select the best combination of process parameters with analysis. We investigate the effects of bonding pressure, bonding time, pre-heating temperature before bonding, and the power level of ultrasonic energy. The addition of ultrasonic excitation to the thermo-compression method reduces the pre-heating temperature and the bonding process time while keeping the quality bonding between the LCD pad and the driver IC. The proposed concept will be verified and demonstrated with experimental results.