• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.876-882
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• 2006

This study presents an ultrasonic location awareness system for the ubiquitous computing with absolute position. The flight time of ultrasonic waves is determined by a period detecting technique which is able to extend the sensing range compared with traditional methods. For location awareness, ultrasonic waves are sent successively from each ultrasonic transmitter and synchronized by radio frequency (RF) signal, where the transmitting part is fixed and the receiving part is movable. To expand the recognizing range, cell matching technique and coded ultrasonic technique are introduced. The experimentation for various distances is accomplished to verify the used period detecting technique of U-SAT system. The positioning accuracy by using cell matching is also verified by finding the locations of settled points and the usability of coded ultrasonic technique is verified. As a result, the possibility of ultrasonic location awareness system for the ubiquitous computing can be discussed as a pseudo-satellite system with low cost, a high update rate, and relatively high precision, in the places where CPS is not available.

• 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.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.17-22
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• 2002

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.315-320
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• 2015

This paper describes the implemenation of localization and visualization scheme to find out an ultrasonic source caused by defects of a power distribution line equipment. To increase the fault detection performance, $2{\times}4$ sensor array is configured with MEMS ultrasonic sensors, and from the sensor signals aquired, the azimuth and elevation angles of the ultrasonic source is estimated based on the delay-sum beam forming method. Also, to visualize the estimated location, it is marked on the background image. Experimental results show applicability of the present technique.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.164-172
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• 2000

To follow a moving target keeping a certain distance it is essential for a mobile robot to detect the target first and to measure its pose and velocity. This paper proposes a new solution for this problem using the accumulated ultrasonic image which is constructed by accumulating the returned ultrasonic signal along the time axis for a certain number of measurement periods. A moving target is separated by selecting the trajectory whose inclination is different from others in the imag since the inclination of a trajectory represents the relative speed of the target against the mobile robot. The proposed algorithm was implemented on a mobile robot and has shown that the robot follows a moving target successfully.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.3
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• pp.217-222
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• 2006

Recently, LG chemical corporation developed new material called HYPERIER, which has an excellent barrier characteristic. It has many layers which are made of nano-composite within LDPE(Low-Density Poly Ethylene). In order to guarantee the quality of the final product from the production line, a certain test equipment is required to investigate the existence of layers inside the HYPERIER. In this work, ultrasonic sensor based test equipment for investigating the existence of inner layers is proposed. However, it is a tedious job for human operators to check the existence by just looking at the resounding waveform from ultrasonic sensor. Therefore, to enhance the performance of the ultrasonic test equipment, wavelet and PCA(Principle Componet Analysis) schemes are introduced into neural network scheme which is used for classification. To verify the feasibility of the proposed scheme, some experiments are executed.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.200-207
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• 1999

In this paper, a precise sensitivity measurement system of ultrasonic transducer in the frequency range from 1 MHz to 15 MHz, which can implement the reciprocity principle is constructed. All of the elements of this system such as the ultrasonic preamplifier, ultrasonic absorber, water tank, water degassing system, and four-axes translator and reflector are constructed. For the performance evaluation of the calibration system, a standard hydrophone precisely calibrated from PTB(Physikalisch Technische Bundesanstalt) in Germany are used. And the system parameters which affected the evaluation of the measurement accuracy and the reproducibility in various measuring conditions are considered. The measurement uncertainty of the calibration system is estimated within $\pm$ 2.0㏈.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.25-29
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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. These 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.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.8 s.173
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• pp.151-158
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• 2005

In the semiconductor and the optical industry, a new transport system which can replace the conventional sliding systems is required. The sliding systems are driven by the magnetic field and conveyer belts. The magnetic field nay damage semiconductor and the contact force may scratch the optical lens. The ultrasonic wave driven system can solve these problems. In this paper, an object transport system using the excitation of ultrasonic wave is proposed. The experiments for finding the optimal progressive frequency and the phase-differences between two ultrasonic wave generators are performed. The relationships between transportation speed and the excitation frequency, flexural beam shapes and amplification voltage are investigated.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.6
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• pp.529-536
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• 2004

Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.