• 정보처리학회논문지B
• /
• 제14B권6호
• /
• pp.407-412
• /
• 2007

초음파 의료 영상기기나 산업용 초음파 검사 시스템의 성능은 초음파 탐촉자의 성능에 의해 크게 좌우된다. 탐촉자의 성능 특성 정보는 보통 제작자가 제공하는 반사원의 초음파 R/F 신호와 주파수 특성에 의해 기술된다. 그러나 집속형 초음파 탐촉자의 경우, 두 자료로는 선명한 C-Scan 이미지를 얻을 수 있다는 것을 보증할 수는 없다. 그래서 집속형 초음파 탐촉자의 성능 평가를 위한 새로운 척도로 상대 초점크기 및 상대 유효초점영역의 모양을 제안한다. 상대 초점의 크기와 상대 유효초점영역의 모양은 쇠구슬로부터 획득된 초음파 R/F 신호를 가상 3차원 영상 복원 프로그램으로 처리하여 얻는다. 제시된 방법은 기존 자료로는 알 수 없었던 탐촉자 성능을 정확히 평가할 수 있었으며, 방법도 간단하여 실제 탐촉자 제작시 불/양품을 쉽게 가려 낼 수 있으며, 탐촉자 경년열화에 따른 성능 저하도 검출할 수 있는 장점을 갖는다. 결과적으로 초음파 영상기기나 산업용 초음파 검사 시스템의 성능을 담보할 수 있다.

• Coupled systems mechanics
• /
• 제5권2호
• /
• pp.191-201
• /
• 2016

Coupled structures are widely seen in civil and mechanical engineering. In coupled structures, monitoring the translational motion of its key components is of great importance. For instance, some coupled arms are equipped with a hydraulic piston to provide the stiffness along the piston axial direction. The piston moves back and forth and a distance sensing system is necessary to make sure that the piston is within its stroke limit. The measured motion data also give us insight into how the coupled structure works and provides information for the design optimization. This paper develops two distance sensing systems for coupled structures. The first system measures distance with ultrasonic sensor. It consists of an ultrasonic sensing module, an Arduino interface board and a control computer. The system is then further upgraded to a three-sensor version, which can measure three different sets of distance data at the same time. The three modules are synchronized by the Arduino interface board as well as the self-developed software. Each ultrasonic sensor transmits high frequency ultrasonic waves from its transmitting unit and evaluates the echo received back by the receiving unit. From the measured time interval between sending the signal and receiving the echo, the distance to an object is determined. The second distance sensing system consists of a wire draw encoder, a data collection board and the control computer. Wire draw encoder is an electromechanical device to monitor linear motion by converting a central shaft rotation into electronic pulses of the encoder. Encoder can measure displacement, velocity and acceleration simultaneously and send the measured data to the control computer via the data acquisition board. From experimental results, it is concluded that both the ultrasonic and the wire draw encoder systems can obtain the linear motion of structures in real-time.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2006년도 춘계학술대회 논문집
• /
• pp.331-332
• /
• 2006

Transport systems which are the important part of the factory automation have much influence on improving productivity. Object transport systems are driven typically by the magnetic field and conveyer belt. In recent years, as the transmission and processing of information is required more quickly, demands of optical elements and semiconductors increase. However, conventional transport systems are not adequate for transportation of those. The reason is that 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. Vibration modes of each flexural beam are verified by using Laser Scanning Vibrometer.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1847-1852
• /
• 2003

Ultrasonic motors have many excellent performances. A variety of ultrasonic motors has been developed and used as an actuator in motion control systems. However, this motor has nonlinear characteristics. Therefore, it is difficult to achieve the precise position control system incorporating with the ultrasonic motor. This paper describes a position control scheme for traveling-wave type ultrasonic motor using a pseudo-derivative control with feedforward gains (PDFF) controller designed by the coefficient diagram method (CDM). The PDFF control system satisfies both the tracking and regulation performances, which are the most important for the precise position control system. The CDM is shown to be an efficient and simple method to design the parameters of PDFF controller. The effectiveness of the proposed control system is demonstrated by experiments.

• 제어로봇시스템학회논문지
• /
• 제10권11호
• /
• pp.1028-1036
• /
• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• 제어로봇시스템학회논문지
• /
• 제18권4호
• /
• pp.321-327
• /
• 2012

This paper presents a comparative analysis on three different types of performance indices of obstacle detection for an overlapped ultrasonic sensor ring. Due to beam overlap, the entire sensing zone of each ultrasonic sensor can be divided into three smaller sensing subzones, which leads to significant reduction of positional uncertainty in obstacle detection. First, the positional uncertainty in obstacle detection is expressed in terms of the area of a sensing subzone, and type 1 performance index is then defined as the area ratio of side and center sensing subzones. Second, based on the area of a sensing subzone, type 2 performance index is defined taking into account the size of the entire range of obstacle detection as well as the degree of the positional uncertainty in obstacle detection. Third, the positional uncertainty in obstacle detection is now expressed in terms of the length of the uncertainty arc spanning a sensing subzone, and type 3 performance index is then defined as the average value of the uncertainty arc lengths over the entire range of obstacle detection. Fourth, using a commercial low directivity ultrasonic sensor, the changes of three different performance indices depending on the parameter of an overlapped ultrasonic sensor ring are examined and compared.

• 제어로봇시스템학회논문지
• /
• 제9권12호
• /
• pp.1009-1018
• /
• 2003

In a park or street, we can see many people Jogging or walking with their dogs chasing their masters. In the previous study, an entertainment robot, CARTRI that imitates the dog's behavior was created. The robot's task was chasing a moving goal that was recognized as the master. The physical structure of the CARTRI robot was three-wheel type locomotion system. The sensor system which could detect the position of the master in the outdoor space, was consists of a signal transmitter which was held by the master and five ultrasonic receivers which were mounted on the robot. In the experiment, the robot could chase a human walking in outdoor space like a park. But it could not avoid obstacles and its behavior was only goal-chasing behavior because of the limit of the sensor system. In this study, an improved RF-ultrasonic sensor system which can detect both goal and obstacle is developed in order to enable the CARTRI robot to carry out various behavior. The sensor system has increased angle resolution by using eight ultrasonic receivers instead of five in the previous study. And it can detect obstacle by using reflective type ultrasonic sensors. The sensor system is designed so that detection of goal and obstacle could be conducted in one sampling period. The Performance of the developed sensor system is evaluated through experiments.

• 정보과학회 논문지
• /
• 제41권10호
• /
• pp.745-761
• /
• 2014

기존 교통정보 수집시스템의 낮은 확장성과 높은 비용 등의 문제를 해결하기 위해 WSN 기반의 교통정보 수집 시스템이 최근 많이 연구되고 있다. WSN 기반 시스템은 기존 시스템에 비해 높은 확장성과 낮은 유지보수 비용을 가지는 장점이 있다. 최근에는 자기장센서, 가속도센서, 음향센서 등 다양한 센서를 이용하여 WSN 기반 교통정보수집 시스템 연구가 진행되고 있다. 하지만, 초음파센서를 이용한 WSN 기반 시스템은 아직 연구가 부족한 실정이다. WSN 기반 시스템은 배터리 동작, 낮은 컴퓨팅 파워와 같은 고유 특징으로 인해 에너지절약과 알고리즘의 경량화가 필요하다. 본 논문에서는 상세 모델링과 분석을 통해 도로환경에 따른 초음파 센서의 이상적인 에너지절약 방법을 제시한다. 또한 초음파 데이터를 이용한 차량인식 알고리즘의 경량화를 위한 방법을 제시한다. 제안된 방법은 초소형 마이크로프로세서에 실제 구현되었으며 성능평가를 통해 높은 차량인식 정확성을 보임을 확인하였다.

• 한국해양공학회지
• /
• 제11권4호
• /
• pp.180-188
• /
• 1997

This paper proposes a new efficient MAC(Media Access Control) protocol to establish the ultrasonic communication network for underwater vehicles, which ensures a certain level of maximum throughput regardless of the propagation delay of ultrasonic and allows fast data transmission through the multiple ultrasonic communication channel. A MAC protocol for underwater communication network that allows 'peer-to-peer' communication between a surface ship and multiple underwater systems is designed, and the proposed control protocol is implemented for its verification.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.65.3-65
• /
• 2001

In order to apply for pickling line in cold rolling process, a high power magnetostrictive ultrasonic transducer was developed. The transducer is expected to overcome the shortcomings of conventional high power ultrasonic transducers. The transducer consists of Fe-Co-V alloy sheets for the magnetostrictive material, an ultrasonic horn made of Hastelloy to withstand acid solution, and electric driving circuit. In the development, the transducer was designed with the theoretical and numerical methods such as finite element method, and was characterized with experimental water tanks. The developed transducers turned out to be able to generate the sound pressure up to 20,000 Pa, and to be suitable for application ...