• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 춘계학술대회논문집
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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.

• Smart Structures and Systems
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• 제21권2호
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• pp.151-161
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• 2018

A new type of cascade sandwiched piezoelectric ultrasonic transducer is presented and studied. The cascade transducer is composed of two traditional longitudinally sandwiched piezoelectric transducers, which are connected together in series mechanically and in parallel electrically. Based on the analytical method, the electromechanical equivalent circuit of the cascade transducer is derived and the resonance/anti-resonance frequency equations are obtained. The impedance characteristics and the vibrational modes of the transducer are analyzed. By means of numerical method, the dependency of the resonance/anti-resonance frequency and the effective electromechanical coupling coefficient on the geometrical dimensions of the cascade transducer are studied and some interesting conclusions are obtained. Two prototypes of the cascade transducers are designed and made; the resonance/anti-resonance frequency is measured. It is shown that the analytical resonance/anti-resonance frequencies are in good agreement with the experimental results. It is expected that this kind of cascade transducer can be used in large power and high intensity ultrasonic applications, such as ultrasonic liquid processing, ultrasonic metal machining and ultrasonic welding and soldering.

• 해양환경안전학회지
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• 제7권3호
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• pp.75-84
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• 2001

Ultrasonic vibrator is an equipment which atomizes and homogenizes the oils by breaking the oil particles with ultrasonic vibration cavity, and possibly improves the properties. There are various parameters on the effect of ultrasonic irradiation. Especially, this study intended to investigate the matrix structure of sludge oils and the erosion damages for horn disc SS41 according to the variation of the oil temperature and the immersing depth of horn disc. Sludge oils were irradiated with ultrasonic vibration and then observed the aspects of the change of oil particles. From these, the recycling feasibility of sludge oil for useable oil to be burnt was determined. The erosion damages for horn disc SS41 were examined with weight loss, weight loss rate and the irradiation time to max. erosion rate. These data will be useful to the development of ultrasonic breaking systems to recycle sludge oil and to consider a countermeasure for the prevention of erosion damages.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제3B권4호
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• pp.173-178
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• 2003

The rotational force of ultrasonic motors is able to get from the frictional force of elliptical vibration by contact between rotor and stator. Generally, ultrasonic motors are suitable for driving at resonant frequencies of about 20∼80［KHz］. The driving characteristics of ring type ultrasonic motors are the object of this study. A two-phase driving signal is delivered to the tested ultrasonic motor, which has a $90^0$ phase difference respectively with both sine and cosine voltage waveforms. The driving frequency is almost equal to the mechanical resonant frequency for the proper operation, and the driving signal is supplied by the two-phase parallel resonant inverter. The validity of the proposed driving method is verified by experimental results with stable operation.

• 한국항행학회논문지
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• 제23권3호
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• pp.228-236
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• 2019

최근 도심지, 터널, 지하도 등과 같이 위성항법시스템 (GPS; global positioning system) 신호 수신이 어려운 환경에서 안정적으로 정확한 위치 해를 획득하기 위한 다중센서 결합 기법들이 활발하게 연구되고 있다. GPS 음영 지역에서의 위치 정확도를 개선하기 위하여 본 논문에서는 초음파의 전파 특성을 활용하여 동체의 전방 속도를 추정할 수 있는 저가의 초음파 속도계(ultrasonic-speedometer)를 설계하였고, 이를 활용하여 관성항법시스템 (INS; inertial navigation system)과 효율적으로 결합하는 INS/초음파 속도계 결합 항법 시스템을 제안하였다. 제안된 시스템의 성능을 분석하기 위해 차량 탑재 실험을 수행하였다. 실험결과에 의하면 저가의 MEMS IMU (micro electro mechanical systems inertial measurement unit)를 활용하고 GPS 신호가 10초 이상 가용하지 않는 경우에도 제안된 INS/ 초음파 속도계 결합 항법 시스템은 위치 정보 정확도의 열화를 효과적으로 제한할 수 있음을 확인하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.595-597
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• 2004

In this paper range measurement systems using ultrasonic and visual sensors are designed. By varying the focus of a camera, the range to a target pattern is computed. Pour different methods are tested for the focusing-based range measurement. The best result is obtained when counting edge pixels found by Laplacian operator. Higher accuracy can be obtained by fusing the measurement of camera focusing with that of ultrasonic sensor. The system designed is experimented within the range of 300-450mm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.658-662
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• 1991

In this paper, a real-time obstacle avoidance for mobile robot based on the readings of the ultrasonic sensors is presented. The twenty eight ultrasonic sensors are arranged in ring and controlled by microprocessor. The readings of the ultrasonic sensor is converted into the virtual forces called repulsive forces, which are the elastic and damping forces. Then, the direction and speed of mobile robot in the cluttered environment are determined by the virtual forces. The effectiveness of the proposed method is verified from a series of simulation studies.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.434-443
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• 2007

Presently, the exploration of an unknown environment is an important task for thee new generation of mobile service robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems. This paper presents a technique for localization of a mobile robot using fusion data of multi-ultrasonic sensors and vision system. The mobile robot is designed for operating in a well-structured environment that can be represented by planes, edges, comers and cylinders in the view of structural features. In the case of ultrasonic sensors, these features have the range information in the form of the arc of a circle that is generally named as RCD(Region of Constant Depth). Localization is the continual provision of a knowledge of position which is deduced from it's a priori position estimation. The environment of a robot is modeled into a two dimensional grid map. we defines a vision-based environment recognition, phisically-based sonar sensor model and employs an extended Kalman filter to estimate position of the robot. The performance and simplicity of the approach is demonstrated with the results produced by sets of experiments using a mobile robot.

• 한국안전학회지
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• 제32권2호
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• pp.98-104
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• 2017

The ultrasonic pulse velocities of pressure, shear, and Rayleigh waves ( P-, S-, and R- waves) have been used for the condition evaluation of various concrete structures, but the statistical distribution according to the wave type has not been studied clearly in view of data reliability and validity. Therefore, this study analyzed the statistical distribution of P-, S-, R-wave velocities in concrete wide beams of $800{\times}3100mm$ (width ${\times}$ length) with a thickness of 300 mm. In addition, we investigated an experimental consistency by the Kolmogorov-Smirnov goodness-of-fit test. The experimental data showed that the R-, S- and P- wave velocities in order have better statistical stability and reliability for in situ evaluation because R- and S-waves are less sensitive to confinement and boundary conditions. Also, good correlations between wave velocities and strength and modulus of elasticity were found, which indicate them as appropriate techniques for estimating the mechanical properties.

• 센서학회지
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• 제14권2호
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• pp.116-124
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• 2005

In this paper range measurement systems are designed using an ultrasonic sensor and a camera. An ultrasonic sensor provides the range measurement to a target quickly and simply but its low resolution is a disadvantage. We tackle this problem by employing a camera. Instead using a stereoscopic sensor, which is widely used for 3D sensing but requires a computationally intensive stereo matching, the range is measured by focusing and structured lighting. In focusing a straightforward focusing measure named as MMDH(min-max difference in histogram) is proposed and compared with existing techniques. In the method of structure lighting, light stripes projected by a beam projector are used. Compared to those using a laser beam projector, the designed system can be constructed easily in a low-budget. The system equation is derived by analysing the sensor geometry. A sensing scenario using the systems designed is in two steps. First, when better accuracy is required, measurements by ultrasonic sensing and focusing of a camera are fused by MLE(maximum likelihood estimation). Second, when the target is in a range of particular interest, a range map of the target scene is obtained by using structured lighting technique. The systems designed showed measurement accuracy up to 0.3[mm] approximately in experiments.