• Journal of the Korean Society for Nondestructive Testing
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• v.31 no.5
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• pp.522-528
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• 2011

Artificial basilar membranes made of PVDF(polyvinylidene fluoride) are manufactured using microfabrication processes. The mechanical behavior of PVDF artificial basilar membrane was measured to evaluate its performance as a mechanical frequency analyzer using scanning LDV(laser Doppler vibrometer). The experimental setup consists of the microfabricated artificial basilar membrane, a loud speaker connected to an amplifier for generating acoustic pressure of specific spectral pattern, and a scanning LDV with controlling unit for measuring the displacement of the membrane on the incoming acoustic stimulation. The microfabricated artificial basilar membrane was attached tightly upon a package containing a chamber which can be filled with silicone oil before placed on the experimental setup stage. The experiment results showed that the microfabricated artificial basilar membrane has a property as a mechanical frequency analyzer.

• Journal of ILASS-Korea
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• v.6 no.1
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• pp.18-24
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• 2001

Liquid fossil fuel contaminated by water can cause trouble in the combustion processes and affect the endurance of a combustion system. Using an optical sensor to monitor the water content instantaneously in a fuel pipeline is an effective means of controlling the fuel quality in a combustion system. In two component liquid flows of oil and water, the flow pattern and characteristics of water droplets are changed with various flow conditions. Additionally, the light scattering of the optical sensor measuring the water content is also dependent on the flow patterns and droplet characteristics. Therefore, it is important to investigate the detailed behavior of water droplets in the pipeline of the fuel transportation system. In this study, the flow patterns and characteristics of water droplets in the turbulent pipe flow of two component liquids of gasoline and water were investigated using optical measurements. The dispersion of water droplets in the gasoline flow was visualized, and the size and velocity distributions of water droplets were simultaneously measured by the phase Doppler technique. The Reynolds number of the gasoline pipe flow varied in the range of $4{\times}10^{4}\;to\;1{\times}10^{3}$, and the water content varied in the range of 50 ppm to 300 ppm. The water droplets were spherical and dispersed homogeneously in all variables of this experiment. The velocity of water droplets was not dependent on the droplet size and the mean velocity of droplets was equal to that of the gasoline flow. The mean diameter of water droplets decreased and the number density increased with the Reynolds number of the gasoline flow.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.48 no.12
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• pp.54-61
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• 2011

We propose a surveillance-alert system based on optimal placements of PDR(Pulsed Doppler Radar) sensors in USN. By using the detection information of moving target from PDR sensor and by considering the covered detection region and geographical property of the strategic area, three optimal placements of sensors are proposed. The proposed placement are named as the grid type, the linear type and the zigzag type. Also, the surveillance alert system based on three sensor placements are developed. The alert level of the proposed surveillance-alert system are 'Perception', 'Caution', 'Warning' and 'Danger' which are decided by the distance change between the moving targets and the command post. The performace of the developed system is verified via outdoor experiments.

• Journal of Navigation and Port Research
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• v.38 no.6
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• pp.577-583
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• 2014

A ship-to-ship (STS) lightering operation takes place in order to transfer cargo (e.g. crude oil or petroleum products) between an ocean-going ship and a service ship alongside it. Instrumental measurements to accurately determine the relative speeds and distances during the approach between the vessels would benefit the operational safety and efficiency. A velocity information GPS (VI-GPS) system, which uses the instantaneous velocity measures from carrier-phase Doppler measurement, has been applied in a field observation onboard a service ship (Aframax tanker) approaching a ship-to-be-lightered (VLCC) in open waters. This article proposes to apply VI-GPS as the input sensor to a guidance and decision-support system aiming to provide accurate velocity information to the officer in charge of an STS operation. A method for precise velocity measurement using VI-GPS was described and the measurement results were compared each other with the results of Voyage Data Recorder (VDR) and VI-GPS that showed the concept of a guidance and decision-support system applying VI-GPS with the field test results during STS operations. Also, it turned out that VI-GPS has sufficient accuracy to serve as an input sensor from the field test results.

• Journal of Ocean Engineering and Technology
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• v.18 no.4 s.59
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• pp.33-39
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• 2004

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.584-591
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• 2014

This paper presents a novel aided navigation method for AUV (Autonomous Underwater Vehicles). The navigation system for AUV includes several sensors such as IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and depth sensor. In general, the $13^{th}$ order INS error model, which includes depth error, velocity error, attitude error, and the accelerometer and gyroscope biases as state variables is used with measurements from DVL and depth sensors. However, the model may degrade the estimation performance of the heading state. Therefore, the $11^{th}$ INS error model is proposed. Its validity is verified by using a degree of observability and analyzing steady state error. The performance of the proposed model is shown by the computer simulation. The results show that the performance of the reduced $11^{th}$ order error model is better than that of the conventional $13^{th}$ order error model.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.614-619
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• 2013

In multi-robot systems, ultrasonic sensors are widely used for localization and/or obstacle detection. However, conventional ultrasonic sensors have a drawback, that is, the interference problem among ultrasonic transmitters. There are some previous studies to avoid interferences, such as TDMA (Time Division Multiple Access) and CDMA (Code Division Multiple Access). In multiple autonomous mobile robots systems, the Doppler-effect has to be considered because ultrasonic transceivers are attached to the moving robots. To overcome this problem, we find out the ASK (Amplitude Shift Keying)-CDMA technique is more robust to the Doppler-effect than the BPSK (Binary Phase Shift Keying)-CDMA technique. In this paper, we propose a new code-expression method and a Monte-Carlo based algorithm that optimizes the ultrasonic code combination in the ASK-CDMA ultrasonic system. The experimental results show that the proposed algorithm improves the performance of the ultrasonic multiple accessing capacity in the ASK-CDMA ultrasonic system.

• Journal of the Korea Convergence Society
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• v.6 no.5
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• pp.233-240
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• 2015

In this paper, we present an algorithm that estimates the speed of a moving object only using its sound information. In general, the speed gun projects the incident light onto a moving object and measures the frequency variation of the scattered light. Then the speed is measured by this frequency difference. In our study, instead of light information, we measure the speed by sound frequency difference when the object is coming and moving away. In our experiments on the speed measurement, on average the error of 6.08% was obtained. Utilizing this algorithm for smart device, we can measure the speed of a moving object without sensor that measures the frequency of the light.

• Journal of Korea Multimedia Society
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• v.23 no.11
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• pp.1372-1382
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• 2020

This paper proposes a core technology for a micro river monitoring terminal device suitable for flood monitoring in small rivers and valleys. Our proposed device is basically equipped with a 77GHz radar, gyro and accelerometer sensors. To measure the flow velocity and water level, we proposed a signal processing technique that extracts pure water energy components from the observed Doppler velocity and reflection intensity from the radar. And to determine the stability of the river structure equipped with our device, we constantly monitor the displacement of the measured values of the gyro and accelerometer sensors. Experimental result verified that our method detects pure water energy in various river environments and distinguishes between flow velocity and water level well. And we verified that vibration and position change of structures can be determined through a gyro sensor. In future research, we will work to build a secure digital twin river network by lowering the cost of supplying RF-WAV devices. Also we expect our device to contribute to securing a preventive golden time in rivers.

• Journal of Ocean Engineering and Technology
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• v.24 no.3
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• pp.46-51
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• 2010

This paper describes the implementation of a precise underwater navigation solution using a multi-sensor fusion technique based on USBL, DVL, and IMU measurements. To implement this precise underwater navigation solution, three strategies are chosen. The first involves heading alignment angle identification to enhance the performance of a standalone dead-reckoning algorithm. In the second, the absolute position is found quickly to prevent the accumulation of integration error. The third one is the introduction of an effective outlier rejection algorithm. The performance of the developed algorithm was verified with experimental data acquired by the deep-sea ROV, Hemire, in the East-sea during a survey of a methane gas seepage area at a 1,500 m depth.