• 재활복지공학회논문지
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• 제11권2호
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• pp.133-141
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• 2017

하이브리드 음향센서 (hybrid acoustic sensor)는 음압 기반의 음향센서 (ECM)와 진동 기반의 가속도 센서(acceleration sensor)가 접목된 구조이다. 이는 음향센서의 저주파 대역 감도와 가속도 센서의 고주파 대역 감도를 결합하여 저주파에서 고주파 대역까지 광범위하게 음향을 포집할 수 있다. 본 논문에서는 하이브리드 음향센서에 사용되는 가속도 센서를 제안하였다. 가속도 센서는 음향신호에 의해 발생되는 고막의 진동을 포집한다. 제안된 가속도 센서의 사이즈는 고막의 해부학적 구조와 음향센서인 ECM의 규격을 고려하여 직경 3.2 mm로 결정하였다. 그리고 하이브리드 음향센서가 고감도 광대역 특성을 가지도록 하기 위해서는 가속도 센서의 공진 주파수는 3.5 kHz 부근에서 생성되는 것을 목표로 하였다. 가속도 센서를 구성하는 진동막은 수학적 모델과 유한요소 해석을 통하여 기하학적 구조를 도출하였다. 이를 바탕으로 화학적 식각공정을 이용하여 진동막을 제작하였다. 그리고 제작된 진동막의 주파수 특성을 확인하기 위하여 외력에 의한 진동 측정 실험을 수행하였고, 실험 결과 진동막의 기계적 공진은 3.4 kHz에서 발생되었다. 그러므로 제안한 가속도 센서는 하이브리드 음향센서에 유용하게 활용될 수 있을 것으로 판단된다.

• 한국멀티미디어학회논문지
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• 제22권8호
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• pp.923-929
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• 2019

In this paper, biomimetic based physical ear model proposed for measuring the characteristics of a hybrid-acoustic sensor for fully implantable middle-ear hearing aid. The proposed physical ear model consists of the external ear, middle-ear, and cochlea. The physical ear model was implemented based on the anatomical structure and CT images of the human ear. To confirm the characteristics of the ear model, the vibrational characteristics of the stapes was measured after applying sound pressure to the tympanic membrane. The measured results were compared with the vibrational characteristics of the human temporal bone specified by ASTM F2504-05. Through the comparison results, the feasibility of the proposed ear model was confirmed. Then, after attaching the hybrid-acoustic sensor to the ear model, the output characteristics of the ECM and acceleration sensor were measured according to the sound pressure. The measured results were compared with previous studies using human temporal bone, and the usefulness of the proposed physical ear model was verified through the analysis results.

• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.69-75
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• 2000

The aim of the work described in this paper is to develop a complex underground acoustic system which detects and localizes the origin of an underground hammering sound using an array of hydrophones located about 100m underground. Three different methods for the sound localization will be presented, a time-delay method, a power-attenuation method and a hybrid method. In the time-delay method, the cross correlation of the signals received from the array of sensors is used to calculate the time delays between those signals. In the power-attenuation method, the powers of the received signals provide a measure of the distances of the source from the sensors. In the hybrid method, both informations of time-delays and power-ratios are coupled together to produce better performance of position estimation. A new acoustic imaging technique has been developed for improving the hybrid method. This new acoustic imaging method shows the multi-dimensional distribution of the normalized cost function, so as to indicate the trend of the minimizing direction toward the source location. For each method the sound localization is carried out in three dimensions underground. The distance between the true and estimated origins of the source is 28m for a search area of radius 250m.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.149-156
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o.f. equations of motion of SAUV in a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass and a depth senor. The error of the estimated position still slowly drifts in horizontal plane about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• 센서학회지
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• 제14권3호
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• pp.198-205
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• 2005

Recently, the systems using multiple sensors such as magnetic, acoustic and pressure sensor are used for detection of underwater objects or vehicles. Those systems have difficulty of maintenance and repair because they operate underwater. Thus, this paper describes a hybrid detection system with long term operating reliability. This has a multi-signal transmission structure to have a high reliability. First, a signal transmission & receiving part, which transfers data from underwater sensors to land and receive control message from land through optical cable, has 4 multi-path. Second, the nodes for signal transmission are connected dually each other with single-hop construction and sensors are connected to a couple of neighboring nodes. This enables the output signal to transmit from a node to the next node and the next but one node together. Also, the signal from a sensor can be transmitted to two nodes at the same time. Therefore, the system with this construction has high reliability in long term operation because it makes possible to transmit sensor data to another node which works normally although a transmission node or cable in system have some faults.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.141-148
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• 2003

This paper presents a rotating ann test for assessment of an underwater hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. The rotating ann tests are conducted in the Ocean Engineering Basin of KRISO, KORDI to generate circular motion in laboratory, where the USBL system was absent in the basin. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• 한국해양공학회지
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• 제11권3호
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• pp.170-179
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• 1997

This paper presents a hybrid navigation system for AUV to locate its position precisely in rough sea. The tracking system is composed of various sensors such as an inclinometer, a tri-axis magnetometer, a flow meter, and a super short baseline(SSBL) acoustic position tracking system. Due to the inaccuracy of the attitude sensors, the heading sensor and the flowmeter, the predicted position slowly drifts and the estimation error of position becomes larger. On the other hand, the measured position is liable to change abruptly due to the corrupted data of the SSBL system in the case of low signal to noise ratio or large ship motions. By introducing a sensor fusion technique with the position data of the SSBL system and those of the attitude heading flowmeter reference system (AHFRS), the hybrid navigation system updates the three-dimensional position robustly. A Kalman filter algorithm is derived on the basis of the error models for the flowmeter dynamics with the use of the external measurement from the SSBL. A failure detection algorithm decides the confidence degree of external measurement signals by using a fuzzy inference. Simulation is included to demonstrate the validity of the hybrid navigation system.

• 한국음향학회지
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• 제30권1호
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• pp.33-41
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• 2011

음압을 감지할 수 있는 Sagnac 간섭계 센서와 온도 및 스트레인을 측정할 수 있는 FBG센서를 결합한 새로운 형태의 하이브리드 광섬유 센서 시스템을 구축하기 위하여 입력 광원인 CW를 TLS로 대체할 필요가 있어 이에 따라 광원의 변화와 맨드릴 재료의 변화에 따른 광섬유 센서의 응답 특성 연구가 필요하게 되었다. 제작된 맨드릴 재료는 PTFE와 PTFE에 카본을 섞어 만든 두 종류로 선택하여 중공 원통형 맨드릴 겉면에 광섬유를 18 m 감아 광섬유 센서로 제작하였다. CW 광원에 대하여 음원의 입력 주파수를 1 kHz~20 kHz까지 바꾸어 가며 트랜스포머 오일이 채워진 유조에서 실험하였다. 또한 FBG와 맨드릴형 광섬유 센서를 결합한 하이브리드형 광섬유 센서 시스템을 구성하고 TLS 광원을 입사광으로 실험하였다. 실험 결과 PTFE 센서의 탐지 크기는 카본 센서 탐지 크기보다 높게 나타났고 맨드릴 재질의 탄성계수 값이 적을수록 커진다는 이론 결과와 잘 일치함을 보였다. CW 광원과 TLS 광원에서 응답한 PTFE 센서의 특성을 주파수별로 상호 비교하여 보면 광원이 CW일 때 보다 TLS일 때 응답 특성이 우수함을 알 수 있었다. 본 연구를 통하여 TLS를 이용한 광섬유 센서는 FBG와의 하이브리드 시스템에 적용 가능하리라 사료된다.

• 소음진동
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• 제6권1호
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• pp.65-70
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• 1996

유체와 접한 판재에 박힌 압전센서의 응답을 복합적인 유한요소 해석기법을 이용하여 모델링 하였다. 판재 구조물은 유체영역에서 전파되는 음향파에 의해서 가진된다. 구조물과 압전소자 주위의 유에부분을 유한요소기법을 써서 모델링였고 임의로 나눈 가상경계에서는 평면과 해를 적용하여 변위를 일치 시켰다. 또한, 이 경계에서 변위의 번분까지도 Penalty factor를 써서 일치 시켰으며 가상경계에서의 투명성을 증가시키기 위해서 유한요소의 각 절점에 회전자유도를 추가시켰다. 압전 센서 응답의 수치 결과가 구하여졌고 이것은 센서의 삽입효과가 적을 뿐만 아니라 구조물의 특성에 민감하다는 것이 밝혀졌다.

• 한국해양공학회지
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• 제17권4호
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• pp.73-80
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• 2003

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit(IMU), an ultra-short baseline(USBL) acoustic navigation sensor and a doppler velocity log(DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.