• Journal of the Korean Society for Precision Engineering
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• v.28 no.9
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• pp.1040-1047
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• 2011

This paper proposes a novel method based on error back propagation neural networks to fuse laser sensor data and ultrasonic sensor data for enhancing the accuracy of mapping. For navigation of single robot, the robot has to know its initial position and accurate environment information around it. However, due to the inherent properties of sensors, each sensor has its own advantages and drawbacks. In our system, the robot equipped with seven ultrasonic sensors and a laser sensor navigates to map two different corridor environments. The experimental results show the effectiveness of the heterogeneous sensor fusion using an error backpropagation algorithm for mapping.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.713-716
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• 2000

In this study, we present a mobile robot for ultrasonic scanning of weldment. magnetic Caterpillar mechanism is selected in order to travel on the inclined surface and vertical wall. A motion control board and motor driver are developed to control four DC-servo motors. A virtual device driver is also developed for the purpose of communicating between the control board and a host PC with Dual 'port ram. To provide the mobile robot with stable and accurate movement, PID control algorithm is applied to the mobile robot control. And a vision system for detecting the weld-line are developed with laser slit beam as a light source. In the experiments, movement of the mobile robot is tested inclined on a surface and a vertical wall.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.105-110
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• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.5 no.4
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• pp.216-223
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• 2012

When the implants are inserted, the recovery period of bone matrix is around 8 to 12 weeks. The osseointegration plays an important role in recovery period of bone matrix around the implants. In this study, we surveys how mechanical stimuli, ultrasonic stimuli, laser stimuli, LED stimuli affects the osseointegration. We found that $1.47^{\sim}1.6MHz$ stimuli are ideal for all stimuli.

• Proceedings of the KIEE Conference
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• 2000.07c
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• pp.2195-2197
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• 2000

In order to detect the ultrasonic that is generated by the partial discharge of the heavy electric machinery a Laser Doppler Vibrometer (LDV) is developed. A Michelson type interferometer which employed heterodyne signal process technique is built to measure the frequency and amplitude of vibration. The output signal of the fast photodetector is a frequency modulated signal centered at 40 MHz. The signal from the detector is amplified and converted to intermediate frequency centered at 1 MHz after mixing process. The voltage output that is proportional to the velocity of the moving surface(PZT) is obtained using PLL. The spectrum of the FM signal is analyzed and integration method was introduced to obtain amplitude information. This LDV can be used to measure the vibration of MEMS devices, automobiles, HDD and CDP.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.3
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• pp.157-167
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• 2011

Although vehicles become more intelligent for convenience and safety of drivers, traffic accidents are increased more and more. Especially, car-to-car single rear impacts in the urban area are increased rapidly because of driver inattention. To prevent rear impacts in the urban area, commercial automobile vendor applies the low-speed short-distance collision warning system. This paper presents low-speed short-distance collision warning algorithm for the city driving by using sensor fusion of laser sensor and ultrasonic sensor. An experiment using embedded microprocessor in the driving track was used to demonstrate the feasibility of the collision warning algorithm.

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.3
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• pp.40-45
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• 2008

This paper presents a linear positioning system and its control algorithm design with nano accuracy/resolution. The basic linear stage structure is driven by an ultrasonic motor and its displacement feedback is detected by a LDGI (Laser Diffraction Grating Interferometer), which can achieve nanometer resolution. Due to the friction driving property of the ultrasonic motor, the driving situation differs in various ranges along the travel. Experiments have been carried out in order to observe and realize the phenomena of the three main driving modes: AC mode (for mm motion), Gate mode (for ${\mu}m$ motion), and DC mode (for nm motion). A proposed FCMAC (Fuzzy Cerebella Model Articulation Controller) control algorithm is implemented for manipulating and predicting the velocity variation during the motion of each mode respectively. The PCbased integral positioning system is built up with a NI DAQ Device by a BCB (Borland $C^{++}$ Builder) program to accomplish the purpose of an intelligent nanopositioning control.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.720-725
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• 2000

A new ultrasonic pulse-echo technique was developed and described for vibration measurement of the suspension assembly in hard disk drives. The method is based upon the difference in magnitude of two consecutive reflection waves from a moving object(suspension), while the traditional ultrasonic vibrometer uses the phase shift of the reference wave and the reflection wave. A cone-shape delay line is designed to access the small structure. A simple mathematical model is presented and analyzed with experimental results to show the feasibility of the method. The advantages of this ultrasonic vibration measurement method are relatively high resolution, low cost, and ease of implementation comparing with the Laser Doppler vibrometer.

• Proceedings of the Korean Nuclear Society Conference
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• 2004.10a
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• pp.701-702
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• 2004

• Proceedings of the Korean Nuclear Society Conference
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• 2005.05a
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• pp.1072-1073
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• 2005