• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2519-2523
• /
• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because 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 corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current 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 using a DSP and FPGA. A micro-controller board is made 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 for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Bulletin of the Korean Chemical Society
• /
• v.29 no.8
• /
• pp.1525-1532
• /
• 2008

An instrument was developed for the simultaneous determination of gas- and aerosol-phase nitrous acid (HONO). Gaseous HONO (HONO(g)) was sampled by a diffusion scrubber and particulate nitrite ($NO_2\;^-$(p)) was collected by a particle growth chamber. The collected samples were analyzed in time-sharing manner, based on the peroxynitrite-induced luminol chemiluminescence. The automated system was found to be sensitive with 13 pptv of detection limit, fast with 4 min. of sampling frequency, and simple and affordable to construct and operate. The system was optimized by adjusting the experimental parameters. The system was applied to the field measurement of gas- and particle-phase HONO during the springtime of 2004 in Gwangju, South Korea. HONO(g) concentrations varied diurnally from 200 pptv around 3 P.M. to 800 pptv at 5 A.M. The variation of $NO_2\;^-$(p) was not significant with the maximum of 240 pptv at 11 P.M. and the minimum of 170 pptv at 4 P.M., not displaying distinct characteristics.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.11
• /
• 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.

• Structural Engineering and Mechanics
• /
• v.59 no.6
• /
• pp.1037-1054
• /
• 2016

Structural parameter evaluation and external force estimation are two important parts of structural health monitoring. But the structural parameter identification with limited input information is still a challenging problem. A new simultaneous identification method in time domain is proposed in this study to identify the structural parameters and evaluate the external force. Each sampling point in the time history of external force is taken as the unknowns in force evaluation. To reduce the number of unknowns for force evaluation the time domain measurements are divided into several windows. In each time window the structural excitation is decomposed by orthogonal polynomials. The time-variant excitation can be represented approximately by the linear combination of these orthogonal bases. Structural parameters and the coefficients of decomposition are added to the state variable to be identified. The extended Kalman filter (EKF) is augmented and selected as the mathematical tool for the implementation of state variable evaluation. The proposed method is validated numerically with simulation studies of a time-invariant linear structure, a hysteretic nonlinear structure and a time-variant linear shear frame, respectively. Results from the simulation studies indicate that the proposed method is capable of identifying the dynamic load and structural parameters fairly accurately. This method could also identify the time-variant and nonlinear structural parameter even with contaminated incomplete measurement.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.9
• /
• pp.843-850
• /
• 2007

This paper proposes a somatosensory stimulation system for the improvement of postural stability using vibration as somatosensory stimulation. This system consists of vibratory stimulation and postural response measurement. To evaluate this system, the center of pressure(COP) was closely observed in turn with simultaneous or separate mechanical vibratory stimulations to flexor ankle muscles (tibialis anterior, triceps surae) and two plantar zones on both feet while standing on a stable and an unstable support. The simultaneous vibratory stimulations cleared influenced postural stability and the effects of vibrations were higher with the unstable support. In separate vibratory stimulations, the extent of the COP sway reduced when the direction of the vibratory stimulations and that of the inclination of body coincided for flexor ankle muscle stimulations. In the contrary, the extent of the COP sway increased when the direction of the stimulations and that of body inclination coincided for plantar zone stimulations. These results can be useful for the development of rehabilitation systems that utilizes somatosensory inputs for postural balance.

• Journal of the Optical Society of Korea
• /
• v.18 no.4
• /
• pp.301-306
• /
• 2014

A porous silicon microcavity (PSMC) sensor has been made for vapors of solvent solutions, and a method has been developed in order to obtain simultaneous determination of two volatile substances with different concentrations. In our work, the temperature of the solution and the velocity of the air stream flowing through the solution have been used to control the response of the sensor for ethanol and acetone solutions. We study the dependence of the cavity-resonant wavelength shift on solvent concentration, velocity of the airflow and solution temperature. The wavelength shift depends linearly on concentration and increases with solution temperature and velocity of the airflow. The dependence of the wavelength shift on the solution temperature in the measurement contains properties of the temperature dependence of the solvent vapor pressure, which characterizes each solvent. As a result, the dependence of the wavelength shift on the solution temperature discriminates between solutions of ethanol and acetone with different concentrations. This suggests a possibility for the simultaneous determination of the volatile substances and their concentrations.

• Journal of the Korean Magnetics Society
• /
• v.22 no.1
• /
• pp.27-31
• /
• 2012

Two radially arterial pulses of both hands using the prototype of a clamping clip pulsimeter equipped with permanent magnet and Hall device are compared and analyzed. The phase difference of two pulse wave signals is dominantly presented from the simultaneous measuring clinical pulse wave signals for twenty two male participants at their 20's. It is possible to analyze that the fast and slow pulse wave for right hand and left hand depend on the muscle property of arms rather than the total length of blood vessel due to cardiovascular circulatory system.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.3
• /
• pp.296-301
• /
• 2011

This paper deals with the simultaneous localization and mapping system using cooperative robot. For recognizing environment, swarm robot uses the ultrasonic sensors and vision sensor. Ultrasonic sensors measure the distance information, and vision sensor recognizes the predefined landmark. we used SURF with excellent quality and fast matching in order to recognize landmark. Due to measurement error of sensors, we fusion them using particle filter for accurate localization and mapping. Finally, we show the feasibility of the proposed method through some experiments.

• Structural Engineering and Mechanics
• /
• v.77 no.2
• /
• pp.151-165
• /
• 2021

This paper aims to present a novelty damage detection method to identify damage locations by the simultaneous use of both the energy and displacement damage indices. Using this novelty method, the damaged location and even the damaged floor are accurately detected. As a first method, a combination of the instantaneous frequency energy index (EDI) and the structural acceleration responses are used. To evaluate the first method and also present a rapid assessment method, the Displacement Damage Index (DDI), which consists of the error reliability (β) and Normal Probability Density Function (NPDF) indices, are introduced. The innovation of this method is the simultaneous use of displacement-acceleration responses during one process, which is more effective in the rapid evaluation of damage patterns with velocity vectors. In order to evaluate the effectiveness of the proposed method, various damage scenarios of the ASCE benchmark problem, and the effects of measurement noise were studied numerically. Extensive analyses show that the rapid proposed method is capable of accurately detecting the location of sparse damages through the building. Finally, the proposed method was validated by experimental studies of a six-story steel building structure with single and multiple damage cases.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.6
• /
• pp.1381-1388
• /
• 1993

This paper presents a method for the simultaneous optimal design of structural and control systems. Sensitivities of performance index with respect to structural design variables are analyzed. The structural design variables are optimized to minimize the performance index by use of conjugate gradient method. The method is applied to a half model of an active vehicle suspension system with elastic body moving on a randomly profiled road. The suspension control force of an optimally controlled system in the presence of measurement errors are calculated by use of linear quadratic Gaussian control theory and Kalman filter theory. The performance index contains ride comfort, road holding and working space of suspension. The structural design variables taken are stiffness, daming properties and the position of the suspension system. The random road profile considered as colored noise is shaped from white noise by use of shaping filter. The performance of an optimal simultaneous structure/control system is compared with that of an optimal controlled system.