• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.164-172
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• 2000

To follow a moving target keeping a certain distance it is essential for a mobile robot to detect the target first and to measure its pose and velocity. This paper proposes a new solution for this problem using the accumulated ultrasonic image which is constructed by accumulating the returned ultrasonic signal along the time axis for a certain number of measurement periods. A moving target is separated by selecting the trajectory whose inclination is different from others in the imag since the inclination of a trajectory represents the relative speed of the target against the mobile robot. The proposed algorithm was implemented on a mobile robot and has shown that the robot follows a moving target successfully.

• Journal of ILASS-Korea
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• v.9 no.3
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• pp.22-28
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• 2004

This study is concerned about the characteristics of ultrasonic-energy-added W/O type emulsified fuel. The distilled water was mixed with diesel oil by using ultrasonic energy fuel feeding system and then the SMD of sprayed droplets was measured to find out atomization characteristics of emulsified fuel by using the Malvern 2600 system. The capacitance value was measured to verify stability of the same specimen by using the digital LCR meter, EDC1630 additionally. The main results are as follows; 1) The more measuring distance increases between one hole nozzle tip and analyser bearm, the more SMD increases. 2) The more water content increases, the more capacitance value increases depending on the time. Main Parameters of the study are the amount of water content $0{\sim}30%$ by 5% in emulsified fuel, and the measurement distance, $20{\sim}140mm$ by 10mm or 20mm between nozzle tip and analyser beam.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.123-127
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• 1997

Recently, it is gradually raised necessity that interface is measured accurately and managed in industrial circles and medical world, An Ultrasonic wave transmitted from a focused beam transducer is being expected as a powerful tool for NDE of micro-defect. The ultrasonic NDE of the defect is based on the form of the wave reflected form the interface In this study, regarding to the thickness of film which is in opaque object and thickness measurement was done by MEM-cepstrum analysis of received ultrasonic wave. In measument results, film thickness which is beyond distance resolution capacity was measured accurately. Also, automatically repeated discrimination analysis method can be decided in the category of all kinds of defects on semiconductor package.

• The KSFM Journal of Fluid Machinery
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• v.16 no.4
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• pp.5-9
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• 2013

An experimental investigation has been carried out in order to evaluate characteristics of wetted-type multi-path ultrasonic flowmeters. The multi-path ultrasonic flowmeters were installed at various entrance and exit locations for several cases of pipe fitting(straight, $90^{\circ}$ double elbow) and valve(gate valve, butterfly valve). We measured the flow-rate at each location. The measurement data of test flowmeter were compared with the measured data of reference flowmeter. The uncertainties of reference flowmeter and test flowmeter are 0.3 %, 0.4 %, respectively. The results demonstrate the effects of flowmeter location as well as the measurement errors in flow rate. The distance between the flow disturbance factor and a flowmeter was an important element of the test.

• Journal of the Korea institute for structural maintenance and inspection
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• v.6 no.4
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• pp.181-188
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• 2002

The objective of this study is to determine crack depth located under steel reinforcement in concrete specimens using ultrasonic method. Experimental studies were performed on concrete specimens containing vertical and inclined surface-opening cracks with known depths. The other studies were carried out on specimens with flexural crack. Experimental results have shown that the crack depth is effectually measured when the distance between the probes is less than the crack depth. The effect of steel on crack depth estimation is studied through a model by considering P-waves diffaction at the tip of crack and steel. In addition, experimental results show that the ultrasonic method is one of useful methods to evaluate the crack depth in reinforced concrete.

• Journal of Aerospace System Engineering
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• v.15 no.3
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• pp.99-104
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• 2021

The characteristics of wind sensors were experimentally analyzed and compared for purposes of application in multicopter type drones. For rotating wind sensors, the dynamics effect causes measurement errors, while manufacturing errors and signal processing errors were found to constitute significant errors in ultrasonic sensors. In the ultrasonic sensor, the errors decrease as the distance of the transducer increases. These characteristics were experimentally confirmed, and it was established that ultrasonic sensors capable of outputting voltage or data of 10 Hz or more are suitable for use in multicopters.

• Proceedings of the KOSOMBE Conference
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• v.1998 no.11
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• pp.151-152
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• 1998

The sensing of urination level of bladder urine volume is effective for preventing the urinary incontinence which is one of the three major infirmities afflicting the elderly. In this study, we found that it is useful for manufactured ultrasonic urination sensor to measure between distance of anterior and posterior wall of bladder, as a preliminary experiment. Also, Thee was a intimate interrelation between urine volume level and interwall distance of bladder.

• Journal of the Korean Society for Nondestructive Testing
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• v.19 no.5
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• pp.369-377
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• 1999

Recently, it is gradually raised necessity that thickness of thin film is measured accuracy and managed in industrial circles and medical world. Ultrasonic signal processing method is likely to become a very powerful method for NDE method of detection of microdefects and thickness measurement of thin film below the limit of ultrasonic distance resolution in the opaque materials, provides useful information that cannot be obtained by a conventional measuring system. In the present research. considering a thin film below the limit of ultrasonic distance resolution sandwiched between three substances as acoustical analysis model, demonstrated the usefulness of ultrasonic signal processing technique using information of ultrasonic frequency for NDE of measurements of thin film thickness. Accordingly, for the detection of delamination between the junction condition of boundary microdefect of thin film sandwiched between three substances the results from digital image processing.

• Journal of ILASS-Korea
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• v.3 no.4
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• pp.8-15
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• 1998

The spray characteristics of emulsified fuel of W/O type has been experimentally investigated. The mixture of light oil and water by using ultrasonic energy adding system is used as the emulsified fuel. The SMD of sprayed droplet of emulsified fuel is measured by using the particle size analyzer. Major parameters of the present experimental study are the volume fraction of water in emulsified fuel, $0\sim30%$ by 5%, injection pressure, $10kg_f/cm^2\sim18kg_f/cm^2$ by $2kg_f/cm^2$, and the measurement distance, $10\sim100mm$, between injection nozzle tip and analyzer beam. Compared with light oil, the SMD of emulsified fuel is larger gradually by increasing the volume fraction of water in emulsified fuel, heightening injection pressure and increasing the spray distance. Also, In considering the fact that the pattern of drop size distribution of emulsified fuel is alike that of light oil, the real time spray in coincidence with making emulsified fuel by adding ultrasonic energy can stabilize spray pattern without modificating the injection system used by now.

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