• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.84-84
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• 2000

This paper proposes a new impedance control scheme based on a variable stiffness matrix for a bilateraL teleoperation. In this scheme, stiffness matrix of the impedance model in the slave is modulated based on the distance, measured by an ultrasonic sensor, between the slave and environment. At the same time, the stiffness matrix of the master is also changed accordingly in order for the impedance parameters of the combined system to remain constant The proposed scheme is implemented on a 1-dof master/slave system to perform a simple task. In the experiments, the teleoperator with the impedance parameter modulation shows better performance than one with fixed impedance parameters, especially in reducing task execution time and in avoiding excessive external forces.

• E2M - 전기 전자와 첨단 소재
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• 제8권2호
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• pp.211-216
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• 1995

In this study, the piezoelectric ceramics/polymer composite transducers with 1-3 connectivity have been studied. A piezoelectric ceramics PZT prepared by Wet-Dry Combination method was used as a filler in polymer matrix Eccogel. We've got the pulse-echo response for 1-3 type piezc-electric composite transducers in water. It was shown that the transmitting and receiving sensitivity of 1-3 type piezoelectric composite transducers could be improved in comparison with that- of solid PZT transducers. The reason is for that 1-3 type Piezoelectric composites have low dielectric constant and density. There was in a good agreement between the resonant frequencies calculated from one period and observed results on the Ultrasonic Transducer Analyzer. According to these results we could be figured out the distance in water by virture of the pulse-echo response.

• Smart Structures and Systems
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• 제29권2호
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• pp.301-309
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• 2022

Protective coatings are most widely used anticorrosive structures for steel structures. The corrosion under the coating damages the host material, but this damage is completely hidden. Therefore, a field-applicable under-coating-corrosion visualization method has been desired for a long time. Laser ultrasonic technology has been studied in various fields as an in situ nondestructive inspection method. In this study, a comparative analysis was carried out between a guided-wave ultrasonic propagation imager (UPI) and pulse-echo UPI, which have the potential to be used in the field of under-coating-corrosion management. Both guided-wave UPI and pulse-echo UPI were able to successfully visualize the corrosion. Regarding the field application, the guided-wave UPI performing Q-switch laser scanning and piezoelectric sensing by magnetic attachment exhibited advantages owing to the larger distance and incident angle in the laser measurement than those of the pulse-echo UPI. Regarding the corrosion visualization methods, the combination of adjacent wave subtraction and variable time window amplitude mapping (VTWAM) provided acceptable results for the guided-wave UPI, while VTWAM was sufficient for the pule-echo UPI. In addition, the capability of multiple sensing in a single channel of the guided-wave UPI could improve the field applicability as well as the relatively smaller size of the system. Thus, we propose a guided-wave UPI as a tool for under-coating-corrosion management.

• 한국정밀공학회지
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• 제28권9호
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• pp.1070-1077
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• 2011

This study intends to assess the defect in the weld zone of titanium grade 2 plate in terms of acoustical anisotropy based on the angle beam method. Depending on the rolling direction, the ratio of wave velocity was found to be 1.08 and the difference in the angle of refraction was more than seven degrees, confirming the presence of acoustical anisotropy. Thus for measuring the length of defect in the weld zone of the titanium plate (thickness of 10mm), the distance amplitude characteristics curves of titanium, TDACC-R and TDACC-T were constructed for the measurements in consideration of the acoustical anisotropy on CRT of the ultrasonic testing equipment. As a result, when the distance amplitude characteristics curve corresponds to the rolling direction, the length of defect was close to the actual measurement within 1mm and when different, the difference was found to be over 4mm. It was affirmed that the acoustical anisotropy should be taken into consideration when measuring the length of defects in the weld zone of the titanium plate with the presence of acoustical anisotropy.

• 한국정보통신학회논문지
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• 제15권5호
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• pp.1183-1188
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• 2011

고온다습하며 이물질이 존재하는 일반적인 금속감지 기술이 적용되기 어려운 환경에서도 사용할 수 있는 금속위치감지 방법을 제안한다. 섭씨 300도가 넘는 환경에서는 마이크로웨이브, 초음파, 광파를 매체로 하는 일반적인 송수신용 전자소자를 사용하는 금속감지 센서는 전자소자의 동작온도 범위를 넘어서므로 적용하는데 어려움이 있었다. 본 연구에서는 금속감지를 위하여 노출되는 면에는 수동소자를 사용하고 전자파를 금속 위치감지에 이용하는 기법을 사용한 금속의 위치감지 장치에서 전자파의 주파수, 감지거리가 금속감지 센서의 감도에 미치는 영향을 측정하였다. 측정된 결과는 500mm 간격에서도 1mm 해상도를 갖고 위치를 감지할 수 있으며 고온에서도 금속의 위치 측정이 가능함을 보여주었다.

• 대한전기학회논문지
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• 제43권6호
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• pp.1001-1009
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• 1994

The present paper deals with a new developed sensor for measuring the time-varying magnetic fields and describes the experimental results of trasient magnetic field that takes place during the operations of electric appliance. The operation principle of the self-integrating magnetic field sensor by using coaxial cable is analyzed and a calibration investigation is carried out. The frequency bandwidth of the magnetic field measurement system is from 40 Hz to about 300 kHz. The magnetic field induced by the starting and/or operation of electric appliance mainly includes the odd harmonics such as the third, the fifth and the seventh harmonics. The magnetic field intensity caused during the operation of ultrasonic washer is inversely proportional to distance, this correspodns to induction component. As a result, it was known that the odd harmonics of magnetic field in the desing of electromagnetic shield employed for protecting electronic circuit and control devices have to be considered.

• 융합신호처리학회논문지
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• 제23권3호
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• pp.115-122
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• 2022

몇 년 전 코로나가 발병하면서 화상 회의, 전자 문서 작업이 많아지게 되었고 이 때문에 현대인들의 하루 일과 중에서 컴퓨터 작업을 하는 비중이 증가하고 있다. 하지만 오랜 시간 동안 잘못된 자세로 컴퓨터 작업을 하는 사람들이 많아지게 되면서 시력 저하, 거북목증후군 환자들이 늘고 있다. 최근까지도 자세 교정을 위한 연구들이 많이 발표되고 있지만 대부분은 사용자가 장비를 착용하여 자세 교정을 해야 하므로 사용자가 불편함을 겪을 수 있다는 한계가 있다. 본 논문에서는 초음파 센서 장치를 이용하여 컴퓨터 모니터와 사람 사이의 최소 거리 접근을 방지하기 위한 자세 교정 센서 시스템을 제안한다. 그리고 이때 최소 거리 시 울리는 경고 알람 중 오류 알람을 최소화하는 알고리즘도 함께 제안한다. 이는 초음파 센서 장치를 이용하기 때문에 몸에 기기를 부착하지 않고도 자세 교정을 할 수 있으며 사용자의 불편함을 해소할 수 있다는 장점이 있다. 또한, 실험 결과에서 거리 측정 시 발생한 잡음을 제거하여 오류 알람을 줄임으로써 정확도를 높일 수 있음을 보였다.

• Restorative Dentistry and Endodontics
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• 제16권2호
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• pp.143-154
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• 1991

The purpose of this study was to evaluate the sealing ability of five obturation methods in conjunction with sealer. Fifty extracted upper and lower anterior teeth were selected and the access cavities were prepared lingually with a round bur. The working length was determined with a #15K file, and the root canals were instrumented with a #40K file 1mm short of the apical foramen. The apical third of root canal was flared by step-back technique and the coronal two thirds of root canal using #2 - 3 Gates Glidden drills. And then, the teeth were randomly assigned to five groups of 10 teeth each. A thin coat of Tubliseal was placed into the canal into the canal using the # 35 reamer and the canals were filled by lateral condensation, vertical condensation, ultrasonic activated lateral condensation, ULTRAFIL injecting, and McSpadden compaction methods. All teeth were stored in 100 % relative humidity at 31c for 48 hours. The roots were suspended in 2 % methylene blue solution for 48 hours, left to dry for 24 hours and then, half side of root was removed longitudinally using the fissure bur. A Boley gauge wes used to measure the distance, to the nearest 0.1mm, from the apical foramen to the most coronal level of dye penetration. The measurement of dye penetration was statistically compared by Duncan's multiple range test The results were as follows 1. Ultrasonic group showed the best sealing ability among the all experimental groups, but there were statistically no significant difference in the sealing ability between ultrasonic group and vertical condensation group. 2. There were no statistically significant difference in the sealing ability among the lateral, vertical, and ultrasonic groups. 3. McSpadden group showed the worst sealing ability among the all exprimental groups.

• 한국지능시스템학회논문지
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• 제26권4호
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• pp.253-258
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• 2016

본 논문은 실내 주행 로봇의 위치 추정을 위해 최적화 기법을 적용한 방법에 대해 기술한다. 주행 로봇의 위치 추정에 사용되는 베이지안 필터 방법의 경우는 측정값과 환경 요소에 대한 불확실성을 고려하기위해 사용하는 조절 파라미터에 따라 추정성능이 달라진다. 또한 로봇동작 및 센서 측정 모델의 비선형성에 의하여 성능이 저하될 수 있다. 최적화 기법은 조절 파라미터가 적고 모델의 비선형성의 영향을 적게 받는다. 본 연구에서는 최적화 기법의 위치 추정 활용성을 보이기 위해 최적화 방법에 의한 추정성능과 EKF방법에 의한 추정 성능을 비교한다. 사용한 측정 센서는 초음파 위성 시스템(USAT, Ultrasonic Satellites system)으로서 4개의 비컨으로부터 로봇까지의 거리를 측정한다. 측정값의 비정상 오차를 제거하기 위하여 마할라노비스 거리(Mahalanobis Distance)를 이용한다. 최적화 기법은 거리 측정값을 사용하여 목적함수를 설계하고 반복계산을 통해 위치의 최적 값을 찾는다. 반복 수행을 위한 초기 위치를 베이시안 필터 방법을 통하여 적절히 설정함으로서 제안된 방법은 위치 추정 성능을 향상시키고 실행 시간을 단축시킬 수 있다.

• 전자공학회논문지S
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• 제34S권11호
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• pp.43-52
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• 1997

Ultrasonic sensors are widely employed in detecting range to a target by the virtue of their low cost and simplicity. However, the sensor's measurements are corrupted by systematic errors due mainly to the dependency of sound speed upon surrounding conditions and random errors of uncertain origin. In this paper, we present the results of research carried out to reduce these errors for increasing the reliability of an untrasonic sensor system to be used in orbotic or other automated system's range finding. The sensor system designed herein is in a peuliar structure having a reference target and two receivers. Echoes from a small reference target placed at a known distance are used for compensating the variations of sound speed according to the changes of sensing conditions. Unlike existing ones, the technique proposed can compensate the effects of temperature or any other physical parameters without an additional sensor dedicated to the compensation. The measurements by two redundantly employed receivers are fused to reduce random errors in a statistical sense. The correlation of the signals from the receivers sharing a hardware in part is considered in the fusion process. The methodology desicribed in this paepr is conceptually simple, easy to be implemented, and effetive to increase the accuracy of the sensor measurements as experimental results confirm.