• Journal of the Korean Society for Nondestructive Testing
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• v.29 no.3
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• pp.242-247
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• 2009

The ability of time reversal techniques to focus ultrasonic beams on the source location is important in many aspects of ultrasonic nondestructive evaluation. In this paper, we investigate the time reversal beam focusing of ultrasonic array sensors on a defect in layered media. Numerical modeling is performed using the commercially available software which employs a time domain finite difference method. Two different time reversal approaches are considered - the through transmission and the pulse-echo. Linear array sensors composed of N elements of line sources are used for signal reception/excitation, time reversal, and reemission in time reversal processes associated with the scattering source of a side-drilled hole located in the second layer of two layer structure. The simulation results demonstrate the time reversal focusing even with multiple reflections from the interface of layered structure. We examine the focusing resolution that is related to the propagation distance, the size of array sensor and the wavelength.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.119-124
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• 1993

This paper describes a method of producing maps of an indoor environment with an autonomous mobile robot equipped with sonar array. This method uses the certainty grid suitable for accommodation of inaccurate sensor data and real-time navigation. Each grid contains a certainty vale that indicates the measure of confidence that an obstacle exists within th grid area. The scheduled firing method is used to eliminate the crosstalk between ultrasonic sensors. The effectiveness of the method is verified by a series of experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.315-320
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• 2015

This paper describes the implemenation of localization and visualization scheme to find out an ultrasonic source caused by defects of a power distribution line equipment. To increase the fault detection performance, $2{\times}4$ sensor array is configured with MEMS ultrasonic sensors, and from the sensor signals aquired, the azimuth and elevation angles of the ultrasonic source is estimated based on the delay-sum beam forming method. Also, to visualize the estimated location, it is marked on the background image. Experimental results show applicability of the present technique.

• Journal of Animal Science and Technology
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• v.61 no.3
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• pp.163-169
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• 2019

Detection of estrus is an essential factor as a method of successful breeding in the sow. As increasing the adaption of the information and communication technology (ICT) into swine industry, this study focuses on a possibility and quantification of standing time, vulva and body temperature as methods of estrus detection, comparing each time and temperature in estrus and non-estrus period, and analyzing each success rate of new and existing methods. Ultrasonic sensor array and digital infrared thermography were used to evaluate whether new methods such as standing time and number, and vulva and skin temperature can be replaced, or these methods can be quantifiable in estrus period. Ultrasonic sensor array was installed beside the stall and digital infrared thermography was placed in the rear of sow to collect the dates of sow in estrus and non-estrus period. This study showed total standing time, number and number over 10 minutes, and vulva temperature of the sow in estrus period were increased (p < 0.05) compared with those of sow in non-estrus period, respectively. Detection of estrus using standing time and vulva temperature tended (p = 0.06) to increase the success rate when artificial insemination (AI) was performed. In conclusion, standing time and vulva temperature increased when estrus happened. Success rate of AI of sow using these methods showed an increasing trend. Therefore, existing method using the naked eye can be replaced to new method such as vulvar temperature and standing time when detecting the estrus.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.1113-1116
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• 1999

For mobile robot, the navigation effectiveness can be improved by providing autonomy, but this autonomy requires the mobile robot to detect unknown obstacles and avoid collisions while moving it toward the target. This paper presents an effective method for autonomous navigation of the mobile robot in structured environments. This method uses ultrasonic sensor array to detect obstacles and utilizes force relationship between the obstacles and the target for avoiding collisions. Accuracy of sensory data produced by ultrasonic sensors is improved by employing error eliminating rapid ultrasonic firing (EERUF) technique. Navigation algorithm controlling both the velocity and steering simultaneously is developed, implemented to the mobile robot and tested on the floor filled with the cluttered obstacles. It is verified that from the results of the field tests the mobile robot can move at a maximum speed of 0.66 m/sec without any collisions.

• Journal of information and communication convergence engineering
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• v.7 no.3
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• pp.281-285
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• 2009

Mobile robot has various sensors for describing the external world. The ultrasonic sensor widely applied to the most mobile robot to detect the obstacle and environment owing to low cost, its easy to use. However, ultrasonic sensor has major problems: the uncertainty information of sensor, false readings caused by specular reflection, multi path effect, low angular resolution and sensitivity to changes in temperature and humidity. This paper describes a sensor system for map building of mobile robot. It was made of low cost PSD (Position Sensitive Detector) sensor array and high speed RISC MPU. PSD sensor is cost effective and light weighting but its output signal has many noises. We propose heuristic S/W filter to effectively remove these noises. The developed map building sensor system was equipped on a mobile robot and was compared with ultrasonic sensor through field test.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.8
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• pp.656-663
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• 2001

This paper presents a sensor fusion method to recognize a cylindrical object a CCD camera, a laser slit beam and ultrasonic sensors on a pan/tilt device. For object recognition with a vision sensor, an active light source projects a stripe pattern of light on the object surface. The 2D image data are transformed into 3D data using the geometry between the camera and the laser slit beam. The ultrasonic sensor uses an ultrasonic transducer array mounted in horizontal direction on the pan/tilt device. The time of flight is estimated by finding the maximum correlation between the received ultrasonic pulse and a set of stored templates - also called a matched filter. The distance of flight is calculated by simply multiplying the time of flight by the speed of sound and the maximum amplitude of the filtered signal is used to determine the face angle to the object. To determine the position and the radius of cylindrical objects, we use a statistical sensor fusion. Experimental results show that the fused data increase the reliability for the object recognition.

• Journal of Sensor Science and Technology
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• v.6 no.4
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• pp.298-306
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• 1997

Ultrasonic sensors are widely used in various applications due to advantages of low cost, simplicity in construction, mechanical robustness, and little environmental restriction in usage. But the main purposes of the noncontact sensors are rather narrowly confined within object detection and distance measurement. For the application of object recognition, ultrasonic sensors exhibit several shortcomings of poor directionality which results in low spatial resolution of an object, and specularity which gives frequent erroneous range readings. To resolve these problems in object recognition, an array of the sensors has been used. To improve the spatial resolution, more number of sensors are used in essence throughout the various devices of the sensor arrays. Under the disguise of a fixed number of the sensors, the array can be shifted mechanically in several steps. In this paper we propose a practical sensor resolution enhancement method using an electronic circuit accompanying the sensor array. The circuit changes the transmitter output voltage in several steps. Using the known sensor characteristics, a set of different return echo signals provide enhanced spatial resolution. The improvement is obtained without the cost of the increased number of the sensors nor extra mechanical devices.

• Journal of The Korean Society of Agricultural Engineers
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• v.52 no.5
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• pp.69-76
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• 2010

The structural material with the highest possibility of new materials that will be used in the future construction field is fiber reinforced polymer. The current studies on FRP members by using such excellent material characteristics mostly focused on stability, composite problem, and durability of FRP members. The initially constructed FRP members secure excellent stability and durability compared to reinforced concrete and steel materials, but measures for defections during the periodical inspection, methods for detecting breakages, and maintenance and reinforcement are not insufficient. Accordingly, this study proposed a measurement system using the FRP sensor to evaluate the safety of the FRP modular box member, and applied the phased array ultrasonic technique to detect the defects and damage likely to occur during the performance period.