• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1209-1213
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• 1991

This paper describes a new method for performance improvement ultrasonic ranging system using V40 controller. Detectable range of ultrasonic ranging system depends on transducer frequency and bandwidth of the receiver, and damping of the transducer, etc. Conventional ranging systems are somewhat inaccurate because they do not have capability of compensating changes in medium condition. The novel ranging system overcomes this disadvantage by placing in the same medium a dummy sensor functioning as a standard calibrating instrument and by providing data processing capability using V40 controller.

• Nuclear Engineering and Technology
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• 제52권4호
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• pp.776-783
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• 2020

As the refueling of a sodium-cooled fast reactor is conducted by rotating part of the reactor head without opening it, the monitoring of existing obstacles that can disturb the rotation of the reactor head is one of the most important issues. This paper deals with the ultrasonic ranging technique that directly monitors the existence of possible obstacles located in a lateral gap between the upper internal structure and the reactor core in a prototype generation IV sodium-cooled fast reactor (PGSFR). A 10 m long plate-type ultrasonic waveguide sensor, whose feasibility has been successfully demonstrated through preliminary tests, was employed for the ultrasonic ranging technique. The design of the sensor's wave radiating section was modified to improve the radiation performance, and the radiated field was investigated through beam profile measurements. A test facility simulating the lower part of the upper internal structure and the upper part of the reactor core with the same shapes and sizes as those in the PGSFR was newly constructed. Several under-water performance tests were then carried out at room temperature to investigate the applicability of the developed ranging technique using the plate-type ultrasonic waveguide sensor with the actual geometry of the PGSFR's internal structures.

• Agricultural and Biosystems Engineering
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• 제2권2호
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• pp.50-58
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• 2001

Chemical application is very hazardous in confined spaces under the canopy ceiling in Korean vineyard. For a small orchard sprayer adaptable to such a working condition, a low-cost autonomous steering control system was developed using two ultrasonic sensors, two electrically-operated cylinders and 80196kc microprocessor. A distance ranging system timed the round-trip for each ultrasonic wave to travel against parallel targets, placed every 1.5m spacing along both sides of a desired path. A steering control algorithm of the autonomous operation began with ranging left and right targets and the heading was decided using difference between the distances. Electrically-operated cylinders actuated steering clutches to guide the sprayer. Evaluation tests showed that the orchard sprayer could travel within RMS value of 5cm along the desired path. Ground speed did not affect the performance of the autonomous guidance system at the speed ranges of 0.29~0.52m/sec.

• 센서학회지
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• 제2권1호
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• pp.49-56
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• 1993

본 논문에서는 초음파 센서를 이용한 거리계의 성능개선에 대해 논하였다. 설계한 초음파 거리계는 동일 조건중에 설치한 더미센서를 이용하여 환경의 변화에 따라 값이 변화하는 기존 방식의 문제점을 해결하고 정밀한 거리측정이 가능하게 하였다. 또한 V40마이크로프로세서를 이용하여 데이터를 실시간으로 해석하고 저장 및 통신기능을 부가하여 동적인 시스템의 해석도 가능하도록 초음파의 응용범위를 확장하였다.

• 한국분무공학회지
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• 제6권4호
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• pp.22-30
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• 2001

The objective of this study is to develop the new equations for the calculation of higher heating values(HHVs) of reformed diesel fuels by ultrasonic treatment. Therefore, higher heating values of reformed diesel fuels by ultrasonic treatment are determined experimentally and calculated from their viscosity and surface tension measurements. The HHVs of the fuels are supposed to be a function of viscosity(Pa s) and surface tension(N/cm). The equations developed for the samples represent the correlation obtained by means of regression analysis. The HHVs calculated by developing new equations using viscosities showes the differences from the measured values ranging from -0.66 to 1.19 % and the correlation coefficient was -0.9411. The HHVs calculated by developing new equations using surface tensions showed the differences from the measured values ranging from -0.70 to 1.51 % and the correlation coefficient was 0.9999. The viscosity and the surface tension are characteristic properties of ultrasonic reformed diesel fuels for developing new formulae.

• Asian-Australasian Journal of Animal Sciences
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• 제23권4호
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• pp.537-542
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• 2010

The goal of this study was to investigate how spectrographic features of ultrasonic vocalizations (USVs) in rats vary among individuals and behaviors. Eighteen pairs of rats were allocated to individual pair cages. Each pair's behaviors and vocalizations were recorded during the 900s a known cage-mate was returning to the cage. The effects of individuals, behaviors, and the interaction between individuals and behaviors ($individuals{\times}behaviors$) were tested on the duration and peak frequencies. There was difference in the duration and peak frequency: i) among individuals (p<0.0001 and p<0.0001, respectively); ii) among behaviors (p = 0.0667 and p<0.0001, respectively); iii) among individuals${\times}$behaviors (p<0.0001 and p<0.0001, respectively). The frequency of ultrasonic vocalizations changed with a frequency ranging from 40 to 71 kHz which were emitted by individuals, whereas the frequency of ultrasonic vocalizations changed with a frequency ranging from 60 to 70 kHz which were emitted by behaviors. The peak frequency of call on 'contact' behavior was lower than that of call on other behaviors, but call duration of call on 'contact' was longer than on other behaviors. Especially, 40 kHz calls were found on 'contact' and 'other' behaviors. We suggest that ultrasonic vocalizations need to be subdivided and the effects of individuals and behaviors must be considered to assess emotional state of rats because these may influence the features of ultrasonic vocalizations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.846-851
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• 2004

In this paper, we propose a global ultrasonic system for the self-localization and autonomous navigation of indoor mobile robots. The ultrasonic sensor is regarded as the most cost-effective ranging system among the possible alternatives, and it is widely used for general purpose, since it requires simple electronic drivers and has relatively high accuracy. The global ultrasonic system presented in this paper consists of four or more ultrasonic generators fixed at reference positions in the global coordinates of an indoor environment and two receivers mounted on the mobile robots. By using the RF (Radio Frequency) modules added to the ultrasonic sensors, the robot is able to control the ultrasonic generation and to obtain the critical distances from the reference positions, which are required in order to localize is position in the global coordinates. A kalman filter algorithm designed for the self-localization using the global ultrasonic system and the experimental results of the autonomous navigation are presented in this paper.

• Journal of Biosystems Engineering
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• 제21권4호
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• pp.467-473
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• 1996

Ultrasonic energy was applied for atomizing rice-bran oil which is a highly viscous bio fuel. Six different nozzles, an injection simulator, and an ultrasonic generator system were designed and constructed for the experiment. An immersion liquid method was used for the measurement of injection droplet sizes. The characteristics of injection droplets was investigated with respect to the numbers of the droplets with diameters ranging from 5$\mu$m 50$\mu$m and to the Sauter mean diameter. The results showed that the ultrasonic energy was effective for the improvement of the atomization of the injection droplets for all the factors such as type of nozzles, nozzle opening pressures, and collection distances.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.418-420
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• 2005

This paper proposed ultrasonic distance measurement module development for correct distance detection with collision escaping or obstacle of mobile robot is traveling self-regulation. Representative ultrasonic module applied in existing was Polaroid company's 6500 series and Devantech company's SRF04/SRF08 series. This ultrasonic sensors are corrupted by systematic errors due mainly to the dependency of sound speed upon surrounding conditions and random errors of uncertain origin. Therefore Ultrasonic distance detecting means of error compensation method and high definition, narrow beam angle, board area distance detecting means to apply to ultrasonic mobile robot control urgently need. In this paper use internal type temperature compensation method to improve problem of ultrasonic distance measurement method instead of that volume that have shortcoming of used correct temperature compensation methods applied big addition device. Compensate error by environment change of temperature. Humidity density etc. and is applicable to mobile robot offering various interface and real-time processing developed possible distance measurement module.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1985년도 춘계학술대회
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• pp.1-4
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• 1985

본 논문에서는 모빌 로봇에 확장하기 위한 시도로서 대기조건에 따른 오차를 보상한 맹인 안내용 mobile Robot의 ultrasonic ranging system을 설계하였다. 본 system에서는 MCS-80 microcomputer를 이용하여 주위환경에 대한 다량의 정보를 실시간으로 처리하였고, 다각적인 정보획득을 위하여 stepping motor로서 sensor를 회전시켰으며, 대기조건에 따른 오차보상을 위하여 기준거리 비교방법을 사용하였고, offset과 근접장애물로 인한 오인식을 방지하기 위하여 받아들여진 data를 선정할 수 있도록 A/D converter를 사용하였다. 또한 맹인 아내를 위한 audio tone generator에 대하여 연구하였으며, 그밖에 외부 system과의 I/O interface 등 이 system에 대한 hardware와 software에 관하여 논하였다. 본 System에서 거리측정 오차는 약 1cm 정도이고 측정가능거리는 $0.2{\sim}6m$이다.