• 한국정보통신학회논문지
• /
• 제16권1호
• /
• pp.41-47
• /
• 2012

본 논문에서는 초음파 송신 시간을 일정 패턴으로 계획하여 송신하고 연속해서 수신되는 거리 데이터 값을 이전상태의 데이터를 통해 예측된 거리값으로 매핑 시키는 알고리즘을 제시하였다. 에러값에 대한 패턴을 인식하여 다중반사에 의한 에러를 판별 및 제거할 수 있다. 그리고 이동 로봇을 이용하여 다중반사 환경에서 실험을 통하여 거리값의 손실 없이 정확한 데이터를 획득할 수 있음을 실험을 통하여 보였다. 이동로봇에 다양한 센서기술들을 이용하여 실내에서 활용하기 적합한 지능적 역할을 수행할 수 있는 다목적용 자율 이동 로봇에 환경인식을 위한 다중 초음파센서를 장착하여 초음파 반사에 따른 크로스토크 실험결과를 제하였다. 또한, 기존 로봇에 장착된 초음파를 이용하여 계획송신(Scheduling firing)방법을 적용하여 임의의 환경에서의 실험결과를 통해 제시한 방법에 대한 유효성을 검증하였다.

• Smart Structures and Systems
• /
• 제32권4호
• /
• pp.253-266
• /
• 2023

The time-reversal method is employed to improve the ability of pipeline defect detection, and a new approach of identifying the pipeline defect depth is proposed in this research. When the L(0,2) mode ultrasonic guided wave excited through a lead zirconate titinate (PZT) transduce array propagates along the pipeline with a defect, it will interact with the defect and be partially converted to flexural F(n, m) modes and longitudinal L(0,1) mode. Using a receiving PZT array attached axisymmetrically around the pipeline, the L(0,2) reflection signal as well as the mode conversion signals at the defect are obtained. An appropriate rectangle window is used to intercept the L(0,2) reflection signal and the mode conversion signals from the obtained direct detection signals. The intercepted signals are time reversed and re-excited in the pipeline again, result in the guided wave energy focusing on the pipeline defect, the L(0,2) reflection and the L(0,1) mode conversion signals being enhanced to a higher level, especially for the small defect in the early crack stage. Besides the L(0,2) reflection signal, the L(0,1) mode conversion signal also contains useful pipeline defect information. It is possible to identify the pipeline defect depth by monitoring the variation trend of L(0,2) and L(0,1) reflection coefficients. The finite element method (FEM) simulation and experiment results are given in the paper, the enhancement of pipeline defect reflection signals by time-reversal method is obvious, and the way to identify pipeline defect depth is demonstrated to be effective.

• 비파괴검사학회지
• /
• 제3권1호
• /
• pp.19-25
• /
• 1983

Some studies have been made on the effects of the attenuation on the result of ultrasonic examination of austenitic stainless steel weldment and also on the cause of false indications. The differences in the amplitudes and the metal paths of the ultrasonic examinations have been measured experimentally, for two kinds of waves, one passed through only the parent material and the other one through the weldment. The effect of probe angles and frequency on the examination data have been investigated using the shear wave. It has been found that the false indications were caused by back reflection from the weld metal surface due to the characteristics of ultrasonic wave propagation. It has been confirmed that the probe of $2.25\;MHz\;and\;60^{\circ}$ is the best choice in the ultrasonic examination and that the correction of amplitude for attenuations is necessary.

• 비파괴검사학회지
• /
• 제26권1호
• /
• pp.30-39
• /
• 2006

Feasibility is studied for an application of the mass-spring lattice model (MSLM), a numerical model previously developed for unidirectional composites, to the numerical simulation of ultrasonic inspection of austenitic welds modeled as transversely isotropic. Fundamental wave processes, such as propagation, reflection, refraction, and diffraction of ultrasonic waves in such an inspection are simulated using the MSLM. All numerical results show excellent agreement with the analytical results. Further, a simplified model of austenitic weld inspection has been successfully simulated using the MSLM. In conclusion, a great potential of the MSLM in numerically simulating ultrasonic inspections of austenitic welds has been manifested in this work, though significant further efforts will be required to develop a model with field practicality.

• 제어로봇시스템학회논문지
• /
• 제4권6호
• /
• pp.747-752
• /
• 1998

Ultrasonic sensors have been widely used to recognize the working environment for a mobile robot. However, their intrinsic problems, such as specular reflection, wide beam angle, and slow propagation velocity, require an excessive number of sensors to be integrated for achieving the sensing goal. This paper proposes a new measurement scheme which uses only two sets of ultrasonic sensors to determine the location and the type of a target surface. By measuring the time difference between the returned signals from the target surface, which are generated by two transmitters with 1 ㎳ difference, it classifies the type and determines the size of the target surface. Since the proposed sensor system uses only two sets of ultrasonic sensors to recognize and localize the target surface, it significantly simplifies the sensing system and reduces the signal processing time so that the working environment can be recognized in real time.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2008년도 추계학술대회A
• /
• pp.795-800
• /
• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental

• 비파괴검사학회지
• /
• 제22권6호
• /
• pp.627-636
• /
• 2002

Identification and sizing of surface breaking vertical cracks using angle beam ultrasonic testing in practical situation quite often become very difficult tasks due to the presence of non-relevant signals caused by geometric reflectors. The present work introduces effective and systematic approaches to take care of such a difficulty by use oi angle beam ultrasonic testing models that can predict the expected signals from various targets very accurately. Specifically, the model-based TIFD (Technique for Identification of Flaw signals using Deconvolution) is Proposed for the identification of the crack tip signals from the non-relevant geometric reflection signals. In addition, the model-based Size-Amplitude Curve is introduced for the reliable sizing of surface breaking vertical cracks.

• Journal of Welding and Joining
• /
• 제4권2호
• /
• pp.47-52
• /
• 1986

Friction Welds are formed by the mechanisms of diffusion as well as mechanical inter-locking. The severe plastic flow at the interface by the forge action of the process brings the subsurface so close together that detection of any unbounded area becomes very difficult. No reliable method is available so fat to determine the weld quality nondestructively. The paper presents an attempt to determine weld strength quantitatively using the ultrasonic pulseecho method. The new approach calculates the coefficient of reflection based on measured amplitudes of the echoes. This coefficient provides a single quantitative measurement which involves both acoustic energy reflected at the welded interface as well as transmitted across the interface. As a result, it was known that the quantitative relationship between the coefficient and the weld strength (torsional strength) could be drawn.

• 제어로봇시스템학회논문지
• /
• 제17권12호
• /
• pp.1219-1226
• /
• 2011

This paper proposes a novel approach to building an occupancy grid map using sonar data. It is very important for a mobile robot to recognize and construct its surrounding environments for navigation. However, the grid map constructed by ultrasonic sensors cannot represent a realistic shape of given environments due to incorrect sonar measurements caused by specular reflection. To overcome this problem, we propose an advanced sonar sensor model which consists of distance and shape factors used to determine the reliability of sensor data. Through this sensor model, a robot can build a high-quality grid map. The proposed method was verified by various experiments and showed that the robot could build an accurate map with sonar data in various indoor environments.

• 대한화학회지
• /
• 제36권2호
• /
• pp.329-334
• /
• 1992

단백질 수용액 중의 초음파흡수 mechanism을 규명하기 위하여 pH 7의 소혈청 albumin(BSA)수용액의 초음파흡수 측정을 주파수 100 kHz에서 1600 MHz에 걸쳐 행하였다. 측정방법은 plano-concave 공명법(0.1${\sim}$10 MHz)과 고분해능 Bragg 반사법(120${\sim}$1600 MHz)을 사용하였다. pH7에서의 초음파흡수스펙트럼은 Davidson-Cole 분포식의 거울상인 분포함수를 사용한 완화곡선과 일치하였다. 이 완화현상을 BSA 분자의 수화평행에 의한 것으로 해석하였다.