• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.2
• /
• pp.95-101
• /
• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.23 no.2
• /
• pp.98-106
• /
• 2003

Nondestructive test (NDT) provides much information on concrete without damage of structural functions. Of NDT methods, elastic wave propagation methods, such as ultrasonic pulse velocity (UPV) method and impact-echo (IE) method, have been successfully used to estimate the strength, elastic modulus, and Poisson's ratio of concrete as well as to detect the internal microstructural change and defects. In this study, the concretes with water-binder ratio ranging from 0.27 to 0.50 and fly ash content of 20% were made and then their longitudinal wave velocities were measured by UPV and IE method, respectively. Test results showed that the UPV is greater than the longitudinal wave velocity measured by the If method, i.e., rod-wave velocity obtained from the same concrete cylinder. It was found that the difference between the two types of velocities decreased with increasing the ages of concrete and strength level. Moreover, for the empirical formula, the dynamic Poisson's ratio, static and dynamic moduli of elasticity, and velocity-strength relationship were determined. It was observed that the Poisson's ratio and the modulus of elasticity determined by the dynamic method are greater than those determined by the static test. Consequently, for the more accurate estimation of concrete properties using the elastic wave velocities, the characteristics of these velocities should be understood.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2003.05a
• /
• pp.284-288
• /
• 2003

This study was investigated the nondestructive characteristics of the damage caused by low-velocity impact on symmetric cross-ply laminates. These laminates were $[0^{\circ}/90^{\circ}]{_{16s,}}\;{_{24s,}}\;{_{32s,}}\;{_{48s}}$, that is, the thickness was 2, 3, 4 and 6 mm. The impact machine, model 8250 Dynatup Instron, was used a drop-weight type with gravity. The impact velocities used in experiment were 0.75, 0.90, 1.05, 1.20 and 1.35 m/sec. The load and deformation were increased as impact velocity increase. Even if the load increased with laminates thickness in same impact velocity, the deformation decreased. The extensional velocity was a quick as laminate thickness increase in same impact velocity and as impact velocity increase in same laminate thickness. In ultrasonic scans, damaged area was represented an dimmed zone. This is due to the fact that the wave, after having been partially reflected by the defects, has not enough energy to tough the oposite side or to come back from it. The damaged laminate areas were different according to the laminate thickness and the impact velocity. The extensional velocities became lower in if direction and higher in $0^{\circ}$ direction when the size of the defects increases. But, it was difficult to draw any conclusion for the extensional velocities in $45^{\circ}$ direction.

• Journal of Ocean Engineering and Technology
• /
• v.19 no.1 s.62
• /
• pp.39-43
• /
• 2005

The study investigated the nondestructive characteristics of damage, caused by law-velocity impact, on symmetric cross-ply laminates, composed of [0o/90o]16s, 24s, 32s, 48s. The thickness of the laminates was 2, 3, 4 and 6 mm, respectively. The impact machine used, Model 8250 Dynatup Instron, was a drop-weight type that employed gravity. The impact velocities used in this experiment were 0.75, 0.90, 1.05, 1.20 and 1.35 m/sec, respectively. Both the load and the deformation increased when the impact velocity was increased. Further, when the load increased with the laminate thickness in the same impact velocity, the deformation still decreased. The extensional velocity was quick, as the laminate thickness increased in the same impact velocity and the impact velocity increased in the same laminate thickness. In the ultrasonic scans, the damaged area represented a dimmed zone. This is due to the fact that the wave, after the partial reflection by the deflects, does not have enough energy to touch the opposite side or to come back from it. The damaged laminate areas differed, according to the laminate thickness and the impact velocity. The extensional velocities are lower in the 0o direction and higher in the 90o direction, when the size of the defect increases. However, it was difficult to draw any conclusion for the extensional velocities in the 45o direction.

• Journal of the Korean Wood Science and Technology
• /
• v.45 no.1
• /
• pp.20-27
• /
• 2017

The aim of this paper is to present the modulus of elasticity of $E_L$, $E_R$, $E_T$ along three principal axis of softwood dimension lumber by nondestructive method. Ultrasonic measurement was carried out on defect free wood samples taken by the Japanese Larch, SPF (spruce-pine-fir) and Hem-fir $2{\times}4s$. The ultrasound velocities were measured to calculate young's moduli and it was derived elastic constants for each wood samples using the ultrasound velocities and densities of wood. From the test, $E_L$ was much greater than $E_R$ and $E_T$. $E_R/E_T$ ratios were about 1.3. The high density wood had high young's moduli in three principal axis and the difference in young's moduli between species was greater in transverse direction than longitudinal direction. The anisotropy of the lumber was presented through the calculated elastic moduli and compliances matrix in diagonal term were determined by inverting the stiffness matrix.

• Korean Journal of Materials Research
• /
• v.22 no.3
• /
• pp.136-139
• /
• 2012

Magnetic nanoparticles for ferromagnetic fluids and magnetorheological fluids were prepared by chemical coprecipitation and mechanical milling, respectively. The surface-treated particles were dispersed at various weight ratios into a medium of polyethylene glycol. In order to evaluate the elastic modulus of the fluids, ultrasonic pulse velocities were measured with an ultrasonic test using transducers of 5MHz and 2.25MHz. The ultrasonic signals were only available with a transducer of 2.25 MHz at fluid concentrations of 5 mg/ml and lower. In the case of applying transducers over 2.25 MHz and concentrations over 5 mg/ml to the fluids, it was impossible to observe effective ultrasonic signals due to an excessive scattering of the pulses by the dispersed particles. Elastic moduli of the magnetorheological fluids were 5.44 GPa and 6.13 GPa with concentrations of 25 mg/ml and 50 mg/ml, respectively; these values were higher by 40% than the values of 4.04 GPa and 4.28 GPa of ferromagnetic fluids at the same concentrations. As for the effect of an external magnetic field on these dilute fluids, the ultrasonic signals were positioned in a very similar way, which was probably due to insufficient arrangement of the particles even though the reflection energy of the ultrasonic waves apparently increased.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.6
• /
• pp.751-756
• /
• 2010

Ultrasonic nonlinearity is very sensitive to changes in material properties. This paper describes the study of the correlation between heat treatment and ultrasonic nonlinearity by taking nonlinear factors into consideration. A modified formula was proposed for ultrasonic velocity. This formula indicated that the changes occurring in nonlinearity during heat treatments cause changes in the ultrasonic velocity. The experimental results show that the relative nonlinearity parameters calculated from the modified ultrasonic velocities and the ratio of amplitudes of the second harmonic and fundamental wave are in good agreement. The experimental results prove that heat treatment can result in changes in material nonlinearity. Moreover, the relative nonlinearity parameter calculated from the modified velocity formula is has a large value. Since this parameter has high sensitivity to changes in nonlinearity, it can be used to represent the relative nonlinearity change calculated in this study by using the modified formula for ultrasonic velocity.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.16 no.6
• /
• pp.1-8
• /
• 2012

An experimental study has been conducted to scrutinize into the influence of ultrasonic standing wave on the propagating behavior and structural stabilization of propane/air premixed flame at various equivalence ratios in half-open rectangular duct. Evolutionary features of the flame fronts are caught by high-speed images, and the variation of flame structure and local flame velocities along the propagation are analyzed. It is revealed that the propagation velocity agitated by the ultrasonic standing wave is greater than that without the agitation: the velocity enhancement diminishes as the equivalence ratio approaches the stoichiometric. Influence of standing wave on the flame overwhelms that of the buoyancy which slants the flame front towards top of the duct, and thus the standing wave contributes to the structural stabilization of propane/air premixed flame.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.25 no.2
• /
• pp.103-109
• /
• 2005

Fiber reinforced plastic material should be inspected in fabrication process in order to enhance quality by prevent defects such as delamination and void. Generally, ultrasonic technique is widely used to evaluate FRP. In conventional ultrasonic techniques, transducer should be contacted on FRP. However, conventional contacting method could not be applied in fabrication process and novel non-contact evaluating technique was required. Laser-based ultrasonic technique was tried to evaluate CFRP plate. Laser-based ultrasonic waves propagated on CFRP were received with various transducers such as accelerometer and AE sensor in order to evaluate the properties of waves due to the variation of frequency. Velocities of laser-based ultrasonic waves were evaluated for various fiber orientation. In addition, laser interferometry was used to receive ultrasonic wave in CFRP and frequency was analysed.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.31-36
• /
• 2000

High temperature and pressure materials in power plant are degraded by creep damage, if they are exposed to constant loads for long times, which occurs in the load bearing structures of pressurized components operating at elevated temperatures. Many conventional measurement techniques such as replica method, electric resistance method, and hardness test method for measuring creep damage have been used. So far, the replica method is mainly used for the Inspection of High temperature and pressure components. This technique is, however, restricted to applications at the surface of the testpieces and cannot be used to material inside. In this paper, ultrasonic evaluation for the detection of creep damage in the form of cavaties on grain boundaries or integranular microcracks are carried out. And the absolute measuring method of quantitative ultrasonic velocity technique for Cr-Mo material degradation is analyzed. As a result of ultrasonic tests for crept specimens, we find that the sound velocity is decreased as the increase of creep life fraction$({\Phi}_c)$ and also, confirmed that hardness is decreased as the increase of creep life fraction$({\Phi}_c)$ but the coefficient of ultrasonic attenuation is increased as the increase of creep life fraction$({\Phi}_c)$. Finally based on the result in this paper, it can be recognized that the ultrasonic techniques using velocities and attenuation coefficient factor are very useful non-destructive methods to evaluate the degree of material degradation in fossile power plants.