• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.4
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• pp.293-298
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• 2006

In this paper, a sensor fusion based robot navigation method for the autonomous control of a miniature human interaction robot is presented. The method of navigation blends the optimality of the Fuzzy Neural Network(FNN) based control algorithm with the capabilities in expressing knowledge and learning of the networked Intelligent Robotic Space(IRS). States of robot and IR space, for examples, the distance between the mobile robot and obstacles and the velocity of mobile robot, are used as the inputs of fuzzy logic controller. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a sensor fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process. Preliminary experiment and results are shown to demonstrate the merit of the introduced navigation control algorithm.

• Journal of the Korean Society of Safety
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• v.27 no.6
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• pp.133-137
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• 2012

Cracking may be used to help predict the cause of deterioration of concrete, since in many cases characteristic cracking patterns are produced. The purpose of this paper is an analysis of the crack cause occurred in concrete faced rockfill dams. We analyzed the concrete placement methods, cracking pattern, the inspection of crack depth by the ultrasonic pulse velocity method, and the measurement of heat of hydration, environmental condition, and so on. In this study, the crack cause of concrete faced rockfill dam is the wrong method of concrete placement, high temperature difference by cement of heat of hydration and concrete of drying shrinkage.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.6
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• pp.190-197
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• 2014

In this paper, we present a method for optical parameter-based material rendering with measuring the thickness of a material using ultrasonic waves. Thickness is an important element in determining the reflectance and transmittance of a material along with its optical characteristics and plays a crucial role in more realistic object rendering. In studies conducted thus far, thickness has been measured and used for rendering. The proposed method is a novel method attempted for the first time ever to render a material considering the thickness of a material whose thickness cannot be measured by visual assessment, using ultrasonic waves. It was implemented by measuring the sound velocity of the reference sample and applying the results to the thickness measurement of other objects that have the same characteristics. The characteristics of the objects measured are reflected in the quality of the final rendering, thus verifying the importance of thickness in rendering.

• Smart Structures and Systems
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• v.10 no.3
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• pp.229-251
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• 2012

Guided waves have shown a great potential for structural health monitoring (SHM) applications. In contrast to traditional non-destructive testing (NDT) methodologies, a key element of SHM approaches is the high process of automation. The monitoring system should decide autonomously whether the host structure is intact or not. A basic requirement for the realization of such a system is that the sensors are permanently installed on the host structure. Thus, baseline measurements become available that can be used for diagnostic purposes, i.e., damage detection, localization, etc. This paper contributes to guided wave-based inspection in anisotropic materials for SHM purposes. Therefore, computational strategies are described for both, the solution of the complex equations for wave propagation analysis in composite materials based on exact elasticity theory and the popular global matrix method, as well as the underlying equations of two active damage localization algorithms for anisotropic structures. The result of the global matrix method is an angular and frequency dependent wave velocity characteristic that is used subsequently in the localization procedures. Numerical simulations and experimental investigations through time-delay measurements are carried out in order to validate the proposed theoretical model. An exemplary case study including the calculation of dispersion curves and damage localization is conducted on an exemplary unidirectional composite structure where the ultrasonic signals processed in the localization step are simulated with the spectral element method. The proposed study demonstrates the capabilities of the proposed algorithms for accurate damage localization in anisotropic structures.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.4B
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• pp.357-363
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• 2009

When yields the mean velocity of the closed conduit which is used generally, it is available to use Darcy Weisbach Friction Loss Head equation. But, it is inconvenient very because Friction Loss coefficient f is the function of Reynolds Number and Relative roughness (${\varepsilon}$/d). So, it is demanded more convenient equation to estimate. In order to prove the reliability and an accuracy of Chiu's velocity equation from the research which sees hereupon, proved agreement very well about measured velocity measurement data by using Laser velocimeter which is a non-insertion velocity measuring equipment from the closed conduit (Laser Doppler Velocimeter: LDV) and an insertion velocity measuring equipment and the Pitot tube which is a supersonic flow meter (Transit-Time Flowmeters). By proving theoretical linear-relation between maximum velocity and mean velocity in laboratory flume without increase and decrease of discharge, the equilibrium state of velocity in the closed conduit which reachs to equilibrium state corresponding to entropy parameter M value has a trend maintaining consistently this state. If entropy M value which is representing one section is determinated, mean velocity can be gotten only by measuring the velocity in the point appearing the maximum velocity. So, it has been proved to estimate simply discharge and it indicates that this method can be a theoretical way, which is the most important in the future, when designing, managing and operating the closed conduit.

• Journal of the Korean Geophysical Society
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• v.3 no.2
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• pp.127-138
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• 2000

This study was conducted to examine the differences between dynamic and static elastic constants by use of some laboratory tests of cement mortar specimens which have different water/cement mixing ratios. Specific gravity measurement, ultrasonic velocity estimating and uniaxial compression test were adopted to acquire the dynamic and static elastic constants. Digital data acquisition and processing enhanced the accuracy of estimating the velocities of specimens drastically, Also, the method using the gradient of propagation delay time in according to increment of specimen length more enhanced the accuracy than the method using the only one specimen length over total propagation time. The correlation between density and the P and S wave velocity of specimens shows reliable positive relation and the correlation between density and the strength of uniaxial compression has the similar relationship. The dynamic Young's modulus $(E_D)$ is alway greater than the static Young's modulus $(E_S)$ and there is increasing tendency of the ratio $(E_D/E_S)$ according to the increase of density or strength of the specimens. On the other hand, there is no typical relationship between dynamic Poisson's ratio $({\nu}_D)$ and static Poisson's ratio $({\nu}_S)$ and just the ratio of ${\nu}_D/{\nu}_S$ ranges front 69 to 122 %.

• Journal of the Korean Recycled Construction Resources Institute
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• v.11 no.3
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• pp.184-191
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• 2023

With increasing corrosion in RC (Reinforced Concrete) structures, cracks occurred due to corrosion products and bearing load resistance decreased. In this study, corrosion was induced through an accelerated corrosion test (ICM: Impressed Current Method) with 140 hours of duration, and changes in USV (Ultra-Sonic Velocity), flexural failure load, and corrosion weight were evaluated before and after corrosion test. Three levels of cover depth (20 mm, 30 mm, and 40 mm) were considered, and the initial cracking period increased and the rust around steel decreased with increasing cover depth. In addition, the USV linearly decreased with decreasing cover depth and increasing amount of corrosion. In the flexural loading test, the bending capacity decreased by more than 10% due to corrosion, but a clear correlation could not be obtained since the corrosion ratio was small, so that the effect of slip was greater than that of reduced cross-sectional area of steel due to corrosion. As cover depth increased, the produced corrosion amount and USV changed with a clear linear relationship, and the cracking period due to corrosion could be estimated by the gradient of the measured corrosion current.

• Journal of Ocean Engineering and Technology
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• v.26 no.5
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• pp.5-10
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• 2012

In this study, carbon steel (A53) is used as the material for the pipes in a marine plant and ship industry. Welds are necessary to join the carbon steel, and the effect of this welding on the properties of the carbon steel has been studied by many researchers. In this study, the dynamic behavior of welded carbon steel was studied using an acoustic emission (AE) technique, which is a nondestructive test. There are numerous AE parameters that can be used to analyze the damage behavior of carbon steel by external loading. The AE parameters of energy, cumulative count, amplitude, and AE event were used, and each parameter was differentiated according to the degree of damage to the carbon steel. The energy showed a high level at the elastic range of the load curve, while the amplitude had the highest value at the hardening region. The cumulative count showed a growth tendency similar to the loading curve. In addition, an ultrasonic technique and hardness test were applied to evaluate the mechanical properties according to the base zone, HAZ region, and weld zone of the weld specimen. The velocity and attenuation ratio showed little change between zones, and an evaluation of the ultrasonic waves on each zone of the specimen was found to be a useful method to clarify the mechanical properties of the carbon steel.

• Journal of the Korea Concrete Institute
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• v.14 no.1
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• pp.1-7
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• 2002

The purpose of this research is to obtain a practical expression for the estimation of compressive strength of concrete using non-destructive testing method such as rebound Schmidt hammer and ultrasonic pulse

• Journal of the Korea institute for structural maintenance and inspection
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• v.12 no.2
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• pp.67-74
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• 2008

This paper provides the test results of bonding behavior of the interface between concrete substrate and carbon fiber in the rehabilitation method applying carbon fiber with epoxy based resin adhesive. The difference in each components was gradually increased subjected to the repetition of temperature variation, regardless of the strength of the substrate concrete, while the ultrasonic interface between each component occurred. An increase in difference of the temperature resulted in a decrease in bond strength of each component. Associated failure mode was shown to be interfacial failure and substrate concrete failure. No remarkable changes were found in the deformation and ultrasonic velocity of each component until the four cycles of the dry and moisture test. Hence, the moisture condition may not affect the bonding behavior of each component. After the repetition of dry and moisture test, corresponding bond strength was reduced to 40% of that before test. For the effect of freeze and thaw test, the cycle of freeze and thaw within 4 cycles resulted in debonding of each component.