• Transactions on Electrical and Electronic Materials
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• v.13 no.5
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• pp.215-220
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• 2012

Miniature ultrasonic and tactile sensors on Si substrate have been proposed, fabricated and characterized to detect objects for a dexterous robot. The ultrasonic sensor consists of piezoelectric PZT thin film on a Pt/Ti/$SiO_2$ and/or Si diaphragm fabricated using a micromachining technique; the ultrasonic sensor detects the piezoelectric voltage as an ultrasonic wave. The sensitivity has been enhanced by improving the device structure, and the resonant frequency in the array sensor has been equalized. Position detection has been carried out by using a sensor array with high sensitivity and uniform resonant frequency. The tactile sensor consists of four or three warped cantilevers which have NiCr or $Si:B^+$ piezoresistive layer for stress detection. Normal and shear stresses can be estimated by calculation using resistance changes of the piezoresitive layers on the cantilevers. Gripping state has been identified by using the tactile sensor which is installed on finger of a robot hand, and friction of objects has been measured by slipping the sensor.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Tribology and Lubricants
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• v.34 no.4
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• pp.132-137
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• 2018

Ultrasonic waves are used in various applications in multiple devices, sensors, and high-power machinery, such as processing machines, welders, and cleaners, because the acoustic vibration frequencies are above the human audible frequency range. In ultrasonic machining, electrical energy at a high frequency of 20 kHz or more is converted into mechanical vibration by a vibrator and an amplifier. This technique allows instantaneous separation between a tool and a workpiece during machining, machining by pulse impulse force at the time of re-contact and minimizes the minute elastic deformations of the workpiece and machine tools due to the cutting effect. The Al7075 alloy used in this study is a typical aluminum alloy with superior strength that is mainly used in aircrafts, automobiles, and sporting goods. To investigate the optimal conditions for machining aluminum alloy using ultrasonic vibration, the present experiment utilized the Taguchi orthogonal array method, and the coefficient of friction was analyzed using the characteristics of the Taguchi technique. In ultrasonic friction and abrasion tests, the changes in the friction coefficient were measured in the absence of ultrasonic vibrations and at 28 kHz and 40 kHz. As a result, the most considerable influence on the friction coefficient was found to be the normal load, and the frequency of ultrasonic vibrations increases, the coefficient of friction increases. It was thus confirmed that the amount of wear increases when ultrasonic vibration is applied.

• Journal of the Korean Society for Nondestructive Testing
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• v.31 no.6
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• pp.635-641
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• 2011

In ultrasonic testing of dissimilar metal welds, application of phased array technique in terms of incident beam focusing is not easy because of complicated material structures formed during the multi-pass welding process. Time reversal(TR) techniques can overcome some limitations of phased array since they are self-focusing that does not depend on the geometrical and physical properties of testing components. In this paper, we test the possibility of TR focusing on a defect within anisotropic, heterogeneous austenitic welds. A commercial simulation software is employed for TR focusing and imaging of a side-drilled hole. The performance of time reversed adaptive focal law is compared with those of calculated focal laws for both anisotropic and isotropic welds.

• Journal of the Korean Society for Nondestructive Testing
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• v.29 no.1
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• pp.15-20
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• 2009

The results of crack evaluation by conventional UT(Ultrasonic Test)is highly depend on the inspector's experience or knowledge of ultrasound. Phased array UT system and its application methods for small crack length evaluation will be a good alternative method which overcome present UT weakness. This study was aimed at checking the accuracy of crack length evaluation method by electronic scanning and discuss about characteristics of electronic scanning for crack length evaluation. Especially ultrasonic phased array with electronic scan technique was used in carrying out both sizing and detect ability of crack as its length changes. The response of ultrasonic phased array was analyzed to obtain the special method of determining crack length without moving the transducer and detect-ability of crack minimal length and depth from the material. A method of crack length determining by electronic scanning for the small crack is very real method which has it's accuracy and verify the effectiveness of method compared to a conventional crack length determination.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.6 no.1
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• pp.78-82
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• 2010

The feeder pipe of Main Primary Heat Transfer System in Wolsong Nuclear Power Plant was inspected by the Ultrasonic Phase Array technique in 2010. It is the first time to apply this method to the construction at Nuclear Power Plant in Korea. The time required for UT technique is less than RT method. The UT method doesn't need to evacuate personnel who works nearby inspecting area and doesn't need to wait developing of film. For these reasons, the UT method is the fastest method among the volumetric inspections. As a result of the examination, it became clear that main defect of the feeder pipe is the Lack of fusion in the welded area. Moreover, the rate of defect was reduced gradually as improvement of welder's skill. If welding machine has problem, the defect has tended to same pattern(occurred same position in the welding area) but these defects were founded without specific rules. For these reasons, the creation of defect is dependent on the skill of worker not on the automatic welding machine. This evaluation of defect signal and collecting data would be useful to further examination in ISI.

• Smart Structures and Systems
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• v.4 no.4
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• pp.449-464
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• 2008

An array based, outward monitoring, ultrasonic guided wave based SHM technique using a single transmitter and multiple receivers (STMR), with a small footprint is discussed here. The previous implementation of such SHM arrays used a phase-reconstruction algorithm (that is similar to the beam-steering algorithm) for the imaging of reflectors. These algorithms were found to have a limitation during the imaging of defects/reflectors that are present in the "near-field" of the array. Here, the "near-field" is defined to be approximately 3-4 times the diameter of the compact array. This limitation is caused by approximations in the beam-steering reconstruction algorithm. In this paper, a migration-based reconstruction algorithm, with dispersion correction in the frequency domain, is discussed. Simulation and experimental studies are used to demonstrate that this algorithm improves the reconstruction in the "near-field" without decreasing the ability to reconstruct defects in the "far-field" in both isotropic and anisotropic plates.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.578-595
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• 2020

Submarine pressure hulls must withstand high hydraulic pressure and be free of defects. To improve the precision of defect detection, we herein examined different probes for optimal defect assessment by applying the Phased Array Ultrasonic Testing (PAUT) method. Two sets of probe design parameters were selected by considering pressure hull characteristics and analyzed through modeling. PAUT probes were applied, and defect assessment results were compared based on ultrasonic signals of various simulated defects in specimens designed to be the same as actual pressure hulls. The final selected design parameters for the submarine probe, which were designed to minimize the grating lobe of wave interference effect and improve the ultrasonic resolution of pressure hull welds, were identified through the experiment. The improvement in the probe's ability to detect defects in a pressure hull was verified. Furthermore, the accuracy of defect length measurement was improved, enhancing the applicability of the technique.

• Journal of the Korean Society for Nondestructive Testing
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• v.35 no.4
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• pp.268-274
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• 2015

Weld overlay was first used in power plants in the US in the early 1980s as an interim method of repairing the welds of flawed piping joints. Weld overlaid piping joints in nuclear power plants must be examined periodically using ultrasonic examination technology. Portable phased array ultrasonic technology has recently become available. Currently, the application of preemptive weld overlays as a mitigation technique and/as a method to improve the examination surface condition for more complex configurations is becoming more common. These complex geometries may require several focused conventional transducers for adequate inspection of the overlay, the original weld, and the base material. Alternatively, Phased array ultrasonic probes can be used to generate several inspection angles simultaneously at various focal depths to provide better and faster coverage than that possible by conventional methods. Thus, this technology can increase the speed of examinations, save costs, and reduce radiation exposure. In this paper, we explain the general sequence of the inspection of weld overlay and the results of signal analysis for some PAUT (phased array ultrasonic testing) signals detected in on-site inspections.

• Journal of Welding and Joining
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• v.35 no.2
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• pp.63-70
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• 2017

As the Non Destructive Test (NDT) for the welded structure, PT(Penetration Test). MT(Magnetic Test), RT (Radioisotope Test) and UT(Ultrasonic Test) methods are widely used in practice. These NDT methods have been developed toward high efficiency, low cost, real time, and high precise new NDT. For example, RT methods are developed to CT(Computed Tomography)and DR(Digital Radiography), and UT metheds are developed into Phased array, Guide wave, TOFD method. Moreover, the Infrared thermography and Laser ultrasonic technique are newly developed for applying in high temperature objects as the non-contact NDT methods. In this review paper the new high efficiency NDT methods for the welded structure are introduced and the trend of NDT rules applying in welded structure are described.