• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.11 s.242
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• pp.1439-1444
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• 2005

A two-dimensional boundary element method was used for the scattering analysis of side-drilled hole(SDH). The far-field scattering amplitude was calculated for shear vertical(SV) wave, and their frequency and time-domain results were presented. The time-domain scattering amplitude showed the directly reflected wave from the SDH leading edge as well as the creeping wave. In an immersion, pulse-echo testing, two measurement models were introduced to predict the response from SDHs. The 2-D boundary element scattering amplitude was converted to the 3-D amplitude to be used in the measurement model. The receiver voltage was calculated fer SV wave incidence at 45$^{\circ}C$ on the 1 m diameter SDH, and the result was compared with experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.420-427
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• 2010

This paper describes a localization method based on Monte Carlo Localization approach for a mobile robot. The method uses range data which are measured from ultrasound transmitting beacons whose locations are given a priori. The ultrasound receiver on-board a robot detects the range from the beacons. The method requires several beacons, theoretically over three. The method proposes a sensor model for the range sensing based on statistical analysis of the sensor output. The experiment uses commercialized beacons and detector which are used for trilateration localization. The performance of the proposed method is verified through real implementation. Especially, it is shown that the performance of the localization degrades as the sensor update rate decreases compared with the MCL algorithm update rate. Though the method requires exact location of the beacons, it doesn't require geometrical map information of the environment. Also, it is applicable to estimation of the location of both the beacons and robot simultaneously.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1928-1929
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• 2007

본 논문에서는 무인 다중 항체의 자율 주행 기법을 제시하였다. 항체의 역할을 선두 항체와 추종 항체로 구분하고 정해진 목적지로 선두 항체가 이동하면 추종 항체가 선두 항체를 따라 이동하여 두 항체가 모두 목적지에 도달하도록 하는 기법이다. 주행 중 항체 사이의 거리는 일정하게 유지하도록 GPS 수신기와 초음파 센서를 사용하였다. 자율 주행 실험에 앞서, GPS 수신기로 얻은 위치로부터 계산한 방향의 정확도를 확인하는 실험을 수행하였다.

• Journal of Biomedical Engineering Research
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• v.28 no.2
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• pp.250-257
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• 2007

Functional gastrointestinal disorders affect millions of people of all age regardless of race and sex. There are, however, rare diagnostic methods for the functional gastrointestinal disorders because functional disorders show no evidence of organic and physical causes. Our research group identified recently that the gastrointestinal tract well in the patients with the functional gastrointestinal disorders becomes more rigid than healthy people when palpating the abdominal regions overlaying the gastrointestinal tract. The aim is, therefore, to develop a diagnostic method for the functional gastrointestinal disorders based on quantitative measurement of the rigidity of the gastrointestinal tract well using ultrasound technique. For this purpose, a preliminary ultrasound diagnostic system was developed and verified through phantom tests. The system consisted of transmitter, ultrasonic transducer, receiver, TGC, and CPLD, and verified via a phantom test. For the phantom test, ten soft-tissue specimens were harvested from porcine. Five of them were then treated chemically to mimic a rigid condition of gastrointestinal tract well, which was induced by functional gastrointestinal disorders. Additionally, the specimens were tested mechanically to identify if the mimic was reasonable. The customized ultrasound system was finally verified through application to human subjects with/without functional gastrointestinal disorders(Normal and Patient Groups). It was identified from the mechanical test that the chemically treated specimens were more rigid than normalspecimen. This finding was favorably compared with the result obtained from the phantom test. The phantom test also showed that ultrasound system well described the specimen geometric characteristics and detected an alteration in the specimens. The maximum amplitude of the ultrasonic reflective signal in the rigid specimens $(0.2{\pm}0.1Vp-p)$ at the interface between the fat and muscle layers was explicitly higher than that in the normal specimens $(0.1{\pm}0.0Vp-p)$ (p<0.05). Clinical tests using our customized ultrasound system for human subject showed that the maximum amplitudes of the ultrasonic reflective signals nea. to the gastrointestinal tract well for the patient group$(2.6{\pm}0.3Vp-p)$ were generally higher than those in normal group$(0.1{\pm}0.2Vp-p)$ (p<0.05). These results suggest that newly designed diagnostic system based on ultrasound technique may diagnose enough the functional gastrointestinal disorders.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.2
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• pp.119-125
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• 2015

A concentration meter is widely used at purification plants, sewage treatment plants and waste water treatment plants to sort and transfer high concentration sludge and to control the amount of chemical dosage. When the strange substance is contained in the sludge, however, the attenuation of ultrasonic wave could be increased or not be transmitted to the receiver. At that case, the value of concentration meter is higher than the actual density value or vibrated up and down. It has also been difficult to automate the residuals treatment process according to the problems as sludge attachment or damage of a sensor. Multi-beam ultrasonic concentration meter has been developed to solve these problems, but the failure of the ultrasonic beam of a specific concentration measurement value degrade the performance of the entire system. This paper proposes the method to improve the accuracy of sludge concentration rate by choosing reliable sensor values and learning them by proposed algorithm. The prediction algorithm is chosen as neuro-fuzzy model, which is tested by the various experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.706-711
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• 2008

This paper is presented an accurate localization scheme for mobile robots based on the fusion of ultrasonic satellite (U-SAT) with inertial navigation system (INS), i.e., sensor fusion. Our aim is to achieve enough accuracy less than 100 mm. The INS consist of a yaw gyro, two wheel-encoders. And the U-SAT consist of four transmitters, a receiver. Besides the localization method in this paper fuse these in an extended Kalman filter. The performance of the localization is verified by simulation and two actual data(straight, curve) gathered from about 0.5 m/s of driving actual driving data. localization methods used are general sensor fusion and sensor fusion through Kalman filter using data from INS. Through the simulation and actual data studies, the experiment show the effectiveness of the proposed method for autonomous mobile robots.

• Journal of IKEEE
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• v.26 no.3
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• pp.396-400
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• 2022

In this study, an ICT-based underwater communication monitoring device for underwater structures is implemented based on lifting fixture that transport human bodies found on the seabed to sea level. The lifting fixture is packaged with a retback, sideback, and cartridge that injects air. Monitoring systems are developed in a mobile manner in a portable structure. The underwater ultrasonic sensor signal is supplied using a USB port, and the O/S consists of Linux. For the underwater communication dong test, a measurement test was conducted in real time from 6m to 40m in depth on the east coast. The ultrasonic sound sensor is converted to 2,400 bps to verify the transmission error according to the duality. The communication speed of sensor to monitoring is 115,200 bps, and the speed of communication from controller to receiver is 2,400 bps. In the commercialization stage of the lifting device, it is easy to develop a low-end type and the compatibility is wide.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.996-1001
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• 2005

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from. Three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can get the ultrasonic signals from only one or two beacons, because of the obstacles located along the moving path. Therefore, in this paper, as one of our dedicated contribution, the position estimation scheme with less than three sensors has been developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.40-47
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• 2007

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the absolute location of the moving objects subjected to large errors. To implement a precise and convenient localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. Since it is not easy to install the beacons at a specific position precisely, there exists a large localization error and the installation time takes long. To overcome these problems, and provide a precise and convenient localization system, a new auto calibration algorithm is developed in this paper. Also the extended Kalman filter has been adopted for improving the localization accuracy during the mobile robot navigation. The localization accuracy improvement through the proposed auto calibration algorithm and the extended Kalman filter has been demonstrated by the real experiments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.3 no.1
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• pp.108-118
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• 2009

In this paper we develop an indoor location tracking system and its 3D tracking monitoring viewer, viz., 3D Navigation Viewer (3DNV). We focus on the integration of an indoor location tracking system with the Virtual Reality Modeling Language (VRML), to facilitate a representation of the user's spatial information in virtual indoor environments that is synchronized with the physical location environment. The developed indoor location tracking system employs beacons as active transmitters, and a listener as a passive receiver. The distance information calculated from the difference speeds of RF and Ultrasonic signals is exploited, to determine the user's physical location. This is essential in supporting third parties like doctors and caregivers in identifying the activities and status of a particular individual via 3DNV. 3DNV serves as a unified user interface for an indoor location tracking system, showing the viewpoint and position of the target in virtual indoor environments. It was implemented using VRML, to provide an actual real time visualization of the target's spatial information.