• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.505-511
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• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.

• Corrosion Science and Technology
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• 제15권5호
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• pp.245-252
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• 2016

The pipelines and equipments are degraded by flow-accelerated corrosion (FAC), and a large-scale test facility was constructed for simulate the FAC phenomena in secondary coolant environment of PWR type nuclear power plants. Using this facility, FAC test was performed on weld pipe (carbon steel and low alloy steel) at the conditions of high velocity flow (> 10 m/s). Wall thickness was measured by high temperature ultrasonic monitoring systems (four-channel buffer rod type and waveguide type) during test period and room temperature manual ultrasonic method before and after test period. This work deals with the complex effects of flow velocity on the wall thinning in weld pipe and the test results showed that the higher flow velocity induced different increasement of wall thinning rate for the carbon steel and low alloy steel pipe.

• 대한전자공학회논문지
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• 제22권4호
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• pp.16-23
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• 1985

초음파 반사신호로 부터 매질의 특성을 끌어내고저 할 경우, 반사되어 오는 신호내에 포함되어 있는 여러 불요성분 때문에 그 정량성 평가에 어려움이 존재한다. 이에, 본 논문은 초음파 반사파에 주파수 스펙트럼의 우기적인 특성인 극소점 해석 기법을 통용하여 다층매질에서의 음달분포 정량화의 가능성을 논하고 있다. 이를 위해 컴퓨터 시뮬레이션을 행하고, 이때 고려되어야 할 간섭현상, 임피던스 차리, 감리, 두께등의 영향에 관한 검토, 그 유용성을 확인해주고 있다. 아울러 간단한 실험을 통해 그 가능성을 입양해 주고 있다.

• 로봇학회논문지
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• 제18권1호
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• pp.53-58
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• 2023

In general, in order to operate an autonomous underwater vehicle (AUV) in an underwater environment, a navigation system such as a Doppler Log (DVL) using a Doppler phenomenon of ultrasonic waves is used for speed and direction estimation. However, most of the ultrasonic sensors in underwater is large for long-distance sensing and the cost is very high. In this study, not only canal neuromast on the fish's lateral lines but also superficial neuromast are studied on the simulation to obtain pressure values for each pressure sensor, and the obtained pressure data is supervised using spherical CNN. To this end, through supervised learning using pressure data obtained from a pressure sensor attached to an underwater vehicle, we can estimate the speed and angle of the underwater vehicle in a quasi-static underwater environment and propose a method for a non-ultrasonic based navigation system.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2005년도 제25회 추계학술대회논문집
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• pp.259-265
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• 2005

초음파법를 이용하여 고체추진제 연소속도를 측정하기 위해 특별한 연소챔버와 초음파-압력측정시스템을 설계하고 제작하였다. 그리고 추진제에 대한 가압실험과 연소실험 중에 이 시스템을 이용해 초음파와 압력신호를 획득했다. 획득한 신호를 바탕으로 압력에 따른 연소속도를 측정할 수 있는 연소속도 해석프로그램을 개발하였다. 연소속도 측정프로그램은 압력에 따른 추진제의 음속의 변화를 보정한 것과 추진제와 고체커플런트의 음속변화를 보정한 것 두가지 알고리즘을 이용하였다. 그리고 각 알고리즘에 대한 연소속도 측정정밀도가 스트랜드버너법으로 측정된 연소속도와 비교하여 계산되었다.

• 지질공학
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• 제8권3호
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• pp.275-284
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• 1998

포천 화강암에 피로하중을 가할 때 암석의 변형 거동과 피로하중에 의해서 생성되는 미세균열의 발달특성을 초음파 속도측정 및 차분변형율 분석을 통하여 연구하였다. 미세균열은 피로하중이 가해지는 방향과 평행하게 생성되며, 피로하중이 가해지는 초기에는 기존의 미세균열이 전파되면서 생성된다. 새로운 미세균열은 피로파괴횟수의 약 1/8-l/6 이상의 지난 후 생성되기 시작한다. 초음파 속도 측정, 차분변형율 분석 및 영구변형 측정은 암석내의 미세균열 발달을 잘 지시한다. 그러나 각 방법에 의하여 규명된 미세균열의 발달상태는 약간의 차이를 보여, 미세균열의 발달을 정량적으로 규명하기 위해서는 각 방법에 의하여 측정된 결과를 종합하여 해석하여야 할 것으로 판단된다. 80% 피로하중 수준에서 초기에 발달하는 미세균열은 70% 하중수준에 비하여 2배 정도로 높아서 하중수준이 커질수록 초기에 발달하는 미세균열의 량은 많아질것으로 판단된다. 그러나 파괴 직전의 시료에 발달한 미세균열의 량은 암석 부피의 약 0.3% 정도로, 포천화강암의 경우 부피의 0.3% 정도의 미세균열이 발달하면 암석이 파괴에 도달하는 것으로 판단된다.

• 한국생산제조학회지
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• 제23권1호
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• pp.48-55
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• 2014

Many techniques are available for destructive and nondestructive measurement of mechanical hardness. The ultrasonic method could be widely applicable as a nondestructive technique. Many studies have examined how changes in the mechanical hardness affect the longitudinal velocity of ultrasonic waves. This approach aims to estimate the overall velocity variations in specimens. However, proper nondestructive examination techniques are needed as effective tools for analyzing the effects of heat treatment on the surface of the specimens. Therefore, in this study, the effect on the hardness of piston rods was nondestructively measured using surface ultrasonic waves. The hardness after heat treatment was investigated at various depths in the specimens, and the velocity of the surface ultrasonic waves was measured with respect to the hardness of the piston rods. In addition, finite element method simulations were performed to confirm the behavior of the waves.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.31-36
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• 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.

• 대한의용생체공학회:의공학회지
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• 제14권3호
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• pp.273-282
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• 1993

This study is concerned with the temperature dependence characteristics of ultrasound parameters in biological tissues, which are basic on the noninvasive deep body temperature estimation. Used parameters are ultrasonic attenuation coefficient and sound velocity In order to accomplishment our purpose, several signal processing methods were used. Attenua4iorl coefficient was estimated by spectral difference method and sound velocity was estimated by P-P method. And we also examined these methods through a series of IN VITRO experi mentis that used tissue-mimicking phantom samples and biological tissue samples. In order to imitate the biological soft tissue two kinds of phantom samples are used, one is agar phantom sample which is composed of agar, graphite, N-propyl alcohol and distilled water, and the other is fat phantom sample which is composed of pure animal fat. And the ultrasound transmission mode and reflection mode experiments are performed on the pig's spleen, kidney and fat. As a result, it is found that the temperature characteristics are uniform in case of phan- tom samples but not in biological tissues because of complicate wave propagation within them. Consequently, the possibility of temperature measurement using ultrasound on biological tissue is confirmed and its results may contribute to the establishment of reference values of internal temperature measurement of biological tissues.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집E
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• pp.727-732
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• 2001

The purpose of this study is to compare the time mean velocity distribution, the time mean kinetic energy, and the time mean turbulence intensity between vertical and horizontal flow fields in a coaxial circular pipe by PIV measurement. Experiments are performed at a Reynolds number 2,000, measuring regions divided as the section regions A, B, C, D in flow fields. The angle of the high-frequency ultrasonic is selected in the direction of $45^{\circ}$ to the flow axes and it is reflected several times. In results, it is clarified that the effect of gravity is given in the vertical flow field compared with the horizontal flow field and the ultrasonic affects the turbulence enhancement. And kinetic energy and turbulence intensity with ultrasonic are shown slightly bigger than those in flow field without it.