• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.497-502
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• 2010

The accurate estimation of position and direction of the mobile robot is essential for preparing precise movement and works in the inner complex environment. In this paper, we propose a robust estimation method of location and direction using the velocity of mobile robot in the inner GPS environment. The estimation using the inner GPS with ultrasonic sensors have to consider with various acoustic noise and sensor errors. We design a robust estimation method using a membership function based on uncertainty of the obtained information and robot velocity. The simulation results of the proposed method show effectiveness in the contaminated environment with position errors.

• Journal of Advanced Navigation Technology
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• v.25 no.6
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• pp.543-549
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• 2021

In this paper, a robust transfer alignment method is proposed for a strapdown inertial navigation system(SDINS) with norm-bounded parametric uncertainties. The uncertainties are described by the energy bound constraint, i.e., sum quadratic constraint(SQC). It is shown that the SQC can be coverted into an indefinite quadratic cost function in the Krein space. Krein space Kalman filter is designed by modifying the measurement matrix and the variance of measurement noises in the conventional Kalman filter. Since the proposed Krein space Kalman filter has the same recursive structure as a conventional Kalman filter, the proposed filter can easily be designed. The simulation results show that the proposed filter achieves robustness against measurement time delay and high dynamic environment of the vehicle.

• Proceedings of the Acoustical Society of Korea Conference
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• 1998.06e
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• pp.381-384
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• 1998

본 논문은 주행중인 자동차 환경에서 운전자의 안전성 및 편의성의 동시 확보를 위하여, 보조적인 스위치 조작없이 상시 음성의 입, 출력이 가능하도록 한다. 이때 잡음에 강인한 threshold 값을 구하기 위하여, 일정한 시간마다 기준 에너지와 영교차율(Zero Crossing Rate)을 변경하며, 밴드패스 필터(bandpass filter)를 이용하여 1차, 2차로 나누어 실시간 상태에서 자동으로, 정확하게 끝점검출(End Point Detection)을 처리한다. 기준패턴(reference pattern)은 DMS(Dynamic Multi-Section)을 사용하며, 화자의 변별력을 높이기 위하여 2개의 모델사용을 제안한다. 또한 주행중인 차량의 잡음환경에 강인하기 위하여 일반주행(80km/h 이내), 고속주행(80km/h 이상)등으로 나누며 차량의 가변잡음 크기에 따라 자동으로 선택하도록 한다. 음성의 특징 벡터와 인식 알고리즘은 PLP 13차와 One-Stage Dynamic Programming (OSDP)를 이용한다. 실험결과, 자주 사용되는 차량 편의장치 제어명령 33개에 대하여 중부, 영동 고속도로(시속 80Km/h 이상)에서 화자독립 89.75%, 화자종속 90.08%의 인식율을 구하였으며, 경부 고속도로에서는 화자독립 92.29%, 화자종속 92.42%의 인식율을 구하였다. 그리고 저속 주행중인 자동차 환경(80km/h 이내, 시멘트, 아스팔트 등의 서울시내 및 시외독립)에서는 화자독립 92.89%, 화자종속 94.44% 인식율을 구하였다.

• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.3
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• pp.264-271
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• 2021

Raman spectroscopy is an equipment that is widely used for classifying chemicals in chemical defense operations. However, the classification performance of Raman spectrum may deteriorate due to dark current noise, background noise, spectral shift by vibration of equipment, spectral shift by pressure change, etc. In this paper, we compare the classification accuracy of various machine learning algorithms including k-nearest neighbor, decision tree, linear discriminant analysis, linear support vector machine, nonlinear support vector machine, and convolutional neural network under noisy and spectral shifted conditions. Experimental results show that convolutional neural network maintains a high classification accuracy of over 95 % despite noise and spectral shift. This implies that convolutional neural network can be an ideal classification algorithm in a real combat situation where there is a lot of noise and spectral shift.

• The Journal of the Acoustical Society of Korea
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• v.43 no.4
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• pp.406-413
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• 2024

The proposed method uses Generalized Cross Correlation - Phase Transform (GCC-PHAT) method with nonlinear preprocessing and a frequency domain low-pass filter. In this paper, by reinterpreting the calculation process of GCC-PHAT as DFT, we derive that there is an effective frequency band used for time delay estimation in GCC-PHAT, and by using only the effective band using a low-pass filter, the noise component is reduced and it improvesthe time delay performance in impulsive noise environments. By comparing the proposed method with the traditional GCC-PHAT in an impulsive noise environment, we show that the GCC-PHAT becomes more robust to the impulsive noise.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.4
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• pp.90-96
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• 2010

The focusing system is an important factor to determine the imaging quality of a digital imaging system. The focusing system consist of measuring the focusing index with high frequency energy of an image and controlling the movement of the focusing lens based on the computed focusing index. The computation of the focusing index is a key aspect in implementing the focusing system and the noise of the image cause the error in the sharpness evaluation of the image. To reduce this error, the noise under the low illumination condition is considered. A noise insensitive focusing index using adaptive weights is proposed in this paper. This measure determines the sharpness of an image using the spatially adaptive weights based on the local statistics of the image and noise. Experimental results under the condition without and with the noise verify the performance of the proposed method.

• The Journal of the Korea institute of electronic communication sciences
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• v.9 no.5
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• pp.543-548
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• 2014

Multiple-model based speech recognition framework (MMSR) has been known to be very successful in speech recognition. Since it uses multiple hidden Markov modes (HMMs) that corresponds to various noise types and signal-to-noise ratio (SNR) values, the selected acoustic model can have a close match with the test noisy speech. However, since the number of HMM sets is limited in practical use, the acoustic mismatch still remains as a problem. In this study, we experimentally determined the optimal SNR mapping between the test noisy speech and the HMM set to mitigate the mismatch between them. Improved performance was obtained by employing the SNR mapping instead of using the estimated SNR from the test noisy speech. When we applied the proposed method to the MMSR, the experimental results on the Aurora 2 database show that the relative word error rate reduction of 6.3% and 9.4% was achieved compared to a conventional MMSR and multi-condition training (MTR), respectively.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.469-474
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• 2011

This paper presents the intelligent tracking method for maneuvering target using the positional error compensation of the maneuvering target. The difference between measured point and predict point is separated into acceleration and noise. K-means clustering and TS fuzzy system are used to get the optimal acceleration value. The membership function is determined for acceleration and noise which are divided by K-means clustering and the characteristics of the maneuvering target is figured out. Divided acceleration and noise are used in the tracking algorithm to compensate computational error. While calculating expected value, the non-linearity of the maneuvering target is recognized as linear one by dividing acceleration and the capability of Kalman filter is kept in the filtering process. The error for the non-linearity is compensated by approximated acceleration. The proposed system improves the adaptiveness and the robustness by adjusting the parameters in the membership function of fuzzy system. Procedures of the proposed algorithm can be implemented as an on-line system. Finally, some examples are provided to show the effectiveness of the proposed algorithm.

• Journal of KIISE:Software and Applications
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• v.28 no.9
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• pp.629-633
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• 2001

In this paper, we improve noise tolerance in image classification by combining ICA(Independent Component Analysis) with Normalization. When we add noise to the raw image data the degree of noise tolerance becomes N(0, 0.4) for PCA and N(0, 0.53) for ICA. However, when we use the preprocessing approach the degree of noise tolerance after Normalization becomes N(0, 0.75), which shows the improvement of noise tolerance in classification.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.05a
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• pp.327-330
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• 2018

국내 축산 농가들은 대부분 돼지우리의 구역을 나눈 후 해당 구역별로 30여 마리의 돼지들을 합사하여 사육하고 있다. 따라서 전염성이 강한 호흡기 질병이 발병하게 되면 돼지우리 전체로 확산되어 심각한 피해가 발생하게 된다. 본 논문에서는 돼지우리에서 발생하는 다양한 소음에도 강인한 소리 기반의 호흡기 질병 탐지 시스템을 제안한다. 제안된 시스템은 먼저, 소리 신호에서 스펙트로그램 정보를 추출하고, 이를 CNN을 기반으로 돼지 호흡기 질병에 효과적인 특징 벡터를 생성한다. 마지막으로, 추출된 특징 벡터를 MLP에 적용하여 해당 호흡기 질병을 탐지 및 식별과정을 수행한다. 본 연구의 실험 결과, 다양한 잡음 환경에서도 돼지 호흡기 질병 탐지 및 식별이 가능함을 확인하였다.