• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1820-1825
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• 2004

In this paper, we propose a humanoid active audition system which detects the direction of sound and performs speech recognition using just three microphones. Compared with previous researches, this system comprises simpler algorithm and better amplifier system having advantages to increase a detectible distance of sound signal in spite of simple circuit. In order to verify our system's performance, we install the proposed active audition system to the home service robot, called Hombot II, which has been developed at the KIST (Korea Institute of Science and Technology), thus we confirm excellent performance by experimental results

• 한국음향학회지
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• 제30권4호
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• pp.167-180
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• 2011

Recently, 3-D audio technologies are commonly implemented through headphones. A major problem of the headphone-based 3-D audio is in-the-head localization, which occurs due to the inaccurate Head-Related Transfer Function (HRTF). Since the individual measurements of HRTFs are impractical, there have been several researches for HRTF customization. In this paper, an efficient method of customizing HRTFs for the sound externalization is proposed. Firstly, it is determined which part will be customized in HRTF through psychoacoustical experiments. Then, the method controlling spectral notches and envelopes to provide individual localization cues are described. Since the proposed method is based on a critical-band rate, the structure is much simpler than that of previous studies, but still effective. The performance was evaluated through a series of subjective tests, and the results confirmed that the customized HRTF using proposed method could replace the measured individual HRTF successfully.

• 한국음향학회지
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• 제30권4호
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• pp.197-206
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• 2011

본 논문에서는 다채널 스피커를 사용하는 음향 시스템에서의 가상 음원 생성 알고리즘을 제안하고 있다. 영상 신호의 표준은 보다 높은 해상도와 더 넓은 시야각을 제공하는 HD급이나 그 이상의 UHD급 등의 규격이 점차 상용화되고 있다. 그에 따라 음향 신호 또한 더 넓어진 음향 공간에서의 효과적인 음원 생성에 대한 필요성이 증가하고 있다. 기존의 스테레오 스피커 시스템으로는 원하는 사운드 효과를 재생하는데 한계를 가질 수밖에 없기 때문에, 여러 개의 스피커를 사용한 다양한 배치의 다채널 스피커 시스템이 제안되고 있다. 그러나 다수의 스피커를 사용한 시스템에서 기존의 사운드 패닝 알고리즘과 같은 가상 음원 생성 기술을 그대로 적용할 경우, 불연속적인 방향성 문제나 음색 열하 등의 또다른 문제가 발생할 수 있다. 이를 해결하기 위하여 임의의 배치의 다채널 스피커 시스템에서 적용 가능한 벡터 기반의 가상 음원 생성 알고리즘을 제안하였다. 제안된 알고리즘은 벡터 기반의 게인 조절 함수를 이용하여 음원의 방향감을 쉽고 효과적으로 생성할 수 있으며, 대칭 혹은 비대칭의 다채널 스피커 배치에 대해서 모두 적용 가능하다. 기존에 잘 알려진 VBAP와 MDAP의 레벨 패닝 방법과 의 청취 비교 실험을 통하여 보다 정확한 패닝 성능을 유지할 수 있는 것으로 확인되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1738-1741
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• 1997

This paper addresses the issue fo target classification and localization with a SONAR for mobiler robot indoor navigation. In particular, multiple refetions of SONAR sound are used actively and interntionally. As for the SONAR sensor, the multiple reflection has been generally considered as one of the noisy phenomena, which is inevitable in the indoor environments. However, these multiple reflections can be a clue for classifying and localizing targets in the indoor environment if those can be controlled and used well. This paper develops a new SONAR sensor module with a reflection plane which can actively create the multiple refection. This paper also intends to suggest a new target classification emthod which uses the multiple refectiions. We approximate the world as being two dimensional and assume that the targets consisting of the indoor environment are pland, corner, and edge. Multiple reflection paths of an acoustic bean by a SONAR are analyzed, by simulations and the patterns of the TOPs (Time Of Flight) and angles of multiple reflections from each target are also analyzed. In addition, a new algorithm for target classification and localization is proposed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.202-205
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• 2004

This paper represents the role of pinna in localizing target direction. Specially, this paper described what is the role of right-side pinna versus left-side pinna. In this experiment, one side of the pinna function was distorted intentionally by inserting a short tube on the ear canal. The localization error caused by right and left side pinna distortion was investigated. Since a laser pointer showed much less error (0.5%) in localizing target position than FASTRAK (30%) that has been generally used, it was used for the pointing task. It was found that harmonic components were not essential for the auditory target localization, however, non-harmonic nearby frequency components were more important to localize target direction of sound. We have found that the right pinna is one of the most important functions in localizing target direction and pure tone with only one frequency component is confusing for localization.

• 한국음향학회:학술대회논문집
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• 한국음향학회 1998년도 학술발표대회 논문집 제17권 2호
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• pp.133-136
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• 1998

The aim of the work described in this paper is to develop a complex underground acoustic system which detects and locates the origin of an underground hammering sound using an array of six hydrophones located about 100m underground. Two different methods for the sound localization will be presented, a time-delay method and a power-attenuation method. In the time-delay method, the cross correlation of the signals received from the array of sensor sis used to calculate the time delays between those signals. In the power-attenuation method, the powers of the received signals provide a measure f the distances of the source from the sensors.

• 대한의용생체공학회:의공학회지
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• 제37권6호
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• pp.209-214
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• 2016

Binaural hearing aids with a voice transmitter have been widely used to enhance sound quality in noisy environment. However, this system has a limitation on sound-source localization. In this study, we investigated automatic directional-gain control method using geomagnetic sensors to provide directional information to binaural hearing aid user. The loudness gains of two hearing aids were differently controlled based on the directional information between a speaker position and a viewing direction of hearing aids user. This relative directional information was measured by two geomagnetic sensors on hearing aids user and a speaker. The results showed that the loudness gains were accurately controlled and could provide directional information based on the cue of interaural level differences.

• 한국음향학회지
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• 제34권1호
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• pp.60-65
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• 2015

본 논문은 다수의 마이크로폰에서 측정된 총소리를 이용하여 총구와 마이크로폰 어레이 중심의 거리를 추정하는 방법을 개선하는 것이다. 은폐된 적의 위치인 총구와 마이크로폰 어레이 사이의 거리 추정은 군사적 목적 달성을 위하여 매우 중요하다. 총소리는 총구에서 추진가스의 팽창에 의해 발생하는 폭발음인 총구 폭풍파와 초음속으로 비행하는 탄환의 공기 파열음인 탄환 충격파로 구성된다. 현재까지 알려진 방법은 두 신호의 입사각과 도달 시간차를 이용하여 저격수의 거리를 추정한다. 그러나 이러한 기존 거리 추정 방법은 두 신호의 측정 입사각이 같은 경우에 거리추정이 불가능한 단점이 있다. 이러한 한계점을 해결하기 위한 방법으로써 탄도 수직거리 증가에 따른 탄환 충격파의 특징 변화를 이용한 새로운 거리를 추정 방법을 제안하였으며 이를 사격 실험을 통해 증명하였다.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1781-1786
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• 2005

In sensor network systems, all the nodes are interconnected and the positional information of each sensor is essential. To measure the temperature, position detection and communication functions are required. Many sensor nodes are distributed to a measurement field, and these sensors have three main functions: they measure the distance to the other nodes, the data of which are used to determine the position of each node; they communicate with other nodes; and they measure the temperature of each node. A novel range measurement method using the difference between light and sound propagation speed is proposed. The experimental results show the temperature distribution as measured with the aid of the determined positions. The positions of every node were calculated with a PC program. Eight nodes were manufactured and their fundamental functions were tested. The results of the range measurement method, which takes relatively accurate measurements, contribute significantly to the accuracy of the position determination. Future studies will focus on 3-D position determination and on the architecture of appropriate sensors and actuators.