• 로봇학회논문지
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• 제9권4호
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• pp.206-215
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• 2014

Acoustic signal is crucial for the autonomous navigation of underwater vehicles. For this purpose, this paper presents a method of acoustic source localization. The proposed method is based on the probabilistic estimation of time delay of acoustic signals received by two hydrophones. Using Bayesian update process, the proposed method can provide reliable estimation of direction angle of the acoustic source. The acquired direction information is used to estimate the location of the acoustic source. By accumulating direction information from various vehicle locations, the acoustic source localization is achieved using extended Kalman filter. The proposed method can provide a reliable estimation of the direction and location of the acoustic source, even under for a noisy acoustic signal. Experimental results demonstrate the performance of the proposed acoustic source localization method in a real sea environment.

• 로봇학회논문지
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• 제11권3호
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• pp.146-155
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• 2016

Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.

• 로봇학회논문지
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• 제2권3호
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• pp.270-274
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• 2007

In this paper, we present a Sound Source Localization (SSL) based GCC (Generalized Cross Correlation)-PHAT (Phase Transform) and new measurement method of angle with robot auditory system for a network-based intelligent service robot. The main goal of this paper is to analysis performance of TDOA and GCC-PHAT sound source localization method and new angle measurement method is compared. We use GCC-PHAT for measuring time delays between several microphones. And sound source location is calculated by using time delays and new measurement method of angle. The robot platform used in this work is wever-R2, which is a network-based intelligent service robot developed at Intelligent Robot Research Division in ETRI.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2015년도 추계학술대회
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• pp.16-17
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• 2015

본 논문에서는 실내 환경 중 TV 시청환경에서 마이크로폰 어레이를 이용하여 다양한 다중 음원 방향을 추정하는 기법을 제안한다. 제안된 기법은 기존의 하나의 음원에 특화되어 있는 GCC-PHAT 기반의 방법을 GCC-PHAT 버퍼와 NMF를 도입하여 다중음원의 방향 추정을 가능하게 만들었다. 제안된 기법의 성능을 평가하기 위해서 실 거주 환경에서 발생하는 소음원과 TV 소리 방향 추정 결과에 대한 실측치와 추정치 간의 오차인 절대 평균오차를 측정하였으며, 실험 결과 제안한 기법이 기존의 방법인 GCC-PHAT보다 우수한 추정 성능을 보임을 확인하였다.

• 한국소음진동공학회논문집
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• 제19권4호
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• pp.355-362
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• 2009

Sound source localization method based on the time delay of arrival(TDOA) is applied to many research fields such as a robot auditory system, teleconferencing and so on. When multi-microphones are utilized to localize the source in 3 dimensional space, the conventional localization methods based on TDOA decide the actual source position using the TDOAs from all microphone arrays and the detection measure, which represents the errors between the actual source position and the estimated ones. Performance of these methods usually depends on the number of microphones because it determines the resolution of an estimated position. In this paper, we proposed the localization method using spatially mapped GCC functions. The proposed method does not use just TDOA for localization such as previous ones but it uses spatially mapped GCC functions which is the cross correlation function mapped by an appropriate mapping function over the spatial coordinate. A number of the spatially mapped GCC functions are summed to a single function over the global coordinate and then the actual source position is determined based on the summed GCC function. Performance of the proposed method for the noise effect and estimation resolution is verified with the real environmental experiment. The mean value of estimation error of the proposed method is much smaller than the one based on the conventional ones and the percentage of correct estimation is improved by 30% when the error bound is ${\pm}20^{\circ}$.

• 한국음향학회지
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• 제39권1호
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• pp.47-56
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• 2020

음원위치추정 기술은 사물인터넷 시대에서 다양한 응용 분야를 가지고 있으며, 이로 인해 마이크로폰 프로브의 크기가 중요하게 고려되고 있다. 음향 인텐시티 벡터를 이용한 음원위치추정 방법은 마이크로폰 사이의 간격이 좁을수록 유한차분오차가 작기 때문에 배열을 소형화 할 수 있다는 장점이 있다. 본 논문에서는 음향 인텐시티 벡터 및 도달시간차 방법을 통해 원거리 음장에서 음원의 위치 추정 시 발생하는 오차를 비교한다. 정사면체 형태의 3차원 마이크로폰 배열을 통해 마이크로폰 사이의 간격 변화에 따라서 오차를 비교하였다. 실제 환경에서 음원위치추정 방법의 유효성을 검증하기 위해 잔향음장 내에서 잔향시간을 변화시켜 추가 실험을 수행하였다. 도달시간차를 계산하기 위해 Generalized Cross Correlation-Phase transform(GCC-PHAT) 알고리즘을 적용하였다. 실험 결과, T₆₀ = 0.4 s일 때 음향인텐시티법에 의한 위치추정 오차는 2.9°, 그리고 GCC-PHAT를 적용했을 때는 7.3° 이며, T₆₀ = 1.0 s일 때 오차는 각각 9.9°, 13.0°이다. 이를 통해 일반 잔향장이 고려되는 실제 환경에서도 소형의 마이크로폰 배열을 통한 음향 인텐시티법은 음원의 위치를 추정하는데 유효하게 적용될 수 있음을 알 수 있다.

• Journal of the Korean Data and Information Science Society
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• 제27권5호
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• pp.1215-1224
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• 2016

고해상도 격자 단위 기후정보는 농업, 관광학, 생태학, 질병학 등 다양한 분야의 현상을 설명하는 중요 요인이다. 고해상도 기후정보는 동적 모형과 통계적 모형을 통해 얻을 수 있다. 통계적 모형은 동적 모형에 비해 계산 시간이 저렴하여 시공간 해상도가 높은 기후자료 생성에 주로 이용한다. 본 연구에서는 2003년부터 2012년까지 1월에 관측된 일 평균기온자료를 토대로 통계적 모형의 일 평균 기온을 생성하였다. 통계적 모형으로 선형모형을 기반으로한 일반선형모형, 일반화가법모형, 공간선형모형, 베이지안공간선형모형을 고려하였다. 예측성능평가를 위해 60개소의 지상관측소에서 관측된 일 평균기온을 모형적합 자료로 사용하여 352개소의 자동기상관측의 일 평균기온을 검증하였다. 평균제곱오차와 상관계수를 보면 베이지안공간모형의 예측성능이 다른 모형에 비해 상대적으로 우수하였다. 최종적으로 $1km{\times}1km$ 격자 단위 일 평균기온 지도를 생성하였다.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.676-681
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• 2013

For underwater vehicles, the use of sensors such as cameras and laser scanners is limited by the difference in environment compared to robots designed to work on dry land. In underwater environments, if use is made of sound signals, valuable information can be obtained. The most important application is the localization of underwater sound sources. The estimated location of a sound source can be used to control underwater robots or submarines. Thus, the purpose of this research is to estimate the source's direction and location in a noisy underwater environment. The direction of the sound source is obtained using two hydrophones. Furthermore, if we assume that the robot or sound source is moving, the location of the sound source is estimated using more than two estimated directions. The feasibility of the developed algorithm is examined by experiments in a water tank and in the ocean.

• 한국소음진동공학회논문집
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• 제18권8호
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• pp.823-831
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• 2008

Since it needs the light computational load and small database, sound source localization method using time delay of arrival(TDOA method) is applied at many research fields such as a robot auditory system, teleconferencing and so on. Researches for time delay estimation, which is the most important thing of TDOA method, had been studied broadly. However studies about factors for time delay estimation are insufficient, especially in case of real environment application. In 1997, Brandstein and Silverman announced that performance of time delay estimation deteriorates as reverberant time of room increases. Even though reverberant time of room is same, performance of estimation is different as the specific part of signals. In order to know that reason, we studied and analyzed the factors for time delay estimation using speech signal and room impulse response. In result, we can know that performance of time delay estimation is changed by different R/D ratio and signal characteristics in spite of same reverberant time. Also, we define the performance index(PI) to show a similar tendency to R/D ratio, and propose the method to improve the performance of time delay estimation with PI.

• Wind and Structures
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• 제7권2호
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• pp.107-130
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• 2004

This paper presents a time-domain approach for analyzing nonlinear random vibrations of long-span suspended cables under transversal wind. A consistent continuous model of the cable, fully accounting for geometrical nonlinearities inherent in cable behavior, is adopted. The effects of spatial correlation are properly included by modeling wind velocity fluctuation as a random function of time and of a single spatial variable ranging over cable span, namely as a one-variate bi-dimensional (1V-2D) random field. Within the context of a Galerkin's discretization of the equations governing cable motion, a very efficient Monte Carlo-based technique for second-order analysis of the response is proposed. This procedure starts by generating sample functions of the generalized aerodynamic loads by using the spectral decomposition of the cross-power spectral density function of wind turbulence field. Relying on the physical meaning of both the spectral properties of wind velocity fluctuation and the mode shapes of the vibrating cable, the computational efficiency is greatly enhanced by applying a truncation procedure according to which just the first few significant loading and structural modal contributions are retained.