• 한국산업융합학회 논문집
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• 제17권4호
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 센서학회지
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• 제13권1호
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• pp.20-26
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• 2004

For the disabled persons who can't use their limbs, motorized wheelchair that is activated by voice recognition module employing speaker independent method, was implemented. The wireless voice transfer device was designed and employed for the user convenience. And the wheelchair was designed to operate using voice and keypad by selection of the user because they can manipulate it using keypad if necessary. The speaker independent method was used as the voice recognition module in order that anyone can manipulate the wheelchair in case of assistance. Using the implemented wheelchair, performance and motion of the system was examined and it has over than 97% of voice recognition rate and proper movements.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1777-1778
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• 2007

In this paper, We design and implement a humanoid robot, With Educational purpose, which can collaborate and communicate with human. We present an affective human-robot communication system for a humanoid robot, D2, which we designed to communicate with a human through dialogue. D2 communicates with humans by understanding and expressing emotion using facial expressions, voice, gestures and posture. Interaction between a human and a robot is made possible through our affective communication framework. The framework enables a robot to catch the emotional status of the user and to respond appropriately. As a result, the robot can engage in a natural dialogue with a human. According to the aim to be interacted with a human for voice, gestures and posture, the developed Educational humanoid robot consists of upper body, two arms, wheeled mobile platform and control hardware including vision and speech capability and various control boards such as motion control boards, signal processing board proceeding several types of sensors. Using the Educational humanoid robot D2, we have presented the successful demonstrations which consist of manipulation task with two arms, tracking objects using the vision system, and communication with human by the emotional interface, the synthesized speeches, and the recognition of speech commands.

• 인터넷정보학회논문지
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• 제22권6호
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• pp.33-40
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• 2021

음성인식(ASR: Automatic Speech Recognition)은 사람의 말소리를 음성 신호로 분석하고, 문자열로 자동 변화하여 이해하는 기술이다. 초기 음성인식 기술은 하나의 단어를 인식하는 것을 시작으로 두 개 이상의 단어로 구성된 문장을 인식하는 수준까지 진화하였다. 실시간 음성 대화에 있어 높은 인식률은 자연스러운 정보전달의 편리성을 극대화하여 그 적용 범위를 확장하고 있다. 반면에, 음성인식 기술의 활발한 적용에 따라 관련된 사이버 공격과 위협에 대한 우려 역시 증가하고 있다. 기존 연구를 살펴보면, 자동화자식별(ASV: Automatic Speaker Verification) 기법의 고안과 정확성 향상 등 기술 발전 자체에 관한 연구는 활발히 이루어지고 있으나, 실생활에 적용되고 있는 음성인식 서비스의 자동화자 식별 기술에 대한 사이버 공격 및 위협에 관한 분석연구는 다양하고 깊이 있게 수행되지 않고 있다. 본 연구에서는 자동화자 식별 기술을 갖춘 AI 음성인식 서비스를 대상으로 음성 주파수와 음성속도를 조작하여 음성인증을 우회하는 사이버 공격 모델을 제안하고, 상용 스마트폰의 자동화자 식별 체계를 대상으로 실제 실험을 통해 사이버 위협을 분석한다. 이를 통해 관련 사이버 위협의 심각성을 알리고 효과적인 대응 방안에 관한 연구 관심을 높이고자 한다.

• 로봇학회논문지
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• 제14권1호
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• pp.22-30
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• 2019

For effective human-robot interaction, robots need to understand the current situation context well, but also the robots need to transfer its understanding to the human participant in efficient way. The most convenient way to deliver robot's understanding to the human participant is that the robot expresses its understanding using voice and natural language. Recently, the artificial intelligence for video understanding and natural language process has been developed very rapidly especially based on deep learning. Thus, this paper proposes robot vision to audio description method using deep learning. The applied deep learning model is a pipeline of two deep learning models for generating natural language sentence from robot vision and generating voice from the generated natural language sentence. Also, we conduct the real robot experiment to show the effectiveness of our method in human-robot interaction.

• International Journal of Control, Automation, and Systems
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• 제5권1호
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• pp.61-69
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• 2007

In this paper, we developed not only a reliable sound localization system including a VAD(Voice Activity Detection) component using three microphones but also a face tracking system using a vision camera. Moreover, we proposed a way to integrate three systems in the human-robot interaction to compensate errors in the localization of a speaker and to reject unnecessary speech or noise signals entering from undesired directions effectively. For the purpose of verifying our system's performances, we installed the proposed audio-visual system in a prototype robot, called IROBAA(Intelligent ROBot for Active Audition), and demonstrated how to integrate the audio-visual system.

• 전기학회논문지
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• 제64권9호
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• pp.1363-1368
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• 2015

Recently, computer form were smaller than before because of computing technique's development and many wearable device are formed. So, computer's cognition of human emotion has importantly considered, thus researches on analyzing the state of emotion are increasing. Human voice includes many information of human emotion. This paper proposes a discriminative feature vector selection for emotion classification based on speech. For this, we extract some feature vectors like Pitch, MFCC, LPC, LPCC from voice signals are divided into four emotion parts on happy, normal, sad, angry and compare a separability of the extracted feature vectors using Bhattacharyya distance. So more effective feature vectors are recommended for emotion classification.

• Journal of the Korean Academy of Child and Adolescent Psychiatry
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• 제34권1호
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• pp.57-58
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• 2023

Through accurate observation and the results of experimental studies using great apes, the author tells us exactly what we have not known about human communication. The author persuasively conveys to the reader the grand history of developing from great apes' gestures to human gestures, to human speech. Given that great apes and human gestures were the origin of human voice language, we have once again realized that our language is, after all, an "embodied language."

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2005년도 추계 종합학술대회 논문집
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• pp.513-517
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• 2005

우리나라 전통의학이며, 세계 의료시장에서 경쟁력이 있는 독특한 체질의학이 사상의학이다. 사상의학은 누구나 쉽게 접근할 수 있으며, 체질에 맞는 생활 습관으로 건강한 삶을 누릴 수 있다. 본 논문에서는 음성 분석을 통한 사상 체질의 분류 방법을 제안하고자 한다. 이를 위해 음성 분석으로 각 사상체질에 나타나는 특성들을 살펴보았으며, 이를 통해 사람의 목소리만으로 간단히 사상 체질을 분류해 보는 방법에 대해 기술하고자 한다.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권10호
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• pp.439-445
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• 2002

In this paper force feedback control system is investigated for improving the quality of the haptic feedback in virtual reality applications. We suggested the method of controlling the haptic device and modelling the virtual environment. Haptic device is composed of five bar link structure, voice coil motor, control board, and virtual environment modeling program. We applied voice coil motor in the actuating system for simple structure and easy control. Virtual environment modelling is constructed in PC, and the control signals of the actuators and the encoder data are transferred to the control system through USB. Experiment is performed to evaluate the characteristics of the haptic device.