• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_1
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• pp.225-230
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• 2023

This research addresses sound command based human tracking problems for autonomous cleaning mobile robot in a networked AI space. To solve the problem, the difference among the traveling times of the sound command to each of three microphones has been used to calculate the distance and orientation of the sound from the cleaning mobile robot, which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference compared to the conventional methods. To generate the tracking direction to the sound command, fuzzy rules are applied and the results are used to control the cleaning mobile robot in a real-time. Finally the experiment results show that the proposed algorithm works well, even though the mobile robot knows little about the environment.

• Journal of Engineering Education Research
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• v.27 no.4
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• pp.21-27
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• 2024

This study introduces a series of processes aimed at understanding the noise characteristics generated by jet engines and devising measures to mitigate them through interdisciplinary capstone design projects. During the project execution, educational methods were applied to foster 4Cs (creativity, communication, collaboration, critical thinking) competencies. Project objectives were set through team discussions, and individual team members were assigned primary roles to act as subgroup leaders. As a result, the project was executed as follows: combustion tests were conducted using an SR-30 turbojet engine to generate noise, and the locations and characteristics of the noise sources were identified using beamforming techniques and frequency analysis applied to a 30-microphone array. Additionally, chevron nozzles were designed and fabricated to confirm their noise reduction performance.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.751-755
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• 2005

We propose a sound source localization method using the Head-Related-Transfer-Function (HRTF) to be implemented in a robot platform. In conventional localization methods, the location of a sound source is estimated from the time delays of wave fronts arriving in each microphone standing in an array formation in free-field. In case of a human head this corresponds to Interaural-Time-Delay (ITD) which is simply the time delay of incoming sound waves between the two ears. Although ITD is an excellent sound cue in stimulating a lateral perception on the horizontal plane, confusion is often raised when tracking the sound location from ITD alone because each sound source and its mirror image about the interaural axis share the same ITD. On the other hand, HRTFs associated with a dummy head microphone system or a robot platform with several microphones contain not only the information regarding proper time delays but also phase and magnitude distortions due to diffraction and scattering by the shading object such as the head and body of the platform. As a result, a set of HRTFs for any given platform provides a substantial amount of information as to the whereabouts of the source once proper analysis can be performed. In this study, we introduce new phase and magnitude criteria to be satisfied by a set of output signals from the microphones in order to find the sound source location in accordance with the HRTF database empirically obtained in an anechoic chamber with the given platform. The suggested method is verified through an experiment in a household environment and compared against the conventional method in performance.

• The Journal of the Acoustical Society of Korea
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• v.20 no.1
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• pp.36-42
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• 2001

This paper propose new sound localization algorithm that detects the sound source bearing in a closed office environment using two microphone array. The proposed Subband CPSP (Cross Power Spectrum Phase) algorithm is a development of previously Down CPSP method using subband approach. It first split the received microphone signals into subbands and then calculates subband CPSP which result in possible source bearings. This type of algorithm, Subband CPSP, can provide more robust and reliable sound localization system because it limits the effects of environmental noise within each subband. To verify the performance of the proposed Subband CPSP algorithm, a real time simulation was conducted and it was compared with previous CPSP method. From the simulation results, the proposed Subband CPSP is superior to previous CPSP algorithm more than 5％ average accuracy for sound source detection.

• The Journal of the Acoustical Society of Korea
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• v.40 no.6
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• pp.649-659
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• 2021

Wall absorption treatment effectively reduces reverberation, but requires a large area for a live room and each wall absorption affects speech intelligibility differently. In this study, we try to find the most effective wall for the absorption treatment using the beamforming array microphone in terms of speech intelligibility. The absorption importance factor is defined by using the collision number of reflected sounds on each wall. It allows estimating how much the speech signal will be enhanced by the absorption treatment. A cuboid room with a size of 107 m³ and a reverberation time of 1.1 s is selected for the simulation. When a Helmholtz-type absorption is treated on the wall with the most significant importance factor, the modified clarity for 500 and 1k Hz is improved by 5.1 dB and 4.8 dB respectively, and the speech transmission index is enhanced by 0.06. The difference in results between the proposed method and commercial simulation code is less than a Just-Noticeable Difference (JND). The absorption treatment on the wall with the most significant importance factor shows improvement greater than the wall with the largest area, and its difference is larger than a JND value.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.8
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• pp.816-827
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• 2009

This paper deals with a bearing faults localization technique based on holographic approach by visualizing sound radiated from the faults. The main idea stems from the phenomenon that bearing faults in a moving vehicle generate impulsive sound. To visualize fault signal from the moving vehicle, we can use the moving frame acoustic holography [Kwon, H.-S. and Kim, Y.-H., 1998, "Moving Frame Technique for Planar Acoustic Holography," J. Acoust. Soc. Am. Vol. 103, No. 4, pp. 1734${\sim}$1741]. However, it is not easy to localize faults only by applying the method. This is because the microphone array measures noise(for example, noise from other parts of the vehicle and the wind noise) as well as the fault signal while the vehicle passes by the array. To reduce the effect of noise, we propose two ideas which utilize the characteristics of fault signal. The first one is to average holograms for several frequencies to reduce the random noise. The second one is to apply the partial field decomposition algorithm [Nam, K.-U., Kim, Y.-H., 2004, "A Partial Field Decomposition Algorithm and Its Examples for Near-field Acoustic Holography," J. of Acoust. Soc. Am. Vol. 116, No. 1, pp. 172${\sim}$185] to the moving source, which can separate the fault signal and noise. Basic theory of those methods is introduced and how they can be applied to localize bearing faults is demonstrated. Experimental results via a miniature vehicle showed how well the proposed method finds out the location of source in practice.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.681-688
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• 2009

This paper deals with a bearing faults localization technique based on holographic approach by visualizing sound radiated from the faults. The main idea stems from the phenomenon that bearing faults in a moving vehicle generate impulsive sound. To visualize fault signal from the moving vehicle, we can use the moving frame acoustic holography [H.-S. Kwon and Y.-H. Kim, "Moving frame technique for planar acoustic holography," J. Acoust. Soc. Am. 103(4), 1734-1741, 1998]. However, it is not easy to localize faults only by applying the method. This is because the microphone array measures noise (for example, noise from other parts of the vehicle and the wind noise) as well as the fault signal while the vehicle passes by the array. To reduce the effect of noise, we propose two ideas which utilize the characteristics of fault signal. The first one is to average holograms for several frequencies to reduce the random noise. The second one is to apply the partial field decomposition algorithm [K.-U. Nam, Y.-H. Kim, "A partial field decomposition algorithm and its examples for near-field acoustic holography," J. of Acoust. Soc. Am. 116(1), 172-185, 2004] to the moving source, which can separate the fault signal and noise. Basic theory of those methods is introduced and how they can be applied to localize bearing faults is demonstrated. Experimental results via a miniature vehicle showed how well the proposed method finds out the location of source in practice.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.26 no.12
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• pp.1926-1933
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• 2022

Parameterized multichannel Wiener filter (PMWF) is a linear filter that can control the trade-off between residual noise and signal distortion using the embedded parameter. To apply the PMWF to noisy inputs, accurate noise estimation is important and multichannel minima-controlled recursive averaging (MMCRA) is widely used. However, in the case of the MMCRA, the accuracy of noise estimation decreases when a directional interference is involved into the array inputs. Consequently, the performance of the PMWF is degraded. Therefore, we propose a noise power spectral density (PSD) estimation method for the PMWF in this paper. The proposed method is based on a consecutive process of eigenvalue decomposition on noisy input PSD, estimation of the target component contribution using directional information, and exponential weighting for improved estimation of the target contribution. For evaluation, four objective measures were compared with the MMCRA and we verify that the PMWF with the proposed noise estimation method can improve performance in environments where directional interfereces exist.

• Proceedings of the Acoustical Society of Korea Conference
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• spring
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• pp.185-188
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• 2000

본 연구에서는 화자의 음성신호를 이용하여 추출된 공간정보를 통해 화자의 위치를 실시간으로 추적하는 시스템을 제안하고 실시간 구현하였다. 기존의 대표적인 화자 위치 추출 알고리듬인 CPSP(Cross Power Spectrum Phase)는 실내환경에서 심각하게 일어나는 반향신호에 취약한 단점을 갖고 있으므로 구현된 시스템에서는 위치 추적 성능 개선을 위하여 반향신호에 강인한 hybrid window 알고리듬을 제안하여 적용하였다. Hybrid window 알고리듬은 실내 환경에 적합한 hybrid window를 설계하여 수신된 음성신호에 적용함으로써 반향신호에 의한 상호 상관관계를 줄이고 직접 경로에 의한 신호들의 상관관계를 높임으로써 보다 정확한 시간 지연 추정을 가능하게 한다. 제안된 시스템의 성능분석을 위해 DSP를 이용해 실시간 구현된 하드웨어를 이용해 기존의 CPSP 알고리듬과 제안된 hybrid window를 적용한 시스템을 실제 환경에서의 실험하였고 제안한 알고리듬을 적용한 시스템이 $22\%$ 이상 성공적으로 화자의 위치를 추적하였다.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.10 s.241
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• pp.1119-1129
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• 2005

A new measurement system of wall pressure fluctuations on a rotating machinery, composed of digital recording device, was developed and evaluated. The small-sized digital recording device was attached on the rotating machinery and then was detached for data reduction. In order to obtain the system transfer function of the digital recording system, a dynamic calibration was performed utilizing the signal from a 1/8 inch B&K microphone as input. The time history of the unsteady pressure was then reconstructed from the output of the sensor by using this transfer function. The reconstructed pressure signals showed good agreement with the reference signal in both temporal and spectral sense. This sensor was then used to measure the wall pressure fluctuations on a rotating blade. An array of microphones were installed on the blade in the circumferential and radial directions. Various statistical moments were obtained from the measurement data set. Comparison of these quantities with the existing studies demonstrated satisfactory agreement. These tests give credence to the relevance and reliability of this device for applications in more complicated turbulent rotating machineries.