• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.6 s.111
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• pp.565-573
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• 2006

Acoustic analysis of a moving sound source required that the measured sound signals be do-Dopplerized and restored as of the original emission signals. The purpose of this research is development of beamforming technique can be applied to the rotor noise source identification. For the do-Dopplerization and reconstruction of emitted sound wave, Forward Propagation Method is applied to the time domain beamforming technique. And validation test were performed using rotating sound source constructed by bended pipe and horn driver. In the validation test using sinusoidal sound wave, sufficient performance of signal processing can be seen, and the effect of measuring duration for accuracy was compared. In the prop-rotor measurements, the acoustic source locations were successfully verified in varying positions for different frequencies and collective pitch angle, in hover condition.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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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.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.837-842
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• 2004

The positions of rotating sound sources have been localized by experiments with the Doppler effects removed. In order to do-Dopplerize the sound signals emitted from moving sources, two kinds of signal reconstruction methods were applied. One is the forward propagation method and the other is the backward propagation method. Forward propagation method analyze the source emission time based on the instantaneous distance between sensors and the assumed source position, then the signals are reconstructed with respect to the emission time. On the other hand, the backward method uses time delay to do-Dopplerize the acquired data for the received time of reference. In both techniques, the reconstructed signal data were processed using beamforming algorithm to produce power distributions at the frequency of interest. Experiments have been carried out for varying frequencies, rotating speeds and the object distances. Forward propagation method has shown better performance in locating source position than the backward propagation method.

• Proceedings of the IEEK Conference
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• 2002.07a
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• pp.113-116
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• 2002

In this paper dynamic characteristics were investigated of the perception of a bound image width. Subjective evaluation tests were carried out of the width of a sound image when its presentation region was moved in the horizontal plane. As a result, the sound image width was perceived narrower or wider than the actual presentation region when the sound source width was decreased or increased, respectively. The result obtained shows that a phenomenon which is a kind of auditory motion aftereffects was occurred in the perception of a sound source with changing its width.

• Journal of Auto-vehicle Safety Association
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• v.12 no.4
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• pp.70-77
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• 2020

In this study, we estimate the vehicle speed by analyzing the acoustic data recorded in a single microphone of a surveillance camera. The frequency analysis of the acoustic data corrects the Doppler effect, which is a characteristic of the moving sound source, and reflects the geometric relationship according to the location of the sound source and the microphone on the two-dimensional plane. The acoustic data is selected from the horn sound that is mainly observed in an urgent situation among various sound sources that may occur in a traffic accident, and the characteristics of the monotone source are considered. We verified the reliability of the proposed method by time domain acoustic analysis and actual vehicle evaluation. This method is effective and can be used for traffic accident analysis in the blind spot of the camera using a single microphone built into the existing surveillance camera.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.903-912
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• 2007

Faults of rotating parts of a train normally generate unexpected frequency band or impulsive sound[1] which has a period when it moves with a constant speed. The former can be detected by the moving frame acoustic holography method, which visualizes sound field that is generated by a moving and emitting pure tone or band limited noise source. We have attempted to apply the method to the latter case: the periodic impulsive sound which generate different signal compared with what can be measured by the band limited noise. The signal to noise ratio which determines the success of early fault detection must also be studied with the impulsive and moving signal. This research shows how the problems related with these issues can be resolved. The main idea is that periodic impulsive signal can be expressed by infinite set of discrete pure tones. This enables us to obtain lots of holograms that visualize periodic impulsive sound field including noise by using the moving frame acoustic holography method. Therefore holograms can be averaged to improve the signal to noise ratio until having reliable information that exhibits where the impulsive sources are. Theory and experiment by using the miniature vehicle are described [Work supported by BK21 & KRRI].

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.200-210
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• 2014

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.

• Journal of KSNVE
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• v.10 no.4
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• pp.669-678
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• 2000

This paper reviews the improved moving frame acoustic holography (MFAH) method and its application. Moving frame acoustic holography was originally proposed to increase the aperture size and the spatial resolution of hologram by using a moving line array of microphones. The hologram of scanned plane can be obtained by assuming the sound field to be product of spatial and temporal information. Although conventional MFAH was only applied to sinusoidal signals, it allows us to visualize the noise generated by moving noise sources by employing a vertical line array of microphones affixed to the ground. However, the sound field generated by moving sources becomes different from that of stationary ones due to the movement of the sources. Firstly, this paper introduces the effect of moving noise sources on the obtained hologram by MFAH and the applicability of MFAH to the visualization of moving sources. Secondly, this paper also reviews improved MFAH that can visualize a coherent narrow band noise and a pass-by noise. The practical applicability of the improved MFAH was demonstrated by visualizing tire noise during a pass-by test.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.48-57
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• 2014

It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time.

• 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.