• 대한후두음성언어의학회지
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• 제23권1호
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• pp.33-42
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• 2012

Background and Objectives : Dysarthria refers to speech disorder that causes difficulties in speech communication due to paralysis, muscle weakening, and incoordination of speech muscle mechanism caused by damaged central or peripheral nerve system. Pitch, strength and speed are influenced by dysarthria during detonation due to difficulties in muscle control. As evaluation items, alternate motion rate and diadochokinesis have been commonly used, and articulation is also an important evaluation items. The purpose of this study is to find acoustic characteristics on sound production of dysarthria patients. Materials and Methods : Research subjects have been selected as 20 dysarthria patients and 20 subjects for control group, and voice sample was composed of bilabial, alveolar sound, and velar sound in diadochokinetic rate, while consonant articulation test was composed of bilabial plosive, alveolar plosive, velar plosive. Analysis items were composed of 1) speaking rate, energy, articulation time of diadochokinesis, 2) voice onset time (VOT), total duration (TD), vowel duration (VD), hold of plosives. Results and Conclusions : The number of diadochokinetic rate of dysarthria was smaller than control group. Both control group and dysarthria group was highly presented in the order of /t/>/p/>/k/. Minimum energy range per cycle during diadochokinetic rate of dysarthria group was smaller than control group, and presented statistical significance in /p/, /k/, /ptk/. Maximum energy range was larger than control group, and presented statistical significance in /t/, /ptk/. Articulation time, gap, total articulation time during diadochokinetic rate of dysarthria group was longer than control group and presented statistical significance. The articulation time was presented in both control group and dysarthria group in the order of /k/>/t/>/p/, while Gap was presented in the order of /p/>/t/>/k/ for control group and /p/>/k/>/t/ for dysarthria group. VOT, TD, VD regarding plosives of dysarthria group were longer than control group. Hold showed large deviation compared to control group that had appeared due to declined larynx and articulation organ motility.

• 대한임베디드공학회논문지
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• 제12권5호
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• pp.277-286
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• 2017

This paper introduces mathematical modelling and control algorithm of expendable mine disposal vehicle. This vehicle has two longitudinal thrusters, one vertical thruster and internal mass moving system which can control pitch rate. Also, the vehicle has an optical camera and forward looking sonar for underwater mine detection and classification. The vehicle is controlled via an optical cable connected with operating console on the mother ship. We describe the vehicle's 6DOF dynamic model and controller which can track the desired trajectory for the way-point tracking. These simulation results shows guidance and maneuvering performance which has other sensor data or not.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.138-145
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• 2000

In this paper an initial alignment algorithm for a strapdown inertial navigation system is implemented using a RISC CPU board. The algorithm computes roll pitch and yaw angles of the direction cosine matrix utilizing measured components of the specific force and earth rate when the navigation system is stationary. The coarse alignment algorithm is performed first and then the fine alignment algorithm containing a 3rd-order gyrocompass loop follows. The experimental set consists of an IMU a CPU board and a monitoring system Experimental results show that the implemented algorithm can be utilized in navigation systems.

• 로봇학회논문지
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• 제4권4호
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• pp.327-333
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• 2009

This paper describe the riding robot system named by "RideBot" which is a riding robot like as a horse. In order to simulate the riding motions, we develope the saddle mechanism which can generate 3 DOF motions including pitch, roll, and bounce movement, and also we controlled the riding motions and the intention of horseman. To generate the riding motions with the bodily sensation, we developed Novel Washout Filter and the algorithms for motion control. And also, we developed some health care service for the health care of horseman. A body state index was proposed that evaluates the personal health state from both the measured physiological variables and the surveyed questions. The physiological variables such as weight, blood pressure, heart rate variability (HRV), accelerated state photoplethysmograph(APG), body fat, and happiness index were measured by the specially designed bio-handle system and survey questions. The efficiency of the proposed ride robot is evaluated in the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1978-1982
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• 2005

In this paper, a linear controller is designed for the longitudinal model of X-33 in TAEM (The Terminal Area Energy Management) phase. The CRA (Characteristic Ratio Assignment) is used as the continuous time design method such that the output response of X-33 control system tracks the reference command. The performance of the proposed controller is evaluated through the step response. Also simulation results show that the initial state of the plant is dominantly affected by the poles and zeros of the plant.

• 대한음성학회:학술대회논문집
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• 대한음성학회 2005년도 추계 학술대회 발표논문집
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• pp.163-166
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• 2005

We propose a speech emotion recognition method for natural human-robot interface. In the proposed method, emotion is classified into 6 classes: Angry, bored, happy, neutral, sad and surprised. Features for an input utterance are extracted from statistics of phonetic and prosodic information. Phonetic information includes log energy, shimmer, formant frequencies, and Teager energy; Prosodic information includes pitch, jitter, duration, and rate of speech. Finally a patten classifier based on Gaussian support vector machines decides the emotion class of the utterance. We record speech commands and dialogs uttered at 2m away from microphones in 5different directions. Experimental results show that the proposed method yields 59% classification accuracy while human classifiers give about 50%accuracy, which confirms that the proposed method achieves performance comparable to a human.

• 디지털융복합연구
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• 제10권5호
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• pp.233-238
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• 2012

유성음원과 무성음원을 시용하는 음성부호화 방식에 있어서, 같은 프레임 안에 모음과 무성자음이 있는 경우에 음성 파형에 일그러짐이 나타난다. 이것을 해결하기 위하여 본 논문에서는 개별피치와 LMS(Least Mean Square)를 적용한 LMS-MPC를 제시하였으며, 기존의 MPC와 LMS-MPC의 SNRseg를 평가한 결과, LMS-MPC의 남자음성에서 1.5dB, 여자음성에서 1.3dB 개선된 것을 확인할 수 있었다. 결국, MPC에 비해 LMS-MPC의 SNRseg가 개선되어 음성파형의 일그러짐을 제어할 수 있었으며, 본 방법은 셀룰러폰이나 스마트폰과 같이 Low Bit Rate의 음원을 사용하여 음성신호를 부호화 하는 방식에 활용할 수 있을 것으로 기대된다.

• 로봇학회논문지
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• 제13권2호
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• pp.103-112
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• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

• 한국항공우주학회지
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• 제31권10호
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• pp.79-88
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• 2003

전자식 비행제어 항공기의 비행제어계설계, 지상 모의 시험 및 공중 모의 비행시험에 의한 비행성 평가를 수행하였다. 전자식 비행제어 항공기는 고등훈련기 형상을 가지며, 세로축 비행제어법칙은 수직가속도와 피치 각속도 추종시스템이며, 가로/방향축 비행제어법칙은 롤 각속도 및 가로가속도 추정시스템을 채택하였다. 대상항공기의 비행운동 평가는 공중모의 시험 항공기를 활용하였으며, 비행시험결과 최대불안정 영역에서는 Level 1, 착륙 접근 영역에서는 Level 1/2의 만족할 만한 비행성 결과를 보여 본 비행제어계 설계 타당성을 입증하였다.

• 한국음향학회지
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• 제20권5호
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• pp.35-47
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• 2001

본 논문에서는 하모닉 부호화기와 CELP(Code Excited Linear Prediction) 부호화기의 장점을 고려한 효율적인 저 전송률 하모닉-CELP 음성 부호화기를 제안한다. 제안된 하모닉-CELP 부호화기에서는 프레임 단위 유/무성음 판별에 따라 무성음 구간에서는 고속 CELP방식으로 부호화하고 유성음 구간에서는 개선된 하모닉 부호화를 수행한다. 제안된 부호화기는 무성음 부호화를 위한 RP-VSELP(Regular Pulse Vector Sum Excited Linear Prediction), 유성음 부호화를 위한 간단한 정수 피치 검색, 정수 단위 피치에서의 고속 하모닉 추정, 가변 차원 하모닉 벡터 양자화, 주파수 해상도를 반영한 인지 가중치, 고속 하모닉 합성, 대역별 유성음 정도에 따른 자연성 제어, 다중 모드 등을 주요한 특징으로 하며, 이러한 특징들로 인해 기존의 HVXC(Harmonic Vector eXeited Coder) 부호화기에 비해서 매우 낮은 복잡도를 갖는다. 주관적인 음질 평가 결과, 제안된 2.4 kbps 하모닉-CELP 부호화기는 낮은 지연과 적은 계산량으로 양호한 음질을 얻을 수 있음을 확인하였다.