• The Journal of the Acoustical Society of Korea
• /
• v.15 no.6
• /
• pp.59-65
• /
• 1996

This paper proposes a 4 kbps PSI-VSELP(Pitch Synchronous Innovation-Vector Sum Excited Linear Prediction) speech coder which produces speech equivalent to that of the conventional 4.8 kbps VSELP. Since the 'half-rate' is differently defined from country to country, there may be a need to reduce the bit rate of conventional half-rate coder. To minimize the degradation of speech quality caused by bit-rate reduction, it is desirable to perform bit-allocation based on the carefull consideration of the effect of various transmission parameters. This paper adopts this analytical approach for bit-allocation at 4 kbps. To improve the quality of the VSELP coder at 4 kbps, basis vectors which play the most important role in the performance, are optimized by an iterative closed-loop training process and the PSI technique is employed in the VSELP performance, are optimized by an iterative closed-loop training process and the PSI technique is employed in the VSELP coder. To demonstrate the performance of the proposed speech coder, we peformed experiments under the noiseless and error free conditions. From experimental results, even though the proposed 4 kbps PSI-VSELP coder showed lower scores in the objective measure, higher scores in subjective measure was obtained compared with those of the conventional 4.8 kbps VSELp.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.11
• /
• pp.1103-1111
• /
• 2014

The results of control law design for a tilt-rotor unmanned aerial vehicle that has a nacelle mounted wing extension (WE) are presented in this paper. It consists of a control surface mixer, stability and control augmentation system (SCAS), hold mode for altitude / speed / heading, and a guidance mode for preprogram and point navigation which includes automatic take-off and landing. The conversion corridor and the control moments derivatives between the original tilt-rotor and its variant of the nacelle mounted WE were compared to show the effectiveness of the WE. The nacelle conversion of the original tilt-rotor starts when the airspeed is greater than 30 km/h but its WE variant starts at 0 km/h in order to reduce the drag caused by the high incidence angle of the WE. The stability margins of the inner loop are presented with the optimization approach. The outer loops for the hold mode are designed with trial and error methods with linear and nonlinear simulation. The main control parameter for altitude control of the helicopter mode is thrust command and it is transferred to the pitch attitude command in airplane mode. Otherwise, the control parameter for the speed of the helicopter mode is the pitch attitude command and it is transferred to the thrust command in airplane mode. Therefore the speed and altitude hold mode are coupled to each other and are engaged at the same time when an internal pilot engages any of the altitude or speed hold modes. The nonlinear simulation results of the guidance control for the preprogrammed mode and point navigation are also presented including automatic take-off and landing in order to prove the full control law.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.22 no.1
• /
• pp.16-23
• /
• 2011

This paper suggests a motion compensation technique using GPS/IMU data in order to compensate for phase error caused by undesired motion of radar platform. An actual flight trajectory would be deviate from an ideal straight-constant trajectory with a constant velocity for SAR imaging, due to pitch, roll and yaw motion of aircraft caused by turbulence. This leads to blurred SAR images due to inter-pulse phase errors as well as along-track velocity errors. If the motion compensation is carried out to reduce those errors, SAR image quality can be significantly improved. Simulation results show that the motion compensation technique introduced in this paper is an effective tool to improve SAR image quality against severe motion of radar platform.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.2
• /
• pp.237-243
• /
• 2010

This paper presents a study on the helical gear inspection system for application to vehicle transmission gear manufacturing lines. The special gear profile inspection system is not suitable for manufacturing lines due to the measuring time. The master gear method, which was used in this study and compared with the machined gear in the line, is more efficient and economical. In this paper, three helical gear inspection parameters were of concern: nick, run-out, and PCD (pitch circle diameter) error. To evaluate its influence on the accuracy, the gear measuring system was also studied. This system can be useful in practical vehicle transmission gear manufacturing lines, where imported equipment is currently being used.

• The Journal of the Acoustical Society of Korea
• /
• v.24 no.3
• /
• pp.150-159
• /
• 2005

This paper addresses a voice personality transformation algorithm which makes one person's voices sound as if another person's voices. In the proposed method, one person's voices are represented by LPC cepstrum, pitch period and speaking rate, the appropriate transformation rules for each Parameter are constructed. The Gaussian Mixture Model (GMM) is used to model one speaker's LPC cepstrums and conditional probability is used to model the relationship between two speaker's LPC cepstrums. To obtain the parameters representing each probabilistic model. a Maximum Likelihood (ML) estimation method is employed. The transformed LPC cepstrums are obtained by using a Minimum Mean Square Error (MMSE) criterion. Pitch period and speaking rate are used as the parameters for prosody transformation, which is implemented by using the ratio of the average values. The proposed method reveals the superior performance to the previous VQ-based method in subjective measures including average cepstrum distance reduction ratio and likelihood increasing ratio. In subjective test. we obtained almost the same correct identification ratio as the previous method and we also confirmed that high qualify transformed speech is obtained, which is due to the smoothly evolving spectral contours over time.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.27 no.3A
• /
• pp.196-204
• /
• 2002

The Sinusoidal Transform Coding(STC) is a vocoding scheme based on a sinusoidal model of a speech signal. The low bit-rate speech coding based on sinusoidal model is a method that models and synthesizes speech with fundamental frequency and its harmonic elements, spectral envelope and phase in the frequency region. In this paper, we propose the 2.4kbps low-rate speech coding algorithm using the sinusoidal model of a speech signal. In the proposed coder, the pitch frequency is estimated by choosing the frequency that makes least mean squared error between synthetic speech with all spectrum peaks and speech synthesized with chosen frequency and its harmonics. The spectral envelope is estimated using SEEVOC(Spectral Envelope Estimation VOCoder) algorithm and the discrete all-pole model. The phase information is obtained using the time of pitch pulse occurrence, i.e., the onset time, as well as the phase of the vocal tract system. Experimental results show that the synthetic speech preserves both the formant and phase information of the original speech very well. The performance of the coder has been evaluated in terms of the MOS test based on informal listening tests, and it achieved over the MOS score of 3.1.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.2
• /
• pp.185-192
• /
• 2014

Planetary gear design is complex because it involves a combination of discrete variables such as module, integer variables such as the number of teeth, and continuous variables such as face width and aspect ratio. Thus, an optimum design technique is needed. In this study, we applied a genetic algorithm to the design optimization of a planetary gear. In this algorithm, tooth root strength and surface durability are assessed with fundamental variables such as the number of teeth, module, pressure angle, and face width. With the help of this technique, gear designers could reduce trial and error in the initial design stages, thus cutting the time required for planetary gear design.

• Journal of Advanced Navigation Technology
• /
• v.25 no.6
• /
• pp.441-449
• /
• 2021

With advances in autonomous vehicles, there is a growing demand for more accurate position estimation. Especially, this is a case for a moving robot for the indoor operation which necessitates the higher accuracy in position estimation when the robot is required to execute the task at a predestined location. Thus, a method for improving the position estimation which is applicable to both the fixed and the moving object is proposed. The proposed method exploits the initial position estimation from Bluetooth beacon signals as observation signals. Then, it estimates the gravitational acceleration applied to each axis in an inertial frame coordinate through computing roll and pitch angles and combining them with magnetometer measurements to compute yaw angle. Finally, it refines the control inputs for an object with motion dynamics by computing acceleration on each axis, which is used for improving the performance of Kalman filter. The experimental assessment of the proposed algorithm shows that it improves the position estimation accuracy in comparison to a conventional Kalman filter in terms of average error distance at both the fixed and moving states.

• 전자공학회논문지 IE
• /
• v.45 no.4
• /
• pp.11-18
• /
• 2008

This study is implementation of attitude control system(ACS - Attitude Control System). for a multi legs robot. This study designs H/W of Inertial Measurement Unit (IMU) and attitude control algorithm S/W. Compare performance with Mtx and MTx in order to verify action performance of this system after implementation, and will verify a system integrated IMU of a multi-legs robot. ACS uses Gyro and an accelerometer and an earth magnetism sensor, and it is a system controlling a roll, pitch angle attitude of an object. Generally, low price MEMS is difficult to calculate a correct situation of an object as an error occurs severely the Inertial sensor. This study implements IMU in order to develop ACS as use MEMS, accelerometer, Gyro sensor and earth magnetism sensor. Design algorithm each a roll, pitch, yaw attitude guaranteeing regular performance, and do poling in a system as include an attitude calculation program in an IMU system implemented. Mixed output of Gyro and an accelerometer, and recompensed a roll, pitch angle, and loaded in this study on a target platform in order to implement the ACS which guaranteed performance more than a continuously regular level, and operated by real time, and did porting, and verified.

• Progress in Medical Physics
• /
• v.27 no.4
• /
• pp.250-257
• /
• 2016

The purpose of this study was to compare the patient setup errors of two different immobilization devices (Feet Fix: FF and Leg Fix: LF) for pelvic region radiotherapy in Tomotherapy. Thirty six-patients previously treated with IMRT technique were selected, and divided into two groups based on applied immobilization devices (FF versus LF). We performed a retrospective clinical analysis including the mean, systematic, random variation, 3D-error, and calculated the planning target volume (PTV) margin. In addition, a rotational error (angles, $^{\circ}$) for each patient was analyzed using the automatic image registration. The 3D-errors for the FF and the LF groups were 3.70 mm and 4.26 mm, respectively; the LF group value was 15.1% higher than in the FF group. The treatment margin in the ML, SI, and AP directions were 5.23 mm (6.08 mm), 4.64 mm (6.29 mm), 5.83 mm (8.69 mm) in the FF group (and the LF group), respectively, that the FF group was lower than in the LF group. The percentage in treatment fractions for the FF group (ant the LF group) in greater than 5 mm at ML, SI, and AP direction was 1.7% (3.6%), 3.3% (10.7%), and 5.0% (16.1%), respectively. Two different immobilization devices were affected the patient setup errors due to different fixed location in low extremity. The radiotherapy for the pelvic region by Tomotherapy should be considering variation for the rotational angles including Yaw and Pitch direction that incorrect setup error during the treatment. In addition the choice of an appropriate immobilization device is important because an unalterable rotation angle affects the setup error.