• Speech Sciences
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• v.15 no.1
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• pp.75-83
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• 2008

The interior of an automobile is a very noisy environment with both stationary cruising noise and the reverberated music or speech coming out from the audio system. For robust speech recognition in a car environment, it is necessary to extract a driver's voice command well by removing those background noises. Since we can handle the music and speech signals from an audio system in a car, the reverberated music and speech sounds can be removed using an acoustic echo canceller. In this paper, we implement an acoustic echo canceller with robust double-talk detection algorithm using TMS-320C6711 DSK. First we developed the echo canceller on the PC for verifying the performance of echo cancellation, then implemented it on the TMS320C6711 DSK. For processing of one speech sample with 8kHz sampling rate and 256 filter taps of the echo canceller, the implemented system used only 0.035ms and achieved the ERLE of 20.73dB.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1045-1052
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• 2000

In this paper, we propose a method to apply the Input Shaping Technique (IST) to multi-input multi-output (MIMO) systems. In MIMO systems, there is a high possibility of multi-mode residual vibration. The IST filter designed for this multi mode may need a longer time to suppress the residual vibration. Previous works prove that we can shorten the time lag by using negative sequence. This negative sequence, however, causes another problem - it requires excessive control input. In this paper, we provide a remedy to reduce the size of control input by limiting the reference input by limiting the reference input and its derivative. The result of simulations and experiments on a 2 link flexible arm confirmed the effectiveness of the proposed method.

• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.155-158
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• 2000

A new control method for single-phase shunt active power line conditioners(APLC's) operated under zero average power consumption is proposed in this paper. The amplitude of the sinusoidal source current which is in-phase with the source voltage can be determined from the average value of the instantaneous load power. Then the command current for the shunt APLC is obtained by subtraction the source current from the load current. Neither bulky filter nor time-consuming computation is required. The shunt power compensator supplies all the harmonics of he load current and the source only supplies the fundamental component,. Experimental results on a prototype verify the feasibility of the presented scheme,

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.289-297
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• 2009

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1001-1008
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• 2003

A time-delay compensation method for vector control system is proposed that can compensate for voltage and current distortions resulting from a time delay in the overall system due to the low pass filter, hysteresis control inverter, microprocessor program computation time, and so on. The proposed scheme estimates the time delay using the difference between the Q-axis stator current command and the time-delayed actual Q-axis stator current in a synchronous reference frame, then compensates the time delay in the voltage and current using the angular displacement of a DQ transformation. Accordingly, the proposed scheme can accurately compensate for the time delay related to the overall system, thereby significantly improving the performance of the vector control system, as verified by simulation and experiment.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.1
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• pp.33-39
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• 2012

In this paper, we propose robot control interface using gaze recognition which is not limited by head motion. Most of the existing gaze recognition methods are working well only if the head is fixed. Furthermore the methods require a correction process per each person. The interface in this paper uses a camera with built-in infrared filter and 2 LED light sources to see what direction the pupils turn to and can send command codes to control the system, thus it doesn't need any correction process per each person. The experimental results showed that the proposed interface can control the system exactly by recognizing user's gaze direction.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1779-1780
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• 2008

This paper presents a switching system of speed controller between PI (Proportional_Integrator) and P_LPF (Proportional_Low pass filter) to improve overshoot and slow settling time in DC motor. When the integrator is saturated in the PI controller, the error signal is integrated continuously. For preventing the state, the Anti-windup scheme is proposed. But the Anti-windup scheme dose not show stable characteristics in the whole speed command section after tuned a gain. By using P_LPF switching system these problems are improved and there is no need to tune of user hereafter, when the integrator is saturated. The proposed method is verified by the simulation results using MATLAB SIMULINK.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.281-281
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• 2000

This paper presents an implementation of speech recognition system for teaching an autonomous mobile robot. The use of human speech as the teaching method provides more convenient user-interface for the mobile robot. In this study, for easily teaching the mobile robot, a study on the autonomous mobile robot with the function of speech recognition is tried. In speech recognition system, a speech recognition algorithm using HMM(Hidden Markov Model) is presented to recognize Korean word. Filter-bank analysis model is used to extract of features as the spectral analysis method. A recognized word is converted to command for the control of robot navigation.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.49-55
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• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.8
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• pp.5219-5226
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• 2014

This paper proposes an improved scheme of pedestrian position information system using neural network theory in a GPS-disabled area. Through a learning/obtaining gait pattern and step distance about walk, run, duck walk, crab walk and crawl, the position estimation error could be minimized by rejecting the inertial navigation drift. A portable hardware module was implemented to evaluate the performance of the proposed system. The performance and effectiveness of the suggested algorithm was verified by experiments indoors.