• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.314-321
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• 2005

In this paper an intelligence embedding quadruped pet robot is described. It has 15 degrees of freedom and consists of various sensors such as CMOS image, voice recognition and sound localization, inclinometer, thermistor, real-time clock, tactile touch, PIR and IR to allows owners to interact with pet robot according to human's intention as well as the original features of pet animals. The architecture is flexible and adopts various embedded processors for handling sensors to provide modular structure. The pet robot is also used for additional purpose such like security, gaming visual tracking, and research platform. It is possible to generate various actions and behaviors and to download voice or music files to maintain a close relation of users. With cost-effective sensor, the pet robot is able to find its recharge station and recharge itself when its battery runs low. To facilitate programming of the robot, we support several development environments. Therefore, the developed system is a low-cost programmable entertainment robot platform.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.641-644
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• 2005

This study reveals some recent attempt in modeling empirically obtained B&K HATS (Head and Torso Simulator) HRTFs (Head Related Transfer Functions) to Isolate parameters that stimulate lateral and elevation perception. Localization using non-individual HRTFs often yields poor performance in synthesizing virtual sound sources when applied to a group of individuals due to differences in size and shape of head, pinnae, and torso. For realization of both effective and efficient virtual audio it is necessary to develop a method to tailor a given set of non-individual HRTFs to fit each listener without measuring his/her HRTF set. Pole-zero modeling is applied to fit HRIRs (Head Related Impulse Responses) and modeling criterions for determining suitable number of parameters are suggested for efficient modeling. Horizontal HRTFs are modeled as minimum-phase transfer functions with appropriate ITDs (Interaural Time Delay) obtained from RTF (Ray Tracing Formula) to better fit the size of listener's head for usage in simple virtualizer algorithms without complex regularization processes. Result of modeling HRTFs in the median plane is shown and parameters responsible for elevation perception are isolated which can be referred to in the future study of developing customizable HRTFs.

• The Journal of the Acoustical Society of Korea
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• v.29 no.6
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• pp.381-387
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• 2010

Both timbral features and spatial features are important in the assessment of multichannel audio coding systems. The prediction model, extending the ITU-R Rec. BS. 1387-1 to multichannel audio coding systems, with the use of spatial features such as ITDDist (Interaural Time Difference Distortion), ILDDist (Interaural Level Difference Distortion), and IACCDist (InterAural Cross-correlation Coefficient Distortion) was proposed by Choi et al. In that model, ITDDistswere only computed for low frequency bands (below 1500Hz), and ILDDists were computed only for high frequency bands (over 2500Hz) according to classical duplex theory. However, in the high frequency range, information in temporal envelope is also important in spatial perception, especially in sound localization. A new model to compute the ITD distortions of temporal envelopes in high frequency components is introduced in this paper to investigate the role of such ITD on spatial perception quantitatively. The computed ITD distortions of temporal envelopes in high frequency components were highly correlated with perceived sound quality of multichannel audio sounds.

• Journal of the Korean Institute of Rural Architecture
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• v.18 no.1
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• pp.47-56
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• 2016

Urban planning is the task to explore measures for bringing order to the change in urban space of future predicted in relation to the size and purpose of the land and a variety of facilities in cities in order to present the environment that can promote the qualitative improvement of activities of residents, ensure orderly urban space of future, and create appropriate urban environment which meets the desire of citizens by anticipating the urban development on the basis of overall activities such as politics, economics, culture, etc, so that the improvement in urban life can be accomplished ultimately. Therefore, this study attempted to examine current conditions information necessary for establishing policies pursuant to the national land development plan and regional development, as well as respond to the needs of urban residents who need the improvement of settlement environment including various amenities for the convenience of life, by shifting away form the macroscopic and one-size-fits top-down approach of development so far and aiming a balanced development of national land in quest for welfare society and by utilizing the urban index as the basic prior task necessary for seeking the shift ind the direction of policies and setting the direction for policies on the basis of the top-down development approach which suits the anticipation and hope of local residents as the subject of development, considering the growing interest in the shift in the policies for regional development in this era of localization. Techniques for urban planning need to be applied, such as the prior planning and the following development, along with the support at the policy level for achieving the improvement in the related sector, in order to induce continuos urban deelopment based on the establishment of healthy and sound settlement environment, and furthermore, the efforts must be drven forward to improve the urban settlement environment while the urban planning and policies are established.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.182-184
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• 2009

FlexRay is a new standard of network communication system which provides a high speed serial communication, time triggered bus and fault tolerant communication between electronic devices for future automotive and ship applications. FlexRay communication controller(CC) is the core of the FlexRay protocol specification. In this paper, we first design the FlexRay CC protocol specification and function parts using SDL(Specification and Description Language). Then, the system is re-designed using Verilog HDL based on the SDL source. The FlexRay CC system was synthesized using Samsung $0.35{\mu}m$ technology. It is shown that the designed system can operate in the frequency range above 80 MHz. In addition, to show the validity of the designed FlexRay system, the FlexRay system is combined with sound source localization system in Robot applications. The combined system is implemented using ALTERA Excalibur ARM EPXA4F672C3. It is shown that the implemented system operates successfully.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.44 no.1
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• pp.70-75
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• 2007

In order to mitigate the problems in storage space and network bandwidth for the full CD quality audio with 44.1 kHz sampling rate, current existing digital audio is always restricted by sampling rate and bandwidth. This kind of restriction normally can be resolved by using low bit rate audio codec such as MP3, OGG, and AAC. However it suffers a major problem such as a loss of high frequency fidelity. This high frequency loss will reproduce only the band-limited low-frequency part of audio in the standard CD-quality audio. In general, the high frequency contents of audio have lots of information such as localization and ambient information, and bright nature of audio. The purpose of this paper is to implement on ARM platform system that can effectively estimate and compensate the missing high frequency contents of MP3 audio. From the experimental results with spectrum analysis and listening test, we confirm the superiority of the proposed algorithms for MP3 audio quality enhancement.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.6
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• pp.1-7
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• 2008

FlexRay is a new standard of network communication system which provides a high speed serial communication, time triggered bus and fault tolerant communication between electronic devices for future automotive applications. FlexRay communication controller (CC) is the core of the FlexRay protocol specification. In this paper, we first design the FlexRay CC protocol specification and function parts using SDL (Specification and Description Language). Then, the system is re-designed using Verilog HDL based on the SDL source. The FlexRay CC system was synthesized using Samsung $0.35\;{\mu}m$ technology. It is shown that the designed system can operate in the frequency range above 80 MHz. In addition, to show the validity of the designed FlexRay system the FlexRay system is combined with sound source localization system in Robot applications. The combined system is implemented using ALTERA Excalibur ARM EPXA4F672C3. It is shown that the implemented system operates successfully.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.11C
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• pp.1573-1580
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• 2004

In this paper, an adaptation mode controller for adaptive microphone array system is proposed for high-quality speech acquisition in real environments. To ensure proper adaptation of the adaptive array algorithm, the proposed adaptation mode controller uses not only temporal information, but also spatial information. The proposed adaptation mode controller is constructed with two processing stages: an initialization stage and a running stage. In the initialization stage, a sound source localization technique is adopted, and a signal correlation characteristic is used in the running stage. For the adaptive may algorithm, a generalized sidelobe canceller with an adaptive blocking matrix is used. The proposed adaptation mode controller can be used even when the adaptive blocking matrix is not adapted, and is much stable than the power ratio method. The proposed algorithm is evaluated in real environment, and simulation results show 13dB SINR improvement with the speaker sitting 2m distance from the may.

• Journal of Audiology & Otology
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• v.23 no.4
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• pp.197-203
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• 2019

Background and Objectives: Many studies have reported no benefit of sound localization, but improved speech understanding in noise after treating patients with single-sided deafness (SSD). Furthermore, their performances provided a large individual difference. The present study aimed to measure the ability of speech perception and gap detection in noise for the SSD patients to better understand their hearing nature. Subjects and Methods: Nine SSD patients with different onset and period of hearing deprivation and 20 young adults with normal hearing and simulated conductive hearing loss as the control groups conducted speech perception in noise (SPIN) and Gap-In-Noise (GIN) tests. The SPIN test asked how many presented sentences were understood at the +5 and -5 dB signal-to-noise ratio. The GIN test was asked to find the shortest gap in white noise with different lengths in the gap. Results: Compared to the groups with normal hearing and simulated instant hearing loss, the SSD group showed much poor performance in both SPIN and GIN tests while supporting central auditory plasticity of the SSD patients. Rather than a longer period of deafness, the large individual variance indicated that the congenital SSD patients showed better performance than the acquired SSD patients in two measurements. Conclusions: The results suggested that comprehensive assessments should be implemented before any treatment of the SSD patient considering their onset time and etiology, although these findings need to be generalized with a large sample size.

• Korean Journal of Audiology
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• v.23 no.4
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• pp.197-203
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• 2019

Background and Objectives: Many studies have reported no benefit of sound localization, but improved speech understanding in noise after treating patients with single-sided deafness (SSD). Furthermore, their performances provided a large individual difference. The present study aimed to measure the ability of speech perception and gap detection in noise for the SSD patients to better understand their hearing nature. Subjects and Methods: Nine SSD patients with different onset and period of hearing deprivation and 20 young adults with normal hearing and simulated conductive hearing loss as the control groups conducted speech perception in noise (SPIN) and Gap-In-Noise (GIN) tests. The SPIN test asked how many presented sentences were understood at the +5 and -5 dB signal-to-noise ratio. The GIN test was asked to find the shortest gap in white noise with different lengths in the gap. Results: Compared to the groups with normal hearing and simulated instant hearing loss, the SSD group showed much poor performance in both SPIN and GIN tests while supporting central auditory plasticity of the SSD patients. Rather than a longer period of deafness, the large individual variance indicated that the congenital SSD patients showed better performance than the acquired SSD patients in two measurements. Conclusions: The results suggested that comprehensive assessments should be implemented before any treatment of the SSD patient considering their onset time and etiology, although these findings need to be generalized with a large sample size.