• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.983-989
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• 2007

Most of life thing including human being have tendency of reaction with inherently their own pattern against environmental change caused by such as light, sound, smell etc. Especially, a sense of direction often works as a very important factor in such reaction. Actually, human or animal lift that can react instantly to a stimulus determine their action with a sense of direction to a stimulant. In this paper, we try to propose how to give a sense of direction to a robot using sound being representative stimulant, and tracking sensors being able to detect the direction of such sound source. We also try to propose how to determine the relative directions among devices or robots using the digital compass and the RSSI on wireless network.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.786-791
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• 2007

In the place that its security is crucial, the necessity of system which can tract and recognize random person is getting more important. In this paper, we'd like to develop the invader tracking system which consists of the sound source tracking-sensor and the pan-tilt camera for wide-area guard. After detecting the direction of any sound with the sound source tracking-sensor at first, our system make move the pan-tilt camera to that direction and extract reference image from that camera. This reference image is compared and updated by the next captured image after some interval time. By keeping on it over again, we can realize the guard system which can tract an invader using the difference image and the result of another image processing. By linking home network security system, the suggested system can provide some interfacing functions for the security service of the public facilities as well as that of home.

• Journal of the Korean Institute of Navigation
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• v.25 no.4
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• pp.371-379
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• 2001

We have reported the new measurement system which was substituted digital filter for the analog filter in order to develop the optimal system that could find the time delay between each sensors with high accuracy. And also we have confirmed through the experiments that the accuracy of measurements were differentiated by the methods what kind of digital filter had been adopted. This paper suggests two algorithms which approximate the sound source's bearing and distance. One is that sound source's relative bearing can be approximately regarded as the gradient of hyperbolic asymptote, the other is that the source's range can be approximated under the condition of a long range source relative to the sensor's interval. And a series of experiments were carried out with the source's distance 22.42meters and the random bearing interval within the limits of $-90^{\circ}$~$+90^{\circ}$. As a result, we have recognized that the approximation methods could measure the bearing and distance with higher accuracy than the method using trigonometric relation could do.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.737-743
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• 2011

Service robots are equipped with various sensors such as vision camera, sonar sensor, laser scanner, and microphones. Although these sensors have their own functions, some of them can be made to work together and perform more complicated functions. AudioFvisual fusion is a typical and powerful combination of audio and video sensors, because audio information is complementary to visual information and vice versa. Human beings also mainly depend on visual and auditory information in their daily life. In this paper, we conduct two studies using audioFvision fusion: one is on enhancing the performance of sound localization, and the other is on improving robot attention through sound localization and face detection.