• 로봇학회논문지
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• 제2권3호
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• pp.270-274
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• 2007

In this paper, we present a Sound Source Localization (SSL) based GCC (Generalized Cross Correlation)-PHAT (Phase Transform) and new measurement method of angle with robot auditory system for a network-based intelligent service robot. The main goal of this paper is to analysis performance of TDOA and GCC-PHAT sound source localization method and new angle measurement method is compared. We use GCC-PHAT for measuring time delays between several microphones. And sound source location is calculated by using time delays and new measurement method of angle. The robot platform used in this work is wever-R2, which is a network-based intelligent service robot developed at Intelligent Robot Research Division in ETRI.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1996년도 춘계학술대회논문집; 부산수산대학교, 10 May 1996
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• pp.275-285
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• 1996

A noise measurement method of the multi-sound sources in a reverberation field with wave-guide is developed by experimental method. In the reverberation field, it is very hard to measure sound level or noise spectra of a certain sound source, when many sound sources generate noise simultaneously with a small space between them. Flexible wave-guide(tube) was used to measure noise level in a reverberation field. One end of the tube is attached to a sound source and the other end is closed with an anechoic terminal. Detailed method of the measurement and the source of error was considered as well.

• 소음진동
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• 제9권3호
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• pp.466-471
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• 1999

The prediction methods of diffraction field in barrier has beenreported much about the infinite length barrier and it is very few work that reasonable sound source was used in experiment. This study, however, has worked about the several model barrier with acoustic scale model experiment. In the case of scale model experiment, it is difficult to use the kind of source with sufficiently characteristics. A spark discharge sound source with the high repeatability, broad band spectra, small size and omnidirectivity has veen used for the prediction of diffraction field. Several model barriers with different length on the ground were considered for the experiment and compared with the the results calculated by the approximation.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.126-132
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• 2012

The technique for estimation of sound source direction is one of the important methods necessary for various engineering fields such as monitoring system, military services and so on. As a new approach for estimation of sound source direction, this paper propose the bio-mimetic localization sensor based on mechanically coupling structure motivated by hearing structure of fly, Ormia Ochracea. This creature is known for its outstanding recognition ability to the sound which has large wavelength compared to its own size. ITTF (Inter-Tympanal Transfer Function) which is the transfer function between displacements of the tympanal membranes on each side has the all inter-tympanal information dependent on sound direction. The peak and notch features of desired ITTF can be generated by using the appropriate mechanical properties. A example of estimation of sound source direction using generated ITTF with monotonically changing notch and peak patterns is shown.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.676-681
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• 2013

For underwater vehicles, the use of sensors such as cameras and laser scanners is limited by the difference in environment compared to robots designed to work on dry land. In underwater environments, if use is made of sound signals, valuable information can be obtained. The most important application is the localization of underwater sound sources. The estimated location of a sound source can be used to control underwater robots or submarines. Thus, the purpose of this research is to estimate the source's direction and location in a noisy underwater environment. The direction of the sound source is obtained using two hydrophones. Furthermore, if we assume that the robot or sound source is moving, the location of the sound source is estimated using more than two estimated directions. The feasibility of the developed algorithm is examined by experiments in a water tank and in the ocean.

• 한국소음진동공학회논문집
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• 제23권4호
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• pp.315-323
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• 2013

Tire noise is divided into a road noise(structure-borne noise) and a pattern noise(air-borne noise). Whilst the road noise is caused by the structural vibration of the components on the transfer path from tire to car body, the pattern noise is generated by the air-pumping between tire and road. In this paper, a practical method to estimate the pattern noise inside a passenger car is proposed. The method is developed based on the sound intensity and airborne source quantification. Sound intensity is used for identifying the noise sources of tire. Airborne source quantification is used for estimating the sound pressure level generated by each noise source of a tire. In order to apply the airborne source quantification to the estimation of the sound pressure, the volume velocity of each source should be obtained. It is obtained by using metrics inverse method. The proposed method is successfully applied to the evaluation of the interior noises generated by four types of tires with different pattern each other.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.200-210
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• 2014

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.

• 대한조선학회논문집
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• 제56권5호
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• pp.464-471
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• 2019

The acoustic power is a major acoustical characteristic of an underwater vehicle and could be measured in a reverberant water tank. In order to obtain accurate measurement results, the acoustic field formed by the sound source should be investigated quantitatively in the reverberant water tank. In this research, the acoustic field of a reverberant water tank containing an underwater sound source has been analyzed by using an acoustic radiosity method one of the numerical analysis methods suitable for the acoustic analysis of the highly diffused space. The source level of the underwater sound source and acoustical properties of the water tank input to the numerical analysis have been estimated by applying the reverberant tank plot method through a preliminary experiment result. The comparison of the numerical analysis result with that of the experiment has verified the accuracy of the acoustic radiosity method.

• 한국항해학회지
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• 제22권4호
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• pp.31-36
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• 1998

The whistle is a very important information source for the safety navigation under foggy weather. But navigator has no concern about this, because it must be achived by human hearing sense and considered as a vague signal. If the range and relative bearing of signal source can be detected automatically, it would be very useful system for preventing marine casualties making a lot of economic loss and environment pollution. Before the algorithm of 2-dimensional sound source tracking system was reported. This paper describes the method that can obtain the time lag between three signals and the theory of cross-correlation analysis and subtraction method for cauculating the time lag by using the digital signal data sequences. And a series of experiments were carried out for various position of sound source in the range from 200cm to 530cm. As a result, we have recognized that sound source tracking system is possible to the sea field with improvement of position error.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 추계학술대회 논문집
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• pp.229-230
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• 2009

A method is suggested for the noise source identification using the sound intensity method. The suggested method does not need to install the grid using wire or thread during the sound intensity measurement for the noise source identification. It utilizes a camera to show the grid on the screen not installing the real grid for the sound intensity method.