• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.716-722
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• 2016

Coordinate estimation is an essential function for autonomous navigation of a mobile robot. The optical mouse sensor is convenient and cost-effective for the coordinate estimation problem. It is possible to overcome the position estimation error caused by the slip and the model mismatch of robot's motion equation using the optical mouse sensor. One of the simple methods for the position estimation using the optical mouse sensor is integration of the velocity data from the sensor with time. However, the unavoidable noise in the sensor data may deteriorate the position estimation in case of the simple integration method. In general, a mobile robot has ready-to-use motion information from the encoder sensors of driving motors. By combining the velocity data from the optical mouse sensor and the motion information of a mobile robot, it is possible to improve the coordinate estimation performance. In this paper, a coordinate estimation algorithm for an autonomous mobile robot is presented based on the well-known Kalman filter that is useful to combine the different types of sensors. Computer simulation results show the performance of the proposed localization algorithm for several types of trajectories in comparison with the simple integration method.

• MALSORI
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• v.55
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• pp.131-142
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• 2005

A mismatch between the training and the test conditions often causes a drastic decrease in the performance of the speech recognition systems. In this paper, non-linear transformation techniques based on histogram equalization in the acoustic feature space are studied for reducing the mismatched condition. The purpose of histogram equalization(HEQ) is to convert the probability distribution of test speech into the probability distribution of training speech. While conventional histogram equalization methods consider only the probability distribution of a test speech, for noise-corrupted test speech, its probability distribution is also distorted. The transformation function obtained by this distorted probability distribution maybe bring about miss-transformation of feature vectors, and this causes the performance of histogram equalization to decrease. Therefore, this paper proposes a new method of calculating noise-removed probability distribution by using assumption that the CDF of noisy speech feature vectors consists of component of speech feature vectors and component of noise feature vectors, and this compensated probability distribution is used in HEQ process. In the AURORA-2 framework, the proposed method reduced the error rate by over $44\%$ in clean training condition compared to the baseline system. For multi training condition, the proposed methods are also better than the baseline system.

• ETRI Journal
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• v.36 no.3
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• pp.510-513
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• 2014

A Q-band pHEMT image-rejection low-noise amplifier (IR-LNA) is presented using inter-stage tunable resonators. The inter-stage L-C resonators can maximize an image rejection by functioning as inter-stage matching circuits at an operating frequency ($F_{OP}$) and short circuits at an image frequency ($F_{IM}$). In addition, it also brings more wideband image rejection than conventional notch filters. Moreover, tunable varactors in L-C resonators not only compensate for the mismatch of an image frequency induced by the process variation or model error but can also change the image frequency according to a required RF frequency. The implemented pHEMT IR-LNA shows 54.3 dB maximum image rejection ratio (IRR). By changing the varactor bias, the image frequency shifts from 27 GHz to 37 GHz with over 40 dB IRR, a 19.1 dB to 17.6 dB peak gain, and 3.2 dB to 4.3 dB noise figure. To the best of the authors' knowledge, it shows the highest IRR and $F_{IM}/F_{OP}$ of the reported millimeter/quasi-millimeter wave IR-LNAs.

• The Journal of the Acoustical Society of Korea
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• v.23 no.5
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• pp.383-389
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• 2004

In this paper. we propose the bias compensation methods and the eigenvoice method using the mean of dimensional eigenvoice to improve the performance of rapid speaker adaptation based on eigenvoice under mismatch between training and test environment. Experimental results for vocabulary-independent word recognition task (using PBW 452 DB) show that the proposed methods yield improvements for small adaptation data. We obtained about 22∼30% relative improvement by the bias compensation methods as amount of adaptation data varied from 1 to 50, and obtained 41% relative improvement in error rate by the eigenvoice method using the mean of dimensional eigenvoice with only single adaptation word.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.47 no.4
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• pp.7-12
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• 2010

We have developed a SPICE compatible model of thermoelectric devices, and a parameter extracting technique only by electrical and temperature measurement by using Harman method was proposed. The proposed model and parameter extraction technique do not require experimental data from thermal conductivity measurements. The maximum error between extracted parameters extracted by proposed method and conventional method was about 14%, which is not a severe mismatch for real application. The proposed model is applicable to design of both for thermoelectric coolers and thermo electric generators.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.629-634
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• 2000

Generally, the accuracy of motion control systems is strongly influenced by both the mechanical characteristics and servo characteristics of feed drive systems. In the fed drive systems of machine tools that consist of mechanical parts and electrical parts, a torsional vibration is often generated because of its elastic elements in torque transmission. Especially, a torsional vibration caused by the elasticity of mechanical elements might deteriorate the quick movement of system and lead to shorten the life time of the mechanical transmission elements. So it is necessary to analyze the electromechanical system mathematically to optimize the dynamic characteristics of the feed drive system. In this paper, based on the simplifies feed drive system model, radius errors due to position gain mismatch and servo response characteristic have been developed and an optimal criterion for tuning the gain of speed controller is discussed. The proportional and integral parameter gain of the feed drive controller are optimal design variables for the gain tuning of PI speed controller. Through the optimization problem formulation, both proportional and integral parameter are optimally tuned so as to compensate the radius errors by using the genetic algorithm. As a result, higher performance on circular profile tests has been achieved than the one with standard parameters.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.2
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• pp.355-358
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• 2010

As CMOS technology continues to scale down, signal processing is favorably done in the digital domain, which requires Analog-to-Digital (A/D) Converter to be integrated on-chip. This paper presents a design methodology of 12-bit 1-MS/s Rail-to-Rail fully differential SAR ADC using Deep N-well Switch based on binary search algorithm. Proposed A/D Converter has the following architecture and techniques. Firstly, chip size and power consumption is reduced due to split capacitor array architecture and charge recycling method. Secondly, fully differential architecture is used to reduce noise between the digital part and converters. Finally, to reduce the mismatch effect and noise error, the circuit is designed to be available for Rail-to-Rail input range using simple Deep N-well switch. The A/D Converter fabricated in a TSMC 0.18um 1P6M CMOS technology and has a Signal-to-Noise-and-Distortion-Ratio(SNDR) of 69 dB and Free-Dynamic-Range (SFDR) of 73 dB. The occupied active area is $0.6mm^2$.

• Journal of the Ergonomics Society of Korea
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• v.18 no.1
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• pp.133-147
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• 1999

Traffic signs without a cognitive consideration in their design may cause information-processing problem that could result in a mental confusion among drivers often lead to a serious traffic accident. Therefore, in this study, several traffic signs currently used in Seoul Metropolitan area have been sampled and analyzed to identify design problems that usually caused by neglecting drivers cognitive ability. To classify the practical design problems, five major information-processing problems have been suggested: indistinguishable information, information conflict, missing information, sign-load mismatch, and information overload. In order to solve these cognitive problems, new traffic signs have been suggested in this study. An experiment was also performed to validate the new traffic sign. Twenty-four healthy subjects participated in the experiment. They were asked to answer the Question after observing the traffic signs continuously displayed on computer screen. The result indicated that subjects improved the accuracy in understanding the signs by 1.4 times when they used the suggested traffic sign compared to the old one. Based upon the results, a cognitive guideline was suggested for correct and speedy reading of traffic signs by improving information processing and reducing of human error. In conclusion, the traffic sign may well be applied to design an intelligent traffic sign system to increase the safety and comfort of drivers, especially in complex load condition.

• ETRI Journal
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• v.38 no.1
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• pp.185-194
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• 2016

In this paper, a novel rate control scheme for low delay video coding of High Efficiency Video Coding (HEVC) is proposed. The proposed scheme is developed by considering a new temporal prediction structure of HEVC. In the proposed scheme, the relationship between bit rate and quantization step is exploited firstly to formulate an accurate quadratic rate-quantization (R-Q) model. Secondly, a method of determining the quantization parameters (QPs) for the first frames within a group of pictures is proposed. Thirdly, an accurate frame-level bit allocation method is proposed for HEVC. Finally, based on the proposed R-Q model and the target bit allocated for the frame, the QPs are predicted for coding tree units by using rate-distortion (R-D) optimization. We compare our scheme against that of three other state-of-the-art rate control schemes. Experimental results show that the proposed rate control scheme can increase the Bjøntegaard delta peak signal-to-noise ratio by 0.65 dB and 0.09 dB on average compared with the JCTVC-I0094 and JCTVC-M0036 schemes, respectively, both of which have been implemented in an HEVC test model encoder; furthermore, the proposed scheme achieves a similar R-D performance to Wang's scheme, as well as obtaining the smallest bit rate mismatch error of all the schemes.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.287-297
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• 2018

To improve the performance of sensorless induction motor (IM) drives, a novel speed estimation method based on the real-time adaptive extended Kalman filter (RAEKF) is proposed in this paper. In this algorithm, the fuzzy factor is introduced to tune the measurement covariance matrix online by the degree of mismatch between the actual innovation and the theoretical. Simultaneously, the fuzzy factor can be continuously self-tuned tuned by the fuzzy logic reasoning system based on Takagi-Sugeno (T-S) model. Therefore, the proposed method improves the model adaptability to the actual systems and the environmental variations, and reduces the speed estimation error. Furthermore, a simple exponential function based on the fuzzy theory is used to reduce the computational burden, and the real-time performance of the system is improved. The correctness and the effectiveness of the proposed method are verified by the simulation and experimental results.