• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.15 no.6 s.99
• /
• pp.738-748
• /
• 2005

The ship radiated noise level fluctuates by the difference of interference and reverberation according to measurement methods and environmental conditions. These phenomena cause error of the source level estimation even in the same environment conditions. This paper describes a quantitative analysis and a reduction method for an error value to the source level estimation in spatial and temporal interference environment. The design criteria of the radiated noise measurement array composed of omni-directional hydrophones and the source level accuracy in the deep water range are given. The source level accuracy in the shallow water range is also derived based on the statistical model of the multiple reflection paths. The results are verified using the water tank experiment and the sea trial.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.05a
• /
• pp.484-488
• /
• 2007

In this paper, the measurement system using the microphone array developed for analyzing cabin noise of the vehicle and its applications are discussed. The sensor is a three dimensional microphone array, the microphones and cameras are equipped on the rigid sphere. The cameras are used for acoustic visualization. As applications, the experiments in both reverberation chamber and anechoic chamber are discussed. These results show that this system is very useful to evaluate or improve the vehicle sound insulation performance.

• Proceedings of the KIEE Conference
• /
• 2007.11c
• /
• pp.179-182
• /
• 2007

The Design and Optimization of a low-profile antenna for the Satellite Digital Audio Radio System(SDARS) using a Non-Dominated Sorting Genetic Algorithm(NSGA) is presented. a fairly omni-directional elevation gain pattern over 60 degrees < q <60 degrees are obtained. The average value of the LCP gain pattern is approximately 2 dBic. The heights of the antennas are less than 0.251. The cross polarized signal level is approximately 12 dBic less than the co-polarized signal level.

• The Journal of Korea Robotics Society
• /
• v.4 no.4
• /
• pp.273-280
• /
• 2009

It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with $n$ passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting $n$ passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.

• The Journal of Korea Robotics Society
• /
• v.8 no.4
• /
• pp.229-237
• /
• 2013

In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.215-220
• /
• 2005

Nowadays, various speech processing systems are being introduced in the fields of robotics. However, real-time processing and high performances are required to properly implement speech processing system for the autonomous robots. Achieving these goals requires advanced hardware techniques including intelligent software algorithms. For example, we need nonlinear amplifier boards which are able to adjust the compression radio (CR) via computer programming. And the necessity for noise reduction, double-buffering on EPLD (Erasable programmable logic device), simultaneous multi-channel AD conversion, distant sound localization will be explained in this paper. These ideas can be used to improve distant and omni-directional speech recognition. This speech processing system, based on embedded Linux system, is supposed to be mounted on the new home service robot, which is being developed at KIST (Korea Institute of Science and Technology)

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.72-75
• /
• 2000

This paper presents a simulation study on the description of the motion and the control of an active catheter actuator with multi-link structure actuated by Shape Memory Alloy(SMA). The model of an active catheter adopted in this paper has 3 links, and the individual links are composed of 3 micro coils of SMA for the omni-directional motion. In order to analyze the motions of multi-link structure, 3-dimensional kinematics description is presented. Also, the motion control of the end point of an active catheter using simple Neural Network is shown based on GUI(Graphic User Interface) system.

• Journal of information and communication convergence engineering
• /
• v.8 no.5
• /
• pp.489-492
• /
• 2010

This paper proposes the planar-type modified monopole antennas of loop structure. This antenna has an opened center of a conventional closed loop structure with an inside-folded terminal of the loop microstrip line. The size of the proposed antenna was minimized by folding the end of the loop. Also, the reactance value has been minimized by increasing capacitances between the coupled microstrip line. Therefore the proposed antenna has been compacted to about 20% from a conventional loop antenna and has increased its efficiency. The proposed antennas have an omni-directional pattern, the antenna gain was 3.67 [dBi] and the bandwidth was 900 MHz (2.6~3.56 GHz) with VSWR$\leq$2 from the simulated and the measured results. The frequency utilization coefficient was 29.9%. These properties could satisfy the S-DMB band.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.963-964
• /
• 2008

Recently, omni-directional cameras are broadly used due to their wide field of view. Fisheye camera is one of them. This paper proposes the system which uses a fisheye camera for face recognition and analyzes its advantages. Since face images taken with a fisheye camera are affected by perspective distortion and radial distortion, we suggest a two-step method for removing those distortions from the face images.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.34.5-34
• /
• 2002

In this paper we propose a new method for modeling indoor environment with stereo camera and suggest a localization method for mobile robot navigation on the basis of it. From the viewpoint of easiness in map building and exclusion of artificiality, the main idea of this paper is that environment is represented as global topological map and each node has omni-directional metric and color information by using stereo camera and pan/tilt mechanism. We use the depth and color information itself in image pixel as feature for environmental abstraction. In addition, we use only the depth and color information at horizontal centerline in image, where optical axis is passing. The usefulness of this m...