• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.343-352
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• 2012

To follow a sound source by a mobile robot, the relative position and orientation of the sound source from the mobile robot have been estimated using a microphone array. In this research, the difference among the traveling times of the sound source to each of three microphones has been used to calculate the distance and orientation of the sound source from the mobile robot which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference comparing to the conventional methods. To generate the tracking direction to the sound source, fuzzy rules are applied and the results are used to control the mobile robot in a real-time. The efficiency of the proposed algorithm has been demonstrated through the real experiments comparing to the conventional approaches.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.9
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• pp.1283-1289
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• 2013

The purpose of this study is to find the new method for estiming the spatial variations in a light source with utilizing the optical fiber sensory system. With this aim, firstly the asymmetry in the beam profile of a light source is evaluated by using the tipped optical fiber with 0, 10, 20, 30, 40, 45-degree angle. Secondly the variation of position in a light source is estimated by adjusting the relative position between the light source unit (XYZ stage, LED, Optical fiber) and the receiver unit (Photodiode, XYZ stage). Our experimental results show that the spatial variation of a light source can be resolved in terms of the variations in beam profile with varying the tip angle of an optical fiber and adjusting the relative distance between the light source unit and the receiver.

• The Journal of the Acoustical Society of Korea
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• v.16 no.5
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• pp.76-82
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• 1997

The paper describes simulations and experimental results using a measuring system which utilizes the acoustic holographic method in order to exactly estimate an absolute position of a sound source. The measuring surface is installed to satisfy with a far field to the sound source and is composed of linear arrayed seven microphones. A measurement is simultaneously recorded by a reference microphone setting up a neighbour sound source and the linear arrayed seven microphones which are moved to the same interval. An absolute position of sound source is estimated by the cross-spectrum method to the received sounds between a reference and the measuring microphones. Phase differences of each microphone and time delays during scanning are compensated to the reference microphone and the measuring time of the first column. An optimal interval for each microphone in the measuring surface is decided by a numerical simulation. A source signal makes use of a sinusoid, and S/N ratio is 30dB in the experiment. The optimal microphone's interval in the simulation and the experiment is decided in order to satisfy with the Nyquist space sampling condition related to the wave length of 2kHz sinusoid. Mainlobe width of a estimated 3D hologram in the case of 2kHz source signal is decreased to 87% and 30% in comparison to 500Hz and 1kHz, and then a valid of simulation results is confirmed. Therefore, we verified a utilization of the study for a sound source estimation using 3ㅇ acoustic holographic method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.1325-1328
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• 2007

When we visualize the sound field radiated from a spherical sound source, spherical acoustic holography is proper among acoustic holography methods. However, there are measurement errors due to sensor position mismatch, sensor mismatch, directivity of sensor, and background noise. These errors are amplified if one predicts the pressures close to the sources: backward prediction. The goal of this paper is to quantitatively examine the effects of the error due to sensor position mismatch on acoustic pressure estimation. This paper deals with the cases of which the measurement deviations are distributed irregularly on the hologram plane. In such cases, one can assume that the measurement is a sample of many measurement events, and the cause of the measurement error is white noise on the hologram plane. Then the bias and random error are derived mathematically. In the results, it is found that the random error is important in the backward prediction. The relationship between the random error amplification ratio and the measurement parameters is derived quantitatively in terms of their energies.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.1
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• pp.119-126
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• 2000

In constructing the positioning system based on a conventional dead-reckoning for a wheeled vehicle with pneumatic tires, the position estimation error is inevitable as changes of the radius of the wheels depend on live load and variable enviroment. Therefore, this paper proposes the positioning system which can estimate the error source i.e. the vehicle parameter errors, such as the right and left wheel radius error, using gyroscope and ultrasonic sensor and correct the parameter to reduce the dead-reckoned position estimation error. The extended Kalman filter was used as a method for the multisensor data fusion. The simulation to verify the effectiveness of the proposed positioning system is performed.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.47 no.5
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• pp.60-68
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• 2010

The calculation method of induction voltage is abbreviately by the Ohm's law including Carson-Pollaczek's equation for mutual inductance estimation and various shielding effect coefficients. This method is mainly scoped to 60㎐. power source and the inducing/induced object positioned on the air, and the dimension of shielding material is not thoroughly reflected. In this paper, more general method of calculation is scrutinized through electromagnetic wave propagation principles. Electromagnetic force as a voltage in the spot generating from the source is evaluated according to the position of the source and object, especially their relationship with earth surface as boundary line and independent to source propagation frequency. And this method intends to consider the material specification of each object in the induction field.

• Journal of Advanced Navigation Technology
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• v.2 no.2
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• pp.75-83
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• 1998

This paper presents a low cost and high accuracy integrated Global Positioning System (GPS)/dead reckoning (DR) system. The integrated GPS/DR system is capable of providing highly accurate position data in real-time or in post processing. Based on the analysis of the main error source affecting the DR measurements, an eight-state mathematical model for the integrated system has been developed to represent these errors. This eight-state model has been used to build a nonlinear filter for the estimation of the state vector at every epoch when DR measurements are available. The accuracy of the system has been evaluated using 1Hz DR measurements and 3Hz continuous GPS position estimates. Through numerical simulation the system performance during periods with GPS outage has been investigated by comparing two different noise models. While one model is the position estimation filter containing a single noise model, the other filter includes two-level noise model. The simulation results have shown that the estimation filter containing two-level noise model for computing the position error of the integrated GPS/DR system yields better performance than that the filter including the single-level noise model does.

• The Journal of the Acoustical Society of Korea
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• v.37 no.6
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• pp.437-442
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• 2018

In this paper, we propose a method for estimating the position of a source in a closed form when a single source has coherently distributed property against a circular array. When a sound source reaches a sensor through multipath environments, it is seen as a distributed source and can be represented by four variables: the nominal azimuth, nominal elevation, azimuth angular spread, elevation angular spread. Therefore, it requires a lot of computation by a search method such as DSPE (Distributed Source Parameter Estimator). In this paper, we propose a method of estimating the nominal azimuth and elevation angle in a closed form using correlation function and least squares method for fast position estimation. In particular, if the source is assumed as Gaussian distribution model, the standard deviation is also estimated in a closed form. In the simulation, the validity of the proposed method is confirmed by comparing with the DSPE.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.637-640
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• 2005

We propose a sound source localization method using the Head-Related-Transfer-Function (HRTF) to be implemented in a given platform. HRTFs contain not only the information regarding proper time delays but also phase and magnitude distortions due to diffraction and scattering by the shading object. Therefore, a set of HRTFs for any given platform provides a substantial amount of information as to the whereabouts of the source. In this study, we introduce new phase criterion in order to find the sound source location in accordance with the HRTF database empirically obtained in an anechoic chamber with the given platform. Using this criterion, we analyze the estimation performance of the proposed method in a household environment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.3
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• pp.445-450
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• 2015

In the moving target problem, the velocity information of the moving target is very important as well as the high accuracy position information. To solve this problem, active researches are being conducted recently with combine the Time Difference of Arrival (TDOA) and Frequency Delay of Arrival(FDOA) measurements. However, since the FDOA measurement is utilizing the Doppler effect due to the relative velocity between the target source and the receiver sensor, it may be difficult to use the FDOA measurement if the moving target speed is not sufficiently fast. In this paper, we propose a method for estimating the position and the velocities of the target by using only the TDOA measurements for the low speed moving target in the indoor environment with sensor network. First, the target position and heading angle are obtained from the estimated positions of two attached transmitters on the target. Then, the target angular and linear velocities are also estimated. In addtion, we apply the Instrumental Variable (IV) technique to compensate the estimation error of the estimated target velocity. In simulation, the performance of the proposed algorithm is verified.