• 한국음향학회:학술대회논문집
• /
• 한국음향학회 2002년도 하계학술발표대회 논문집 제21권 1호
• /
• pp.107-110
• /
• 2002

현재까지 개발된 화자식별 시스템 중 가중모델순위(Weighting Model Rank; WMR)방법을 이용한 화자인식 시스템이 비교적 높은 인식성능을 나타내고 있다. WMR 방법은 각 화자에 대한 프레임 유사도의 순위에 따라 지수함수 가중치로 대치시키는 방법을 사용하고 있으나, 이 방법은 유사도 본래의 변별력이 전체 계산에서 고려되지 않는 문제가 있었다. 이를 해결하기 위해 본 논문에서는 각 화자의 프레임 유사도와 지수함수를 이용한 가중치를 곱한 값을 이용하여 전체 스코어를 계산하도록 하는 수정된 가중모델 순위방법(Modified Weighting Model Rank; MWMR)을 제안한다. 제안한 방법의 유효성을 확인하기 위하여 316명의 화자를 대상으로 하여 인식실험을 실시한 결과, 학습 프레임이 10,000일 경우, MWMR 방법에서 $98.1\%$의 화자 인식률을 얻어 WMR 방법에 비해 약 $2.0\%$의 향상된 인식결과를 보여 제안한 방법의 유효성을 확인할 수 있었다.

• 제어로봇시스템학회논문지
• /
• 제10권12호
• /
• pp.1241-1248
• /
• 2004

A controller of wheeled mobile robot(WMR) based on Lyapunov theory is designed and a Fuzzy-Neural Network algorithm is applied to this system to adjust controller gain. In conventional controller of WMR that adopts fixed controller gain, controller can not pursuit trajectory perfectly when initial condition of system is changed. Moreover, acquisition of optimal value of controller gain due to variation of initial condition is not easy because it can be get through lots of try and error process. To solve such problem, a Fuzzy-Neural Network algorithm is proposed. The Fuzzy logic adjusts gains to act up to position error and position error rate. And, the Neural Network algorithm optimizes gains according to initial position and initial direction. Computer simulation shows that the proposed Fuzzy-Neural Network controller is effective.

• International Journal of Control, Automation, and Systems
• /
• 제1권1호
• /
• pp.35-42
• /
• 2003

This paper proposes a simple, robust, nonlinear controller based on Lyapunov stability for tracking the reference welding path and velocity of a two-wheeled welding mobile robot (WMR). The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for faster tracking because the welding speed is very slow. Control law is obtained from the Lyapunov control function to ensure the asymptotical stability of the system. The controller has three free parameters for adjusting the performance of the controlled system. A simple way of measuring the errors using two potentiometers is introduced. The effectiveness of the proposed controller is shown through simulation results.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1418-1423
• /
• 2003

In this paper, a nonlinear controller based on sliding mode control is applied to a two -wheeled Welding Mobile Robot (WMR) to track a smooth-curved welding path at a constant velocity of the welding point. T he mobile robot is considered in terms of dynamics model in Cartesian coordinates and its parameters are exactly known . To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation results are included to illustrate the performance of the control law.

• 전자공학회논문지S
• /
• 제34S권12호
• /
• pp.19-29
• /
• 1997

This paper presents stable kinematic modeling and path planning and path tracking algorithms for the poisition control of 4-wheeled 2-d.o.f(degree of freedom) mobile robot. We drived the actuated inverse and sensed forward solution for the calculation of actuator velocity and robot velocities. the deal-reckoning algorithm is introduced to calculate the position of WMR in real time. The gaussian functions are applied to control and to design the smooth orientation angle of WMR and the path planning algorithm for obstacle avoidance is prosed. We composed feedback control system to compensate for error because of uncertainty kinematic modeling and measurement noise. The simulation resutls show that the proposed kinematkc modeling and path planning and feedback control algorithms are useful.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제11권1호
• /
• pp.49-53
• /
• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• 한국마린엔지니어링학회:학술대회논문집
• /
• 한국마린엔지니어링학회 2006년도 전기학술대회논문집
• /
• pp.85-86
• /
• 2006

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundary function is proposed and applied to a two-wheeled voiding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the new sliding is proposed to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system will be shown through the Lyapunov method. The simulations is shown to prove the effectiveness of the proposed controller.

• 한국정밀공학회지
• /
• 제17권5호
• /
• pp.145-153
• /
• 2000

This paper discusses the dynamic modeling and robust control development for a differentially steered mobile robot subject to wheel slip according to high load. Consideration of wheel slip is crucial for high load applications such as construction automation tasks because wheel slip acts as a severe disturbance to the system. It is shown that the uncertainty terms due to the wheel slip satisfy the matching condition for the sliding mode control design. From the full dynamic model of the mobile robot, a reduced ideal model is extracted to facilitate the control design. The sliding mode control method ensures the dynamic tracking performance for such a mobile robot. Numerical simulation shows the promise of the developed algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.441-441
• /
• 2000

In wheeled mobile robot (WMR) research, point stabilization is one of the basic research issue. Point stabilization is to set mobile robot in desired position regardless of its orientation. In this paper, we propose a point stabilization scheme for car-like type WMR. We will define a new error states named as tangential error and nomal error. Then a heuristic control scheme will be suggested. The performance of these approach is verified via POSTUR-II.

• 전자공학회논문지S
• /
• 제35S권10호
• /
• pp.64-76
• /
• 1998

본 논문에서 4-구륜 2-자유도 이동 로보트의 체계적인 동적 모델링과 경로설계 및 추적 알고리즘을 제안한다. 실시간에서 이동 로보트의 위치 측정을 위해 관성측정장치중의 3가지 요소를 이용한다. 이러한 장치들은 지구의 회전속도 및 중력가속도 등의 여러 요인으로 인해 초기 오차를 가진다. 그래서 초기오차 모델을 유도하고, 실제 데이터와 유도된 모델의 추정 데이터의 확률적 특성을 분석 ${\cdot}$ 비교하여 적합도를 판정하여 사용한다. 관성측정장치의 동작특성은 오차모델과 칼만 필터와 연계된 경우와 배제된 일반적인 경우와 비교한다. 모의실험 결과들은 제안된 경로설계 및 추적 알고리즘이 기존의 방식과 비교하여 보다 유용함을 입증한다.