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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
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Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 13, Issue 12 - Dec 2007
Volume 13, Issue 11 - Nov 2007
Volume 13, Issue 10 - Oct 2007
Volume 13, Issue 9 - Sep 2007
Volume 13, Issue 8 - Aug 2007
Volume 13, Issue 7 - Jul 2007
Volume 13, Issue 6 - Jun 2007
Volume 13, Issue 5 - May 2007
Volume 13, Issue 4 - Apr 2007
Volume 13, Issue 3 - Mar 2007
Volume 13, Issue 2 - Feb 2007
Volume 13, Issue 1 - Jan 2007
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Constructing a Noise-Robust Speech Recognition System using Acoustic and Visual Information
Lee, Jong-Seok ; Park, Cheol-Hoon ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 719~725
DOI : 10.5302/J.ICROS.2007.13.8.719
In this paper, we present an audio-visual speech recognition system for noise-robust human-computer interaction. Unlike usual speech recognition systems, our system utilizes the visual signal containing speakers' lip movements along with the acoustic signal to obtain robust speech recognition performance against environmental noise. The procedures of acoustic speech processing, visual speech processing, and audio-visual integration are described in detail. Experimental results demonstrate the constructed system significantly enhances the recognition performance in noisy circumstances compared to acoustic-only recognition by using the complementary nature of the two signals.
Development of Autonomous Mobile Robot with Speech Teaching Command Recognition System Based on Hidden Markov Model
Cho, Hyeon-Soo ; Park, Min-Gyu ; Lee, Hyun-Jeong ; Lee, Min-Cheol ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 726~734
DOI : 10.5302/J.ICROS.2007.13.8.726
Generally, a mobile robot is moved by original input programs. However, it is very hard for a non-expert to change the program generating the moving path of a mobile robot, because he doesn't know almost the teaching command and operating method for driving the robot. Therefore, the teaching method with speech command for a handicapped person without hands or a non-expert without an expert knowledge to generate the path is required gradually. In this study, for easily teaching the moving path of the autonomous mobile robot, the autonomous mobile robot with the function of speech recognition is developed. The use of human voice as the teaching method provides more convenient user-interface for mobile robot. To implement the teaching function, the designed robot system is composed of three separated control modules, which are speech preprocessing module, DC servo motor control module, and main control module. In this study, we design and implement a speaker dependent isolated word recognition system for creating moving path of an autonomous mobile robot in the unknown environment. The system uses word-level Hidden Markov Models(HMM) for designated command vocabularies to control a mobile robot, and it has postprocessing by neural network according to the condition based on confidence score. As the spectral analysis method, we use a filter-bank analysis model to extract of features of the voice. The proposed word recognition system is tested using 33 Korean words for control of the mobile robot navigation, and we also evaluate the performance of navigation of a mobile robot using only voice command.
A Portable Mediate Interface 'Handybot' for the Rich Human-Robot Interaction
Hwang, Jung-Hoon ; Kwon, Dong-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 735~742
DOI : 10.5302/J.ICROS.2007.13.8.735
The importance of the interaction capability of a robot increases as the application of a robot is extended to a human's daily life. In this paper, a portable mediate interface Handybot is developed with various interaction channels to be used with an intelligent home service robot. The Handybot has a task-oriented channel of an icon language as well as a verbal interface. It also has an emotional interaction channel that recognizes a user's emotional state from facial expression and speech, transmits that state to the robot, and expresses the robot's emotional state to the user. It is expected that the Handybot will reduce spatial problems that may exist in human-robot interactions, propose a new interaction method, and help creating rich and continuous interactions between human users and robots.
Design of the Multimodal Input System using Image Processing and Speech Recognition
Choi, Won-Suk ; Lee, Dong-Woo ; Kim, Moon-Sik ; Na, Jong-Whoa ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 743~748
DOI : 10.5302/J.ICROS.2007.13.8.743
Recently, various types of camera mouse are developed using the image processing. The camera mouse showed limited performance compared to the traditional optical mouse in terms of the response time and the usability. These problems are caused by the mismatch between the size of the monitor and that of the active pixel area of the CMOS Image Sensor. To overcome these limitations, we designed a new input device that uses the face recognition as well as the speech recognition simultaneously. In the proposed system, the area of the monitor is partitioned into 'n' zones. The face recognition is performed using the web-camera, so that the mouse pointer follows the movement of the face of the user in a particular zone. The user can switch the zone by speaking the name of the zone. The multimodal mouse is analyzed using the Keystroke Level Model and the initial experiments was performed to evaluate the feasibility and the performance of the proposed system.
A General Representation of Motion Silhouette Image: Generic Motion Silhouette Image(GMSI)
Hong, Sung-Jun ; Lee, Hee-Sung ; Kim, Eun-Tai ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 749~753
DOI : 10.5302/J.ICROS.2007.13.8.749
In this paper, a generalized version of the Motion Silhouette Image(MSI) called the Generic Motion Silhouette Image (GMSI) is proposed for gait recognition. The GMSI is a gray-level image and involves the spatiotemporal information of individual motion. The GMSI not only generalizes the MSI but also reflects a flexible feature of a gait sequence. Along with the GMSI, we use the Principal Component Analysis(PCA) to reduce the dimensionality of the GMSI and the Nearest Neighbor(NN) for classification. We apply the proposed feature to NLPR database and compare it with the conventional MSI. Experimental results show the effectiveness of the GMSI.
Emotion Recognition and Expression Method using Bi-Modal Sensor Fusion Algorithm
Joo, Jong-Tae ; Jang, In-Hun ; Yang, Hyun-Chang ; Sim, Kwee-Bo ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 754~759
DOI : 10.5302/J.ICROS.2007.13.8.754
In this paper, we proposed the Bi-Modal Sensor Fusion Algorithm which is the emotional recognition method that be able to classify 4 emotions (Happy, Sad, Angry, Surprise) by using facial image and speech signal together. We extract the feature vectors from speech signal using acoustic feature without language feature and classify emotional pattern using Neural-Network. We also make the feature selection of mouth, eyes and eyebrows from facial image. and extracted feature vectors that apply to Principal Component Analysis(PCA) remakes low dimension feature vector. So we proposed method to fused into result value of emotion recognition by using facial image and speech.
Emotional Behavior Decision Model Based on Linear Dynamic System for Intelligent Service Robots
Ahn, Ho-Seok ; Choi, Jin-Young ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 760~768
DOI : 10.5302/J.ICROS.2007.13.8.760
This paper introduces an emotional behavior decision model based on linear system for intelligent service robots. An emotional model should make different behavior decisions according to the purpose of the robots. We propose an emotional behavior decision model which can change the character of intelligent service robots and make different behavior decisions although the situation and environment remain the same. We defined each emotional element such as reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics by state dynamic equations. The proposed system model is a linear dynamic system. If you want to add one external stimulus or behavior, you need to add just one dimensional vector to the matrix of external stimulus or behavior dynamics. The case of removing is same. The change of reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics also follows the same procedure. We implemented a cyber robot and an emotional head robot using 3D character for verifying the performance of the proposed emotional behavior decision model.
Human Arm Motion Tracking based on sEMG Signal Processing
Choi, Young-Jin ; Yu, Hyeon-Jae ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 769~776
DOI : 10.5302/J.ICROS.2007.13.8.769
This paper proposes the human arm motion tracking algorithm based on the signal processing for surface EMG (electromyogram) sensors attached on both upper arm and shoulder. The signals acquired by using surface EMG sensors are processed with choosing the maximum in a short period, taking the absolute value, and filtering noises out with a low-pass filter. The processed signals are directly used for the motion generation of virtual arm in real time simulator. The virtual arm of simulator has two degrees of freedom and complies with the flexion and extension motions of elbow and shoulder. Also, we show the validity of the suggested algorithms through the experiments.
Remote Control of a Mobile Robot Using Human Adaptive Interface
Hwang, Chang-Soon ; Lee, Sang-Ryong ; Park, Keun-Young ; Lee, Choon-Young ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 777~782
DOI : 10.5302/J.ICROS.2007.13.8.777
Human Robot Interaction(HRI) through a haptic interface plays an important role in controlling robot systems remotely. The augmented usage of bio-signals in the haptic interface is an emerging research area. To consider operator's state in HRI, we used bio-signals such as ECG and blood pressure in our proposed force reflection interface. The variation of operator's state is checked from the information processing of bio-signals. The statistical standard variation in the R-R intervals and blood pressure were used to adaptively adjust force reflection which is generated from environmental condition. To change the pattern of force reflection according to the state of the human operator is our main idea. A set of experiments show the promising results on our concepts of human adaptive interface.
A Study of Walking Guide for the Blind by Tactile Display
Yoon, Myoung-Jong ; Kang, Jeong-Ho ; Yu, Kee-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 783~789
DOI : 10.5302/J.ICROS.2007.13.8.783
In this paper, firstly, we propose a generating method of the 3-D obstacle map using ultrasonic sensors. Secondly, we try to find the necessary stimulation conditions of compact tactile display device for effective transfer of obstacle information. The final goal of this research is the development of a walking guide system for the blind to walk safely. The walking guide system consists of a guide vehicle for the obstacle detection and a tactile display device for the transfer of the obstacle information. The guide vehicle, located in front of the walking blind, detects the obstacle using ultrasonic sensors. The processed information makes an obstacle map and transmits safe path and emergency situation to the blind by the tactile display. The tactile display device, located in the handle which is connected with the guide vehicle by cane, offers the processed obstacle information such as position, size, moving, shape of obstacle and safe path, etc. The concept of a walking guide system with tactile display is introduced, and experiments of 3-D obstacle detection and tactile perception are carried out and analyzed.
Extraction of Shape Information of Cost Function Using Dynamic Encoding Algorithm for Searches(DEAS)
Kim, Jong-Wook ; Park, Young-Su ; Kim, Tae-Gyu ; Kim, Sang-Woo ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 790~797
DOI : 10.5302/J.ICROS.2007.13.8.790
This paper proposes a new measure of cost function ruggedness in local optimization with DEAS. DEAS is a computational optimization method developed since 2002 and has been applied to various engineering fields with success. Since DEAS is a recent optimization method which is rarely introduced in Korean, this paper first provides a brief overview and description of DEAS. In minimizing cost function with this non-gradient method, information on function shape measured automatically will enhance search capability. Considering the search strategies of DEAS are well designed with binary matrix structures, analysis of search behaviors will produce beneficial shape information. This paper deals with a simple quadratic function contained with various magnitudes of noise, and DEAS finds local minimum yielding ruggedness measure of given cost function. The proposed shape information will be directly used in improving DEAS performance in future work.
A Study of Improved Auto Exposure System for Digital Still Camera Using Fuzzy Logic
Cho, Sun-Ho ; Lee, Sang-Yong ; Tak, In-Jae ; Park, Chong-Kug ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 798~803
DOI : 10.5302/J.ICROS.2007.13.8.798
In case of minimized digital camera and mobile digital camera, it's difficult to get the high quality image by conventional AE(Auto Exposure) algorithm because of restriction of system organization. In this paper, a new algorithm that adopts a target setting, a compensation of feedback delay and a gamma correction, etc, are suggested for improving a noise increase and an output sensitivity decrease due to system minimization. We also suggest a method using fuzzy logic which can decide more effectively the ES(Electric Shutter) value and the AGC(Analog Gain Control) value than conventional system.
Initialization Problem of Indoor Mobile Robots with Artificial Stars
Bang, Sung-Kee ; Kim, Jin-Oh ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 804~809
DOI : 10.5302/J.ICROS.2007.13.8.804
Initialization problem is defined for indoor mobile robot as a whole process from arrival to normal operation in a new environment. The unstructured environment make the process much more difficult compared to industrial robot in structured environments. We propose a simple and efficient initialization process based on artificial stars on ceiling. Important task points and paths connecting task points are defined based on the corresponding artificial stars. This approach can be used for all kinds of indoor mobile robots with landmarks used for indoor localization.
Development of an Intelligent Security Robot System for Home Surveillance
Park, Jeong-Ho ; Shin, Dong-Gwan ; Woo, Chun-Kyu ; Kim, Hyung-Chul ; Kwon, Yong-Kwan ; Choi, Byoung-Wook ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 810~816
DOI : 10.5302/J.ICROS.2007.13.8.810
A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through
simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using
is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.
Performance Investigation of the Unscented Kalman Filter for Ultra-tightly GPS/INS Integration
Cho, Young-Seok ; Yang, Cheol-Kwan ; Park, Jin-Woo ; Shim, Duk-Sun ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 8, 2007, Pages 817~823
DOI : 10.5302/J.ICROS.2007.13.8.817
GPS and INS can be integrated in 3 ways of loose, tight, and ultra-tight configuration. This paper investigates the performance of GPS/INS ultra-tightly integrated system when unscented Kalman filter(UKF) is adopted as well as extended Kalman filter(EKF). Covariance analysis is performed using UFK and EKF for tightly coupled and ultra-tightly coupled systems. Various trajectories such as straight, circle, S-shape, spiral are considered for the simulations of covariance analysis.