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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 16, Issue 12 - Dec 2010
Volume 16, Issue 11 - Nov 2010
Volume 16, Issue 10 - Oct 2010
Volume 16, Issue 9 - Sep 2010
Volume 16, Issue 8 - Aug 2010
Volume 16, Issue 7 - Jul 2010
Volume 16, Issue 6 - Jun 2010
Volume 16, Issue 5 - May 2010
Volume 16, Issue 4 - Apr 2010
Volume 16, Issue 3 - Mar 2010
Volume 16, Issue 2 - Feb 2010
Volume 16, Issue 1 - Jan 2010
Selecting the target year
Speech Parameters for the Robust Emotional Speech Recognition
Kim, Weon-Goo ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1137~1142
DOI : 10.5302/J.ICROS.2010.16.12.1137
This paper studied the speech parameters less affected by the human emotion for the development of the robust speech recognition system. For this purpose, the effect of emotion on the speech recognition system and robust speech parameters of speech recognition system were studied using speech database containing various emotions. In this study, mel-cepstral coefficient, delta-cepstral coefficient, RASTA mel-cepstral coefficient and frequency warped mel-cepstral coefficient were used as feature parameters. And CMS (Cepstral Mean Subtraction) method were used as a signal bias removal technique. Experimental results showed that the HMM based speaker independent word recognizer using vocal tract length normalized mel-cepstral coefficient, its derivatives and CMS as a signal bias removal showed the best performance of 0.78% word error rate. This corresponds to about a 50% word error reduction as compare to the performance of baseline system using mel-cepstral coefficient, its derivatives and CMS.
A Emergency Sound Detecting Method for Smarter City
Cho, Young-Im ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1143~1149
DOI : 10.5302/J.ICROS.2010.16.12.1143
Because the noise is the main cause for decreasing the performance at speech recognition, the place or environment is very important in speech recognition. To improve the speech recognition performance in the real situations where various extraneous noises are abundant, a novel combination of FIR and Wiener filters is proposed and experimented. The combination resulted in improved accuracy and reduced processing time, enabling fast analysis and response in emergency situations. Usually, there are many dangerous situations in our city life, so for the smarter city it is necessary to detect many types of sound in various environment. Therefore this paper is about how to detect many types of sound in real city, especially on CCTV. This paper is for implementing the smarter city by detecting many types of sounds and filtering one of the emergency sound in this sound stream. And then it can be possible to handle with the emergency or dangerous situation.
A Design on Face Recognition System Based on pRBFNNs by Obtaining Real Time Image
Oh, Sung-Kwun ; Seok, Jin-Wook ; Kim, Ki-Sang ; Kim, Hyun-Ki ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1150~1158
DOI : 10.5302/J.ICROS.2010.16.12.1150
In this study, the Polynomial-based Radial Basis Function Neural Networks is proposed as one of the recognition part of overall face recognition system that consists of two parts such as the preprocessing part and recognition part. The design methodology and procedure of the proposed pRBFNNs are presented to obtain the solution to high-dimensional pattern recognition problem. First, in preprocessing part, we use a CCD camera to obtain a picture frame in real-time. By using histogram equalization method, we can partially enhance the distorted image influenced by natural as well as artificial illumination. We use an AdaBoost algorithm proposed by Viola and Jones, which is exploited for the detection of facial image area between face and non-facial image area. As the feature extraction algorithm, PCA method is used. In this study, the PCA method, which is a feature extraction algorithm, is used to carry out the dimension reduction of facial image area formed by high-dimensional information. Secondly, we use pRBFNNs to identify the ID by recognizing unique pattern of each person. The proposed pRBFNNs architecture consists of three functional modules such as the condition part, the conclusion part, and the inference part as fuzzy rules formed in 'If-then' format. In the condition part of fuzzy rules, input space is partitioned with Fuzzy C-Means clustering. In the conclusion part of rules, the connection weight of pRBFNNs is represented as three kinds of polynomials such as constant, linear, and quadratic. Coefficients of connection weight identified with back-propagation using gradient descent method. The output of pRBFNNs model is obtained by fuzzy inference method in the inference part of fuzzy rules. The essential design parameters (including learning rate, momentum coefficient and fuzzification coefficient) of the networks are optimized by means of the Particle Swarm Optimization. The proposed pRBFNNs are applied to real-time face recognition system and then demonstrated from the viewpoint of output performance and recognition rate.
A Precise Location Tracking System with Smart Context-Awareness Based-on Doppler Radar Sensors
Moon, Seung-Jin ; Kim, Hong-Kyu ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1159~1166
DOI : 10.5302/J.ICROS.2010.16.12.1159
Today, detecting the location of moving object has been traced as various methods in our world. In this paper, we preset the system to improve the estimation accuracy utilizing detail localization using radar sensor based on WSN and situational awareness for a calibration (context aware) database, Rail concept. A variety of existing location tracking method has a problem with receiving of data and accuracy as tracking methodology, and since these located data are the only data to be collected for location tracing, the context aware or monitering as the surrounding environment is limited. So, in this paper, we enhanced the distance aware accuracy using radar sensor utilizing the Doppler effect among the distance measuring method, estimated the location using the Triangulation algorithm. Also, since we composed the environment data(temperature, illuminancem, humidity, noise) to entry of the database, it can be utilized in location-based service according to the later action information inference and positive context decision. In order to verify the validity of the suggested method, we give a few random situation and built test bed of designed node, and over the various test we proved the utilizing the context information through route tracking of moving and data processing.
Object Localization in Sensor Network using the Infrared Light based Sector and Inertial Measurement Unit Information
Lee, Min-Young ; Lee, Soo-Yong ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1167~1175
DOI : 10.5302/J.ICROS.2010.16.12.1167
This paper presents the use of the inertial measurement unit information and the infrared sector information for getting the position of an object. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We propose a way of minimizing the error due to the change of the orientation. In order to reduce the accumulated error, the infrared sector information is fused with the inertial measurement unit information. Infrared sector information has highly deterministic characteristics, different from RFID. By putting several infrared emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Infrared light based sector information tells the sector the object is in, but the size of the uncertainty is too large if only the sector information is used. This paper presents an algorithm which combines both the inertial measurement unit information and the sector information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed infrared light based sector and the proposed algorithm are verified from the experiments.
A Performance Comparison of Positioning Methods Considering Measurement Noise
Park, Chan-Sik ; Yim, Jae-Geol ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1176~1181
DOI : 10.5302/J.ICROS.2010.16.12.1176
This paper proposes three positioning algorithms using TOA measurements: 1) The well-known linearization method using Taylor series, 2) a modified Savarese method considering measurement noise, which does not need linearization, and 3) a modified Bancroft method where TOA measurements instead of pseudorange measurements are considered. Furthermore, through an error analysis, for Savarese method, divergence of altitude is anticipated if the transmitters are located at the same height. To prevent height divergence, the Savarese method is modified again for receivers which assumed moving on the even plane. Error analysis also shows the relationship between Bancroft and Savarese method. From the analysis it is expected that the performance of Savarese method is worse than Bancroft method because of error amplification during difference operation. Experiments using real TOA measurement from the time difference of ultra sound and RF validate the proposed methods and show that analysis is correct.
A Precise Localization Method for a High Speed Mobile Robot using iGS and Dual Compass
Jang, Won-Seok ; Lee, Jang-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1182~1188
DOI : 10.5302/J.ICROS.2010.16.12.1182
This paper proposes a precise localization algorithm for a quickly moving mobile robot. In order to localize a mobile robot with active beacon sensors, a relatively long time is needed, since the distance to the beacon is measured using the flight time of the ultrasonic signal. The measurement time does not cause a high error rate when the mobile robot moves slowly. However, with an increase of the mobile robot's speed, the localization error becomes too high to use for accurate mobile robot navigation. Therefore, in this research into high speed mobile robot operations, instead of using two active beacons for localization an active beacon and dual compass are utilized to localize the mobile robot. This new approach resolves the high localization error caused by the speed of the mobile robot. The performance of the precise localization algorithm was verified by comparing it to the conventional method through real-world experiments.
Identification of Three-Parameter Models from Step Response
Ali, Mohammed Sowket ; Lee, Jun-Sung ; Lee, Young-Il ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1189~1196
DOI : 10.5302/J.ICROS.2010.16.12.1189
This paper provides an identification method for three-parameter models i.e. first order with dead time models and second order with dead time models. The proposed identification method is based on step response and can be easily implemented using digital microprocessors. The proposed method first identifies the order of the plant i.e. first order or second order from the behavior of the plant with constant input. After the order of the plant is determined, a test step input is applied to the system and the three parameters of the plant are obtained from the corresponding response of the plant. The output of the plant need not to be zero when the test signal is applied. The efficacy of proposed algorithms is verified through simulation and experiment.
An LMI Approach to Nonlinear Sliding Surface Design
Choi, Han-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1197~1200
DOI : 10.5302/J.ICROS.2010.16.12.1197
The problem of designing a nonlinear sliding surface for an uncertain system is considered. The proposed sliding surface comprises a linear time invariant term and an additional time varying nonlinear term. It is assumed that a linear sliding surface parameter matrix guaranteeing the asymptotic stability of the sliding mode dynamics is given. The linear sliding surface parameter matrix is used for the linear term of the proposed sliding surface. The additional nonlinear term is designed so that a Lyapunov function decreases more rapidly. By including the additional nonlinear term to the linear sliding surface parameter matrix we obtain a nonlinear sliding surface such that the speed of responses is improved. We also give a switching feedback control law inducing a stable sliding motion in finite time. Finally, we give an LMI-based design algorithm, together with a design example.
A Control of Balancing Robot
Min, Hyung-Gi ; Kim, Ji-Hoon ; Yoon, Ju-Han ; Jeung, Eun-Tae ; Kwon, Sung-Ha ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1201~1207
DOI : 10.5302/J.ICROS.2010.16.12.1201
This paper shows to stabilize a balancing robot. We derive the dynamics of a balancing robot and design its controller using LQR method. For stabilizing balancing robot, we introduce a method to detect an angle using inertial sensors. In this study, we use a complementary filter to fuse signals by frequency response of gyroscope and accelerometer in order to measure the inclined angle of balancing robot. The filter coefficients are obtained by least square to minimize error in angle-detecting filter design. And then, after we derive a dynamics of balancing robot using Lagrange method, we linearize that dynamics for using LQR method.
Variable Structure Control Design for Time-Delay Systems
Choi, Han-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1208~1211
DOI : 10.5302/J.ICROS.2010.16.12.1208
We propose a variable structure control design method for a class of multivariable uncertain state-delayed systems which can be represented by polytopic models. In terms of LMIs, we derive a sufficient condition for the existence of a linear sliding surface guaranteeing the asymptotic stability of the sliding mode dynamics. We parameterize the sliding surface by using the solution of the LMI existence condition. We also give a switching feedback control strategy guaranteeing stable sliding mode. By using a numerical example, we show that our method supplements the existing results and it can be better than the existing results.
A Study on the Tracking Control of a Transfer Crane with Tire Slip
Jeong, Ji-Hyun ; Lee, Dong-Seok ; Kim, Young-Bok ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1212~1219
DOI : 10.5302/J.ICROS.2010.16.12.1212
The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the technical trends and environment of the automated container terminal, it is necessary that the systems for cargo handling are equipped with more intelligent control technologies. To cope with this tendency, from the middle of the 1990's, the automated RMGC (Rail-Mounted Gantry Crane) and RTGC (Rubber-Tired Gantry Crane) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. If we want to obtain more efficient handling performance, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control problems must be considered in the control system design and application process. Considering these problems, in this paper, the system modelling with the tire slip and a tracking control approach are proposed. Especially, we design the tracking control system based on the 2DOF servosystem design approach to cope with undesirable disturbance input. The experiment results show the desirable performance and usefulness of the designed control system.
Intelligent IIR Filter based Multiple-Channel ANC Systems
Cho, Hyun-Cheol ; Yeo, Dae-Yeon ; Lee, Young-Jin ; Lee, Kwon-Soon ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1220~1225
DOI : 10.5302/J.ICROS.2010.16.12.1220
This paper proposes a novel active noise control (ANC) approach that uses an IIR filter and neural network techniques to effectively reduce interior noise. We construct a multiple-channel IIR filter module which is a linearly augmented framework with a generic IIR model to generate a primary control signal. A three-layer perceptron neural network is employed for establishing a secondary-path model to represent air channels among noise fields. Since the IIR module and neural network are connected in series, the output of an IIR filter is transferred forward to the neural model to generate a final ANC signal. A gradient descent optimization based learning algorithm is analytically derived for the optimal selection of the ANC parameter vectors. Moreover, re-estimation of partial parameter vectors in the ANC system is proposed for online learning. Lastly, we present the results of a numerical study to test our ANC methodology with realistic interior noise measurement obtained from Korean railway trains.
Door Detection with Door Handle Recognition based on Contour Image and Support Vector Machine
Lee, Dong-Wook ; Park, Joong-Tae ; Song, Jae-Bok ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1226~1232
DOI : 10.5302/J.ICROS.2010.16.12.1226
A door can serve as a feature for place classification and localization for navigation of a mobile robot in indoor environments. This paper proposes a door detection method based on the recognition of various door handles using the general Hough transform (GHT) and support vector machine (SVM). The contour and color histogram of a door handle extracted from the database are used in GHT and SVM, respectively. The door recognition scheme consists of four steps. The first step determines the region of interest (ROI) images defined by the color information and the environment around the door handle for stable recognition. In the second step, the door handle is recognized using the GHT method from the ROI image and the image patches are extracted from the position of the recognized door handle. In the third step, the extracted patch is classified whether it is the image patch of a door handle or not using the SVM classifier. The door position is probabilistically determined by the recognized door handle. Experimental results show that the proposed method can recognize various door handles and detect doors in a robust manner.
Fast and Fine Control of a Visual Alignment Systems Based on the Misalignment Estimation Filter
Jeong, Hae-Min ; Hwang, Jae-Woong ; Kwon, Sang-Joo ;
Journal of Institute of Control, Robotics and Systems, volume 16, issue 12, 2010, Pages 1233~1240
DOI : 10.5302/J.ICROS.2010.16.12.1233
In the flat panel display and semiconductor industries, the visual alignment system is considered as a core technology which determines the productivity of a manufacturing line. It consists of the vision system to extract the centroids of alignment marks and the stage control system to compensate the alignment error. In this paper, we develop a Kalman filter algorithm to estimate the alignment mark postures and propose a coarse-fine alignment control method which utilizes both original fine images and reduced coarse ones in the visual feedback. The error compensation trajectory for the distributed joint servos of the alignment stage is generated in terms of the inverse kinematic solution for the misalignment in task space. In constructing the estimation algorithm, the equation of motion for the alignment marks is given by using the forward kinematics of alignment stage. Secondly, the measurements for the alignment mark centroids are obtained from the reduced images by applying the geometric template matching. As a result, the proposed Kalman filter based coarse-fine alignment control method enables a considerable reduction of alignment time.