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임펄스 측정잡음에 강인한 저가형 볼앤빔 시스템의 접촉식 볼 추적센서 개발
장주영(Joo Young Jang),이자승(Jaseung Lee),윤한솔(Hansol Yoon),나원상(Won-Sang Ra) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.11
This paper proposes a new contact type ball tracking sensor to improve the control performance of a low cost ball-and-beam system. It is well-known that the impulsive measurement noise contained in ball position measurement is one of the factors which severely degrades the ball-and-beam control performance. The impulsive ball position measurement noises often appear under the sporadical ball floating on the beam. This fact motivates us to devise a simple analog preprocessing circuit to determine whether the ball loses the contact or not. Once the abnormal ball position measurement is detected, the design problem of the ball tracking sensor can be cast into the typical state estimation problem with missing data. In order to tackle the real-time implementation issue, a steady-state Kalman filter is applied to the problem. Through the experimental results, the usefulness of the proposed scheme is demonstrated.
라우드스피커 어레이를 이용한 영역 집중 기술의 음향학적 밝은영역 설정 방식에 따른 성능 비교
왕세명(Semyung Wang),유호민(Homin Ryu),김기현(Kihyun Kim),류재후(Jaehu Ryu),이자승(Jaseung Lee) 한국소음진동공학회 2015 한국소음진동공학회 학술대회논문집 Vol.2015 No.10
By using a loudspeaker array and the regional focusing, personal audio system has been studied. This research concentrates on the sound field control results that changed by the objective functions at the bright zone. Two kinds of the bright zone objective functions are considered: controlling the average response of bright zone points, and controlling all bright zone points. First objective function accompanies better contrast. On the other hand, second objective function accompanies better accuracy of sound reproduction. As a result, two objective functions should be used properly for the purpose. Finally, by using these characteristics, weighted sum method is introduced. Numerical analysis was used for analysis and validation.