• Journal of the Korean Institute of Intelligent Systems
• /
• v.16 no.5
• /
• pp.601-607
• /
• 2006

This paper proposes a novel balance control scheme of a biped robot to predict the next position of ZMP using Kalman Filter. The mathematical model of the biped robot is generally approximated by 3D-LIPM(3D-Linear Inverted Pendulum Mode), but it cannot completely express the robot's dynamics. The stability of the biped robot depends on whether the ZMP(Zero Moment Point) position is in the stability region or out of. And the internal error between the robot mechanism and its model could affect the stability of a robot. Therefore, the proposed balance control not reduces the internal error, but also timely generates the proper control. The experiment of the proposed balance control is simulated on the virtual workspace where the biped robot may encounter with various difficulties.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.49 no.9
• /
• pp.362-369
• /
• 2012

Recently, a target detection based on a distributed sensor network has been much studied in active sonar. Zhou et al. proposed a target localization method using line fitting based on a distributed sensor network which consists of low complexity sensors that only report binary detection results. This method has three advantages relative to ML estimator. First, there is no need to estimate propagation model parameters. Second, the computation is simple. Third, it only use sensors with "detection", which implies less data to be collected by data processing center. However, this method has larger target localization error than the ML estimator. In this paper, a target localization method which modifies Zhou's method is proposed for reducing the localization error. The modified method shows the performance improvement that the target localization error is reduced by 40.7% to Zhou's method in the point of RMSE.

• Korean Journal of Construction Engineering and Management
• /
• v.13 no.3
• /
• pp.99-108
• /
• 2012

The rough design information is only available from BIM(Building Information Model) based schematic design. So, it is difficult to obtain sufficient information for generating BOQ. Like 2D design, there are some problems that the results are depend on what the choice of cost estimator. However, the most research of BIM based cost estimation are focus on quantity takeoff, the consideration of work item for generating BOQ is insufficient. Therefore, this paper present automatic inference process of work items in a BOQ using ontology. The proposed process and ontology is validated through applying tiling construction. If the proposed process is utilized, it is expected the basis of developing generation method for consistent BOQ by resolving intervention of cost estimator's arbitrary decision.

• Journal of Korea Water Resources Association
• /
• v.32 no.1
• /
• pp.3-13
• /
• 1999

In this study, an alternative spatial analysis method against conventional methods such as Thiessen method, Inverse Distance method, and Kriging method, named Spatial-Analysis Neural-Network (SANN) is presented. It is based on neural network modeling and provides a nonparametric mean estimator and also estimators of high order statistics such as standard deviation and skewness. In addition, it provides a decision-making tool including an estimator of posterior probability that a spatial variable at a given point will belong to various classes representing the severity of the problem of interest and a Bayesian classifier to define the boundaries of subregions belonging to the classes. In this paper, the SANN is implemented to be used for analyzing a mean annual precipitation filed and classifying the field into dry, normal, and wet subregions. For an example, the whole area of South Korea with 39 precipitation sites is applied. Then, several useful results related with the spatial variability of mean annual precipitation on South Korea were obtained such as interpolated field, standard deviation field, and probability maps. In addition, the whole South Korea was classified with dry, normal, and wet regions.

• The KIPS Transactions:PartA
• /
• v.9A no.4
• /
• pp.519-524
• /
• 2002

In this paper we study the qualify of sequential coverage analysis under a scenario of distributed stochastic simulation known as MRIP(Multiple Replications In Parallel) in terms of the confidence intervals of coverage and the speedup. The estimator based in the F-distribution was applied to the sequential coverage analysis of steady-state means. in simulations of the $M/M/1/{\infty},\;M/D/I/{\infty}\;and\;M/H_{2}/1/{\infty}$ queueing systems on a single processor and multiple processors. By using multiple processors under the MRIP scenario, the time for collecting many replications needed in sequential coverage analysis is reduced. One can also easily collect more replications by executing it in distributed computers or clusters linked by a local area network.

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

• The Journal of the Korea Contents Association
• /
• v.10 no.7
• /
• pp.10-22
• /
• 2010

This study proposes a new method of multiple homographies estimation between two images. With a large proportion of outliers, RANSAC is a general and very successful robust parameter estimator. However it is limited by the assumption that a single model acounts for all of the data inliers. Therefore, it has been suggested to sequentially apply RANSAC to estimate multiple 2D projective transformations. In this case, because outliers stay in the correspondence data set through the estimation process sequentially, it tends to progress slowly for all models. And, it is difficult to parallelize the sequential process due to the estimation order by the number of inliers for each model. We introduce a guided sequential RANSAC algorithm, using the local model instances that have been obtained from RANSAC procedure, which is able to reduce the number of random samples and deal simultaneously with multiple models.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.14 no.2
• /
• pp.130-135
• /
• 2004

This paper presents a new design methods of the short-term load forecasting system (STLFS) using the data mining. The structure of the proposed STLFS is divided into two parts: the Takagi-Sugeno (T-S) fuzzy model-based classifier and predictor The proposed classifier is composed of the Gaussian fuzzy sets in the premise part and the linearized Bayesian classifier in the consequent part. The related parameters of the classifier are easily obtained from the statistic information of the training set. The proposed predictor takes form of the convex combination of the linear time series predictors for each inputs. The problem of estimating the consequent parameters is formulated by the convex optimization problem, which is to minimize the norm distance between the real load and the output of the linear time series estimator. The problem of estimating the premise parameters is to find the parameter value minimizing the error between the real load and the overall output. Finally, to show the feasibility of the proposed method, this paper provides the short-term load forecasting example.

• Proceedings of the KIPE Conference
• /
• 2016.07a
• /
• pp.241-242
• /
• 2016

본 논문에는 매입형 영구자석 전동기(Interior Permanent Magnet Synchronous Motor, IPMSM)의 회전행렬을 이용한 고주파 신호주입 센서리스 구동 시 회전자 위치 오차 추정 성능 향상을 위한 새로운 인덕턴스 추정방법을 제안하였다. 회전행렬을 이용한 회전자 위치 오차 추정 방법은 위치 오차의 넓은 추정 범위 및 선형성을 만족하는 장점이 있으나 모델 기반 인덕턴스를 사용하기 때문에 실제 인덕턴스 값과 차이가 있을 시 추정된 위치 오차가 부정확 할 수 있다. 따라서 정확한 위치 오차를 구하기 위해 본 논문은 오프라인 상황에서 인덕턴스를 추정하는 새로운 방법을 제시하였으며 모의 실험으로 제안한 방법을 검증하였다.

• Proceedings of the KSME Conference
• /
• 2004.11a
• /
• pp.696-701
• /
• 2004

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion, have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.