• Journal of the Korean Data and Information Science Society
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• 제17권4호
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• pp.1343-1348
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• 2006

Parametric estimation of a truncated point in a right truncated Rayleigh distribution will be considered. The MLE, a bias reduced estimator and the ordinary jackknife estimator of the truncated point in the right truncated Rayleigh distribution will be compared by mean square errors. And proposed estimators of the reliability in the right truncated Rayleigh distribution will be compared by their mean squared errors.

• Communications for Statistical Applications and Methods
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• 제6권2호
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• pp.467-478
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• 1999

This paper deals with the problem of change-point estimation where there is one level change in location with iid errors. A change-point estimator using rank average is proposed with the proof of its consistency. A comparison study of various change-point estimators is done by simulation on the mean the proportion and the variance when the errors are from the normal and the double exponential distributions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.923-926
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• 1992

ARMA fast Transversal filter(FTF) algorithm solves the extended least squres estimation problems in a very efficient way. But unfortunately, it exhibits a very unstable behavior, due to the accumulation of round-off errors. So, in this paper, two effective method to stabilize ARMA FTF algorithm is proposed. They are based on the analysis of the propagation of the numerical errors according to a first order linear model. The proposed methods modify the numerical properties of the variables responsible for the numerical instability, while proeserving the theoretical form of the algorithm. The proposed algorithms still have the nice complexity properties of the original algorithm, but have a much more stable brhavior.

• Journal of applied mathematics & informatics
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• 제16권1_2호
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• pp.143-150
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• 2004

In this paper we study the estimation problem of individual weights of objects using an A-optimal chemical balance weighing design. We assume that in this model errors are correlated and they have the same variances. The lower bound of tr$(X'G^{-1}X)^{-1}$ is obtained and a necessary and sufficient condition for this lower bound to be attained is given. There is given new construction method of A-optimal chemical balance weighing design.

• 대한기계학회논문집A
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• 제29권2호
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• 한국안전학회지
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• 제21권3호
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• pp.137-142
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• 2006

Quantification of error possibility, in an HRA process, should be performed so that the result of the qualitative analysis can be utilized in other areas in conjunction with overall safety estimation results. And also, the quantification is an essential process to analyze the error possibility in detail and to obtain countermeasures for the errors through screening procedures. In previous studies for the quantification of error possibility, nominal values were assigned by the experts' judgements and utilized as corresponding probabilities. The values assigned by experts' experiences and judgements, however, require verifications on their reliability. In this study, the validity of new error possibility values in new MCR design was verified by using the Onisawa's model which utilizes fuzzy linguistic values to estimate human error probabilities. With the model of error probabilities are represented as analyst's estimations and natural language expression instead of numerical values. As results, the experts' estimation values about error probabilities are well agreed to the existing error probability estimation model. Thus, it was concluded that the occurrence probabilities of errors derived from the human error analysis process can be assessed by nominal values suggested in the previous studies. It is also expected that our analysis method can supplement the conventional HRA method because the nominal values are based on the consideration of various influencing factors such as PSFs.

• Journal of Advanced Marine Engineering and Technology
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• 제39권2호
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• pp.187-194
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• 2015

Accurate relative location estimation is a key requirement in indoor localization systems based on wireless sensor networks (WSNs). However, although these systems have applied not only various optimization algorithms but also fusion with sensors to achieve high accuracy in position determination, they are difficult to provide accurate relative azimuth and locations to users because of cumulative errors in inertial sensors with time and the influence of external magnetic fields. This paper based on ultra-wideband positioning system, which is relatively suitable for indoor localization compared to other wireless communications, presents an indoor localization system for estimating relative azimuth and location of location-unaware nodes, referred to as target nodes without applying any algorithms with complex variable and constraints to achieve high accuracy. In the proposed method, the target nodes comprising three mobile nodes estimate the relative distance and azimuth from two reference nodes that can be installed by users. In addition, in the process of estimating the relative localization information acquired from the reference nodes, positioning errors are minimized through a novel modified rounding estimation technique in which Kalman filter is applied without any time consumption algorithms. Experimental results show the feasibility and validity of the proposed system.

• 한국멀티미디어학회논문지
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• 제10권11호
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• pp.1439-1445
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• 2007

본 논문에서는 기존의 PDE방법의 계산량을 줄이고 동시에 동일한 예측화질을 얻기 위해, 초기 매칭블록의 서브블록별 SAD값의 비교를 통한 고속 움직임 예측 알고리즘을 제안한다. 제안한 방법은 최초 매칭 블록의 서브블록별 매칭 에러의 복잡도의 비교를 통해 후보블록들의 매칭순서를 변경하여 불필요한 계산량을 줄이는 방법을 제안한다. 제안한 알고리즘은 예측 화질의 저하 없이 기존의 PDE(partial distortion elimination) 알고리즘을 이용한 전영역 탐색 방법에 비해 45%의 계산량을 줄였으며, MPEG-2 및 MPEG-4 AVC를 이용하는 비디오 압축 응용분야에 유용하게 사용될 수 있을 것이다.

• 제어로봇시스템학회논문지
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• 제21권9호
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• pp.807-810
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• 2015

In this paper, a finite impulse response(FIR) fixed-lag smoother is proposed for discrete-time nonlinear systems. If the actual state trajectory is sufficiently close to the nominal state trajectory, the nonlinear system model can be divided into two parts: The error-state model and the nominal model. The error state can be estimated by adapting the optimal time-varying FIR smoother to the error-state model, and the nominal state can be obtained directly from the nominal trajectory model. Moreover, in order to obtain more robust estimates, the linearization errors are considered as a linear function of the estimation errors. Since the proposed estimator has an FIR structure, the proposed smoother can be expected to have better estimation performance than the IIR-structured estimators in terms of robustness and fast convergence. Additionally the proposed method can give a more general solution than the optimal FIR filtering approach, since the optimal FIR smoother is reduced to the optimal FIR filter by setting the fixed-lag size as zero. To illustrate the performance of the proposed method, simulation results are presented by comparing the method with an optimal FIR filtering approach and linearized Kalman filter.

• 한국음향학회지
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• 제19권3호
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• pp.72-76
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• 2000

칼만 필터를 이용한 2차원 견인 배열 (towed may) 형상 추정 기법의 성능을 개선하는 방법을 제안한다. 변위 센서를 이용할 경우, 기존의 칼만 여파기 방법에 의해 추정된 2차원 하이드로폰 수평 좌표는 총 길이가 배열의 길이와 일치하며 등간격 값을 갖게 된다. 이렇게 고정된 수평 좌표를 사용하는 경우 배열의 왜곡 정도가 심화됨에 따라 오차가 증가하게 된다. 이를 개선하기 위해 선형 근사화 방법 또는 스플라인 보간법을 이용하여 발생하는 오차를 줄일 수 있는 방법을 제안하고 컴퓨터 모의 실험을 통해 그 성능을 검증한다.