• 전기학회논문지P
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• 제57권2호
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• pp.115-120
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• 2008

The EKF(Extended Kalman filter) method which is the state estimation algorithm of nonlinear stochastic system depends on the initial error and the estimated states. Therefore, the divergence of the estimated state can be caused if the initial values of the estimated states are not chosen as approximate real state values. In this paper, the demerit of the existing EKF method is improved using the EKF algorithm transformated by STWS(Single Term Walsh Series). This method linearizes each sampling interval of continous-time system through the derivation of an algebraic iterative equation without discretizing continuous system by the characteristic of STWS, the convergence of the estimated states can be improved. The validity of the proposed method is checked through comparison with the existing EKF method in simulation.

• 전기학회논문지
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• 제59권12호
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• pp.2292-2297
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• 2010

To improve the performances of Sawyer motors and to regulate yaw rotation, various feedback control methods have been developed. Almost all of these methods require information on the position, velocity or full state of the motor. Therefore, in this paper, a nonlinear observer is designed to estimate the full state of the four forcers in a Sawyer motor. The proposed method estimates the full state using only positional feedback. Generally, Sawyer motors are operated within a yaw magnitude of several degrees; outside of this range, Sawyer motors step out. Therefore, this observer design assumes that the yaw is within ${\pm}90^\b{o}$. The convergence of the estimation error is proven using the Lyapunov method. The proposed observer guarantees that the estimation error globally exponentially converges to zero for all arbitrary initial conditions. Furthermore, since the proposed observer does not require any transformation, it may result in a reduction in the commutation delay. The simulation results show the performance of the proposed observer.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
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• pp.1767-1770
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• 2003

This paper proposes an algorithm that can reduce the estimation error of surface spectral-reflectance(SR) when using a conventional 3-band RGB camera. In the proposed method, the estimation error is reduced by using adaptive principle components (PCs) for each color region. To build an adaptive set of PCs, n SR populations are organized for n PC sets using the Lloyd quantizer design algorithm. The Macbeth Color Checker is utilized for the initial representative SR values for 1485 Munsell color chips as the total color population, then the Munsell chips arc divided into subsets with a set of corresponding adaptive PCs organized for each subset.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.683-687
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• 2007

In last decades, several linearization methods for the AOA measurements have been proposed, for example, Gauss-Newton method and Closed-Form solution. Gauss-Newton method can achieve high accuracy, but the convergence of the iterative process is not always ensured if the initial guess is not accurate enough. Closed-Form solution provides a non-iterative solution and it is less computational. It does not suffer from convergence problem, but estimation error is somewhat larger. This paper proposes a Self-Tuning Weighted Least Square AOA algorithm that is a modified version of the conventional Closed-Form solution. In order to estimate the error covariance matrix as a weight, a two-step estimation technique is used. Simulation results show that the proposed method has smaller positioning error compared to the existing methods.

• 대한기계학회논문집A
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• 제28권11호
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• pp.1621-1628
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• 2004

This paper proposes a design methodology for the robust observer using the eigenstructure assignment in multi-output systems so that the observer is less sensitive to the ill-conditioning factors such as unknown initial estimation error, modeling error and measurement bias in transient and steady-state observer performance. The robustness of the observer can be achieved by selecting the desired eigenvector matrix to have a small condition number that guarantees the small upper bound of the estimation error. So the left singular vectors of the unitary matrix spanned by space of the achievable eigenvectors are selected as a desired eigenvectors. Also, this paper proposes how to select the desired eigenvector based on the measure of observability and designs the observer with small gain. An example of a spindle drive system is simulated to validate the robustness to the ill-conditioning factors in the observer performance.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.408-412
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• 2009

In this paper, a new efficient algorithm for global motion estimation is proposed. This algorithm uses a previous 4-parameter model based global motion estimation algorithm and M-estimator for improving the accuracy and robustness of the estimate. The first algorithm uses the block based motion vector fields and which generates a coarse global motion parameters. And second algorithm is M-estimator technique for getting precise global motion parameters. This technique does not increase the computational complexity significantly, while providing good results in terms of estimation accuracy. In this work, an initial estimation for the global motion parameters is obtained using simple 4-parameter global motion estimation approach. The parameters are then refined using M-estimator technique. This combined algorithm shows significant reduction in mean compensation error and shows performance improvement over simple 4-parameter global motion estimation approach.

• 대한전자공학회논문지TC
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• 제49권7호
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• pp.32-38
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• 2012

다중경로 전파에 의한 수신 신호의 심벌간 간섭을 제거하기 위해, 두 오차 추정 함수를 사용하는 병렬 등화(parallel equalization) 알고리즘을 제안한다. 제안 알고리즘에서는 다치레벨 이차원 신호를 등가 이진 신호로 간주하고, 등화 초기에 효과적인 시그모이드 함수와 정상상태 성능이 우수한 임계 함수를 사용하여 각각 오차를 추정한다. 이때 두 오차 추정의 상대적 정확도에 따라 두 오차를 가중 처리하여 두 필터를 서로 다르게 갱신하도록 하였다. 결과적으로 결합된 두 필터의 출력이 최적한 값이 되도록 하였으며, 두 동작 모드를 완만하게 결합하는 효과로 등화 초기의 빠른 수렴과 정상상태에서의 낮은 오차 레벨을 동시에 달성하였다. 제안 알고리즘의 유용성을 모의실험을 통해 기존 방식과 비교, 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.860-863
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• 1996

In this paper, we formulate the extended Kalman filter for calibration of gimballed inertial navigation system (GINS) at a pure navigation mode with 1500 ft/sec initial velocity and compare its performance to the linear Kalman filter's by using Monte-Carlo analysis method. It has been shown that estimation performance of the extended Kalman filter is better than that of the linear Kalman filter.

• Journal of Communications and Networks
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• 제6권1호
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• pp.19-25
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• 2004

In this paper, we present a trellis-based blind channel estimation and equalization technique coupling two kinds of adaptive Viterbi algorithms. First, the initial blind channel estimation is accomplished by incorporating the list parallel Viterbi algorithm with the least mean square (LMS) updating approach. In this operation, multiple trellis mappings are preserved simultaneously and ranked in terms of path metrics. Equivalently, multiple channel estimates are maintained and updated once a single symbol is received. Second, the best channel estimate from the above operation will be adopted to set up the whole trellis. The conventional adaptive Viterbi algorithm is then applied to detect the signal and further update the channel estimate alternately. A small delay is introduced for the symbol detection and the decision feedback to smooth the noise impact. An automatic switch between the above two operations is also proposed by exploiting the evolution of path metrics and the linear constraint inherent in the trellis mapping. Simulation has shown an overall excellent performance of the proposed scheme in terms of mean square error (MSE) for channel estimation, robustness to the initial channel guess, computational complexity, and channel equalization.

• 설비공학논문집
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• 제26권10호
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• pp.453-459
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• 2014

This paper presents an analysis on the initial ignoring time of SCW type GHX using Mean Square Error method. Line source method is a useful method for estimating the ground thermal conductivity for the vertical type and SCW type GHX in Korea. The line source method for ground thermal conductivity of geothermal in-site test is the basis of linear approximation between the temperature of a borehole and logarithmic time in a GHX. To apply the line source method to the estimation of SCW type GHX, it is necessary to ignore the initial time of data at the stage of a linear approximation. This paper proposed a new initial ignoring time of SCW type GHX among various initial ignoring time at the time for reaching MSE of $0.02^{\circ}C^2$.