• Journal of Power Electronics
• /
• 제18권6호
• /
• pp.1830-1843
• /
• 2018

In this paper, the generation of a reference current and voltage signal based on a Kalman filter is offered for a 3-phase 4wire UPQC (Unified Power Quality Conditioner). The performance of the UPQC is improved with source voltages that are distorted due to harmonic components. Despite harmonic and frequency variations, the Kalman filter is capable enough to determine the amplitude and the phase angle of load currents and source voltages. The calculation of the first state is sufficient to identify the fundamental components of the current, voltage and angle. Therefore, the Kalman state estimator is fast and simple. A Kalman based control strategy is proposed and implemented for a UPQC in a distribution system. The performance of the proposed control strategy is assessed for all possible source conditions with varying nonlinear and linear loads. The functioning of the proposed control algorithm with a UPQC is scrutinized and validated through simulations employing MATLAB/Simulink software. Using a FPGA SPATRAN 3A DSP board, the proposed algorithm is developed and implemented. A small-scale laboratory prototype is built to verify the simulation results. The stated control scheme for the UPQC reduces the following issues, voltage sags, voltage swells, harmonic distortions (voltage and current), unbalanced supply voltage and unbalanced power factor under dynamic and steady-state operating conditions.

• Communications for Statistical Applications and Methods
• /
• 제25권1호
• /
• pp.99-107
• /
• 2018

This article considers a robust Kalman filter from the M-estimation point of view. Pak (Journal of the Korean Statistical Society, 27, 507-514, 1998) proposed a particular M-estimating function which has the data-based shaping constants. The Kalman filter with the proposed M-estimating function is considered. The structure and the estimating algorithm of the Kalman filter accompanying the M-estimating function are mentioned. Kalman filter estimates by the proposed M-estimating function are shown to be well behaved even when data are contaminated.

• International Journal of Control, Automation, and Systems
• /
• 제1권1호
• /
• pp.111-118
• /
• 2003

This paper proposes a two dimensional behavior analysis method for fish in a water tank based on the ARX method and the Kalman filter algorithm using image processing technology. In modeling the behavior of fish, the input is denoted as the environmental change and uses M-sequence. The output is expressed by the partnership between fish. The behavior model of individual fish is identified by the ARX method. It is then estimated by the Kalman filter algorithm. Finally, the fish behavior is analyzed by FFT. To prove the effectiveness of the pro-posed algorithm, it is applied to two tilapias in a water tank with dimensions of 100cm$\times$100cm$\times$50cm. The effectiveness of the proposed method is demonstrated through ARX identification, estimation of Kalman filter, and FFT analysis.

• 대한전자공학회논문지
• /
• 제17권3호
• /
• pp.1-11
• /
• 1980

전자공학분야와 관련분야(일반력학, 물리 및 수학등) 사이의 용어의 차이를 해소하기 위한 노력을 계속하였고 통계학의 석학Box 씨와 Jenkins씨의 time series analysis의 입문을 위한 주변설명과 용어소개를 꾀하였다. 끝으로 Wiener의 filter와 Kalman-Bucy의 Algorithm을 설명하고 Hadamard를 위시한 변환기술의 유리점을 정리하여 보았다.

• 전기학회논문지
• /
• 제63권2호
• /
• pp.277-283
• /
• 2014

This paper proposes robot localization using Fuzzy-Extended Kalman Filter algorithm of the mobile robots equipped with least sensors. In order to improve the accuracy of the localization, we usually add the sensors or equipment. However, it increases the simulation time and expenses. This paper solves this problem using only the odometer and ultrasonic sensors to get the localization with the Fuzzy-Extended Kalman Filter algorithm method. By inputting the robot's angular velocity, sensor data variation, and residual errors into the fuzzy algorithm, we get the sensor weight factor to decide the sensor's importance. The performance of the designed method shows by the simulation and Pioneer 3-DX mobile robot test in the indoor environment.

• International Journal of Control, Automation, and Systems
• /
• 제2권3호
• /
• pp.310-318
• /
• 2004

In this paper, an unscented Kalman filter (UKF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, an UKF is used because of the drawbacks of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.

• 한국통신학회논문지
• /
• 제15권12호
• /
• pp.1031-1043
• /
• 1990

비디오 코덱의 입력 또는 출력 영상에 내재하는 여러 종류의 영상잡음을 제어하고 최적으로 영상을 복원시키고자 코우절 영상 모델이 적용된 실시간 응용의 칼만 필터링 방법을 제안하였다. 화질의 개선도를 향상시키고자 처리화소선 간의 평균화와 지역 분산치에 의한 적응형 칼만 알고리즘을 제안하였고 그에 따른 잡음 제어와 영상 정보 복원 효과를 NMSE, LOGMSE 측정과 실험 결과에서 관측함으로써, 비디오 코덱의 전, 후처리 과정에서의 칼만 필터 적용 가능성을 제시하였다.

• Journal of Communications and Networks
• /
• 제9권2호
• /
• pp.185-191
• /
• 2007

Alpha stable distribution is better for modeling impulsive noises than Gaussian distribution in signal processing. This class of process has no closed form of probability density function and finite second order moments. In general, Wiener filter theory is not meaningful in S$\alpha$SG environments because the expectations may be unbounded. We proposed a new adaptive recursive least p-norm Kalman filtering algorithm based on least p-norm of innovation process with infinite variances, and a new robust multiuser detection method based on least p-norm Kalman filtering. The simulation experiments show that the proposed new algorithm is more robust than the conventional Kalman filtering multiuser detection algorithm.

• 대한교통학회지
• /
• 제23권7호
• /
• pp.149-158
• /
• 2005

기존의 최적경로 알고리즘은 통행거리 통행시간, 통행량 등의 통행값을 통하여 최적경로를 제공하였다. 하지만 이렇게 제시된 최적경로는 사용자의 도로에 대한 인지도를 고려하지 않음으로써 자신이 인지하거나 다수의 사용자가 선호하는 경로를 고려하지 못하는 단점이 있었다. 따라서 본 연구에서는 통행거리와 통행시간을 고려하면서 사용자의 인지도를 고려한 최적경로를 개발하는 것이 본 연구의 목적이다. 기존의 통행시간 예측방법에는 ARIMA모형, Kalman Filter모형, 확률과정모형, 신경망모형, 회귀모형 등 여러 가지 방법이 있으나 본 연구에서는 단기 통행시간 예측에 적합한 Kalman Filter 모형을 적용하였다. 인지도를 고려한 최적 경로를 제공하기 위한 기존의 방법은 회전에 대한 가중치를 부여하여 최적경로 탐색시 최소한의 회전을 유도하고 있다. 하지만 회전에 대한 가중치를 주는 방법은 경험적인 방법으로서 만약 신설된 길에 대한 경로 제공, 또는 개량된 길에 대한 경로를 제공할 때 문제점이 나타난다. 본 연구에서는 이 같은 문제점을 해결하고자 공간구조의 속성을 정량적으로 분석하고 평가하는 기법인 Space Syntax 이론을 적용하였다. 운전자들을 대상으로 실시한 설문조사 결과 본 연구에 의한 알고리즘이 기존의 최적 경로보다 더 선호하는 것으로 나타났다.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2008년도 하계종합학술대회
• /
• pp.1031-1032
• /
• 2008

To process the dynamic images in real time, there could be many constraints on the hardware. Kalman Filter has been used to estimate motion information and use the information in predicting the appearance of targets in succeeding frames. This paper suggests algorithm about lane recognition using Kalman Filter which is one of operations research technique.