• 한국음향학회지
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• 제18권6호
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• pp.9-16
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• 1999

이 논문은 측정잡음이 큰 수동소나체계의 각도정보만을 이용한 표적기동분석(TMA ; Target Motion Analysis) 기법 연구의 일환으로서 표적의 상태변수를 추정하는 순차적 추정자로 수정이득확장칼만필터(MGEKF : Modified Gain Extended Kalman Filter)를 사용하며, 이 MGEKF의 초기화를 위해 비선형 batch estimation 알고리듬을 제안한다. 수동표적추적 시스템의 가관측성(observability) 해석을 바탕으로 시스템의 가관측성의 향상을 통해 TMA 성능을 개선시킬 수 있는 관측자의 기동을 결정하는 실용적이면서도 효과적인 방법을 제안한다. 또한 가관측성 확보가 어려운 초기단계의 TMA를 위해 관측자의 진행방향과 표적의 각도정보와 같은 기하학적 자료와 시스템의 가관측성과의 관계를 나타내는 engagement boundary를 산출하여 가관측성이 큰 기하학적 관계를 갖는 위치로 관측자를 선기동(pre-maneuver) 시키는 방법도 제시한다. 제시하는 TMA 기법의 성능을 시뮬레이션을 통해 입증한다.

• 제어로봇시스템학회논문지
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• 제18권4호
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• pp.314-320
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• 2012

This paper proposes a new robust motion deblurring filter using the inertial sensor measurements for strapdown image IR applications. With taking the PSF measurement error into account, the motion blurred image is modeled by the linear uncertain state space equation with the noise corrupted measurement matrix and the stochastic parameter uncertainty. This motivates us to solve the motion deblurring problem based on the recently developed robust least squares estimation theory. In order to suppress the ringing effect on the deblurred image, the robust least squares estimator is slightly modified by adoping the ridge-regression concept. Through the computer simulations using the actual IR scenes, it is demonstrated that the proposed algorithm shows superior and reliable motion deblurring performance even in the presence of time-varying motion artifact.

• 대한전기학회논문지
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• 제38권12호
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• pp.971-982
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• 1989

An integrating position estimation algorithm has been developed for the navigation system of a free-ranging AGV system. The navigation system focused in this research work consists of redundant wheel encoders for the relative position measurement and a vision sensor for the absolute position measurement. A maximum likelihood method and an extended Kalman filter are implemented for enhancing the performance of the position estimator. The maximum likelihood estimator processes noisy, redundant wheel encoder measurements and yields efficient estimates for the AGV motion between each sampling interval. The extended Kalman filter fuses inharmonious positional data from the deadreckoner and the vision sensor and computes the optimal position estimate. The simulation results show that the proposed position estimator solves a generalized estimation problem for locating the vehicle accurately in space.

• International Journal of Aeronautical and Space Sciences
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• 제3권1호
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• pp.39-49
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• 2002

This paper presents a robust tracker design method that is specific to the trajectories of target aircraft. This method assumes that representative trajectories of the target aircraft are available. The exact trajectories known to the tracker enables the incorporation of the exact data in the tracker design instead of the measurement data. An estimator is designed to have acceptable performance in tracking a finite number of different target trajectories with a capability to trade off the mean and maximum errors between the exact trajectories and the estimated or predicted trajectories. Constant estimator gains that minimize the cost functions related to the estimation or prediction error are computed off-line from an iterative algorithm. This tracker design method is applied to the longitudinal motion tracking of target aircraft.

• Journal of the Korean Statistical Society
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• 제27권2호
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• pp.165-187
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• 1998

Shin and Sarkar (1993, 1994) studied the problem of testing for a unit root in an AR(p) signal observed with MA(q) noise when the MA parameters are known. In this paper we consider the case when the MA parameters are unknown and to be estimated. Test statistics are defined using unit root parameter estimates based on three different estimation methods of Hannan and Rissanen (1982), Kohn (1979) and Shin and Sarkar (1995). An AR(p) process contaminated by MA(q) noise is a .estricted ARMA model, for which Shin and Sarkar (1995) derived an easy-to-compute Newton- Raphson estimator The two-stage estimation p.ocedu.e of Hannan and Rissanen (1982) is used to compute initial parameter estimates in implementing the iterative estimation methods of both Shin and Sarkar (1995) and Kohn (1979). In a simulation study we compare the relative performance of these unit root tests with respect to both size and power for p=q=1.

• 한국통신학회논문지
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• 제25권4B호
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• pp.771-782
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• 2000

이 논문에서는 하드웨어와 소프트웨어의 통합 설계에 의한 H.263 동영상 코덱을 구현한다. 동영상의 부호화와 복호화를 실시간으로 수행하기 위해 동작 속도 및 응용성을 동시에 고려하여 H.263 코덱의 각 부분 중 어느 부분이 하드웨어 또는 소프트웨어로 구현된는 것이 바람직한지 결정하였다. 하드웨어로 구현하는 부분은 움직임 추정부 및 보상부와 메모리 제어부이고, 나머지 부분은 RISC (reduced instruction set computer) 프로세서를 사용하여 소프트웨어로 처리한다. 이 논문에서는 하드웨어 및 소프트웨어 모듈의 효과적인 구현 방법을 소개한다. 특히 하드웨어로 구현되는 움직임 추정부를 위해서 주변 움직임 변위의 상관성 및 계층적 탐색을 이용한 다수의 움직임 후보를 가지고 알고리즘을 사용하였으며, 이 알고리즘에 기반한 소면적 구조를 제안한다. 소프트웨어로 처리되는 DCT (discrete cosine transform) 부분의 최적화를 위해서 움직임 추정부에서 얻어진 SAD (sum of absolute difference) 값에 근거하여 DCT 이후 양자화된 계수들의 통계적 특성을 분류하는 기법을 사용한다. 제안된 방법을 실제 RISC 프로세서와 gate array를 이용하여 구\ulcorner하고, 그 성능이 우수함을 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.449-454
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• 1994

The Stewart Platform is one example of a motion simulator which generater 6DOF motion in space by six actuators in parallel. The presented control methrol of 6DOF motion simulator is generally classified into two types, one is SISO and the other is MIMO control type. The SISO control can't compensate for external load variation and different dynamic behavior of 6DOF motion, trerefore this type don's control motion precisely. On the other hand, the MIMO control compensates for a interference of 6DOF motion because MIMO controller is designed with 6DOF motion simulator synamics. But MIMO control of motion simulator has a complexity of 6DOF displacement feedback, because in oder to obtain feedback value we must solve the forward kinematics using measurement of cylinder length or design a state estimator, unless measurement of 6DOF displacement is possible. In this paper, a multivariable controller using H .inf. optimal control theory is designed to consider a interference of 6DOF motion and to obtain robust,precise control of system. Also in order to solve the mentioned problem of MIMO control, this paper presents a modified MIMO control model which control 6DOF motion by using feedback of measurement od cylinder length.

• 한국통신학회논문지
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• 제21권2호
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• pp.313-325
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• 1996

This paper presents a new architecture for full-search block-matching motion estimation. The architecture is based on linear systolic arrays. High speed operation is obtained by feeding reference data, search data, and control signals into the linear systolic array in a pipelined fashion. Input data are fed into the linear systolic array at a half of the processor speed, reducing the required data bandwidth to half. The proposed architecture has a good scalability with respect to the number of processors and input bandwidth when the size of reference block and search range change.

• 제어로봇시스템학회논문지
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• 제21권12호
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• pp.1089-1099
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• 2015

This paper proposes vision-based collision risk estimation method for an unmanned surface vehicle. A robust image-processing algorithm is suggested to detect target obstacles from the vision sensor. Vision-based Target Motion Analysis (TMA) was performed to transform visual information to target motion information. In vision-based TMA, a camera model and optical flow are adopted. Collision risk was calculated by using a fuzzy estimator that uses target motion information and vision information as input variables. To validate the suggested collision risk estimation method, an unmanned surface vehicle experiment was performed.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.696-701
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• 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.