• 대한기계학회논문집A
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• 제26권10호
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• pp.2067-2072
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• 2002

The closed-loop state and input observer is a pole-placement type observer and estimates unknown state and input variables simultaneously. Pole-placement type observers may have poor performances with respect to modeling error and sensing bias error. The effects of these ill-conditioning factors must be minimized for the robust performance in designing observers. In this paper, the steady-state performance of the closed-loop state and input observer is investigated quantitatively and is represented as the estimation error bounds. The performance indices are selected from these error bounds and are related to the robustness with respect to modeling errors and sensing bias. By considering both transient and steady-state performance, the main performance index is determined as the condition number of the eigenvector matrix based on $L_2$-norm.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• 제5권1호
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• pp.46-52
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• 2002

A robust nonlinear observer, utilizing the sliding mode concept, is developed for the dynamic positioning of ships. The observer provides the estimates of linear velocities of the ship and bias from slowly varying environmental loads. It also filters out wave frequency motion to avoid wear of actuators and excessive fuel consumption. The main advantage of the proposed observer is in its robustness. Especially, the observer structure with a saturation function makes the proposed observer robust against neglected nonlinearties, disturbances and uncertainties. Since the mathematical model of DP ships is difficult to obtain and includes uncertainties and disturbances, it is very important for the observer to be robust. A nonlinear output feedback controller is derives based on the developed observer using the observer backstepping technique, and the global stability of the observer and control law is shown by Lyapunov stability theory.. A set of simulation was carried out to investigate the performance of the proposed observer for dynamic positioning of ships.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.21-26
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• 2003

The well-conditioned observer in a stochastic system is designed so that the observer is less sensitive to the ill-conditioning factors in transient and steady-state observer performance. These factors include not only deterministic issues such as unknown initial estimation error, round-off error, modeling error and sensing bias, but also stochastic issues such as disturbance and sensor noise. In deterministic perspectives, a small value in the L$_2$ norm condition number of the observer eigenvector matrix guarantees robust estimation performance to the deterministic issues and its upper bound can be minimized by reducing the observer gain and increasing the decay rate. Both deterministic and stochastic issues are considered as a weighted sum with a LMI (Linear Matrix Inequality) formulation. The gain in the well-conditioned observer is optimally chosen by the optimization technique. Simulation examples are given to evaluate the estimation performance of the proposed observer.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.39-44
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• 2003

It was shown that the robustness of deterministic observers with respect to modeling errors, measurement bias and round-off errors can be represented by a single performance index the condition number of the observer eigenvector matrix. In this paper, a robust observer for multi-output systems is designed using the left eigenstructure assignment, where the observer gain can not be determined uniquely with respect to the desired observer poles. Utilizing the eigenstructuer assignment for the robustness of the observer, the desired eigenvector matrix is selected to achieve the observer eigenvector matrix with the small condition number. The performance of the designed robust observer is evaluated in a spindle-drive simulation example where the load speed to be estimated based on the measured signals.

• 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.

• 한국군사과학기술학회지
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• 제3권1호
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• pp.138-145
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• 2000

This paper presents a robust fault diagnosis and fault tolerant control method for the control systems in closed-loop affected by unknown inputs or disturbances. The fault diagnostic scheme is based on the disturbance-decoupled state estimation using a 2-stage state observer for state, actuator bias and sensor bias. The estimated bias show the occurrence time, location and type of the faults directly. The estimated state is used for state feedback to achieve fault tolerant control against the faults. Simulation results show that the method has definite fault tolerant ability against actuator and sensor faults, moreover, the faults can be detected on-line, isolated and estimated simultaneously.

• 대한기계학회논문집A
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• 제28권5호
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• pp.503-510
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• 2004

In this paper, the well-conditioned observer for a stochastic system is designed so that the observer is less sensitive to the ill-conditioning factors in transient and steady-state observer performance. These factors include not only deterministic uncertainties such as unknown initial estimation error, round-off error, modeling error and sensing bias, but also stochastic uncertainties such as disturbance and sensor noise. In deterministic perspectives, a small value in the L$_{2}$ norm condition number of the observer eigenvector matrix guarantees robust estimation performance to the deterministic uncertainties. In stochastic viewpoints, the estimation variance represents the robustness to the stochastic uncertainties and its upper bound can be minimized by reducing the observer gain and increasing the decay rate. Both deterministic and stochastic issues are considered as a weighted sum with a LMI (Linear Matrix Inequality) formulation. The gain in the well-conditioned observer is optimally chosen by the optimization technique. Simulation examples are given to evaluate the estimation performance of the proposed observer.

• Journal of Cardiovascular Imaging
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• 제31권3호
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• pp.135-141
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• 2023

BACKGROUND: Global longitudinal strain (GLS) is an accurate and reproducible parameter of left ventricular (LV) systolic function which has shown meaningful prognostic value. Fast, user-friendly, and accurate tools are required for its widespread implementation. We aim to compare a novel web-based tool with two established algorithms for strain analysis and test its reproducibility. METHODS: Thirty echocardiographic datasets with focused LV acquisitions were analyzed using three different semi-automated endocardial GLS algorithms by two readers. Analyses were repeated by one reader for the purpose of intra-observer variability. CAAS Qardia (Pie Medical Imaging) was compared with 2DCPA and AutoLV (TomTec). RESULTS: Mean GLS values were -15.0 ± 3.5% from Qardia, -15.3 ± 4.0% from 2DCPA, and -15.2 ± 3.8% from AutoLV. Mean GLS between Qardia and 2DCPA were not statistically different (p = 0.359), with a bias of -0.3%, limits of agreement (LOA) of 3.7%, and an intraclass correlation coefficient (ICC) of 0.88. Mean GLS between Qardia and AutoLV were not statistically different (p = 0.637), with a bias of -0.2%, LOA of 3.4%, and an ICC of 0.89. The coefficient of variation (CV) for intra-observer variability was 4.4% for Qardia, 8.4% 2DCPA, and 7.7% AutoLV. The CV for inter-observer variability was 4.5%, 8.1%, and 8.0%, respectively. CONCLUSIONS: In echocardiographic datasets of good image quality analyzed at an independent core laboratory using a standardized annotation method, a novel web-based tool for GLS analysis showed consistent results when compared with two algorithms of an established platform. Moreover, inter- and intra-observer reproducibility results were excellent.

• 대한기계학회논문집A
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• 제29권1호
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• pp.59-66
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• 2005

In this paper, a robust stationary Kalman filter is designed by minimizing selected performance indices so that it is less sensitive to uncertainties. The uncertainties include not only stochastic factors such as process noise and measurement noise, but also deterministic factors such as unknown initial estimation error, modeling error and sensing bias. To reduce the effect on the uncertainties, three performance indices that should be minimized are selected based on the quantitative error analysis to both the deterministic and the stochastic uncertainties. The selected indices are the size of the observer gain, the condition number of the observer matrix, and the estimation error variance. The observer gain is obtained by optimally solving the multi-objectives optimization problem that minimizes the indices. The robustness of the proposed filter is demonstrated through the comparison with the standard Kalman filter.

• 한국심리학회지 : 문화 및 사회문제
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• 제20권2호
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• pp.107-131
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• 2014

본 연구에서는 운전자의 성별과 운전경력, 위험 운전상황의 유형(성향요인이 강조된 끼어들기 상황 vs. 상황요인이 강조된 급정거 상황), 그리고 운전분노 평정관점(행위자 관점 vs. 관찰자 관점)에 따른 운전자의 운전분노 수준 차이를 운전 시뮬레이션 기법을 이용하여 비교하였다. 본 연구의 주요 결과를 요약하면 다음과 같다. 첫째, 성별과 운전경력에 따른 운전분노 수준에서의 차이를 운전상황 유형이나 운전분노 평정관점을 함께 고려하지 않고 독립적으로 분석한 결과 성별과 운전경력에 따른 차이가 각각 유의하지 않았다. 둘째, 운전분노 수준에서의 행위자-관찰자 효과는 도로여건 등과 같은 상황변인이 상대적으로 더 많이 강조된 급정거 상황보다는 상대운전자의 의도가 비교적 분명하게 드러나는 조건인 끼어들기 상황에서 주로 관찰되었다. 셋째, 운전자의 성별과 운전경력, 그리고 운전분노 평정관점을 통합적으로 고려하여 살펴본 결과 운전경력이 짧은 여성운전자의 경우 타인의 끼어들기에 대해서는 매우 높은 수준의 분노를 경험하는 반면, 자신의 끼어들기에 대해서는 매우 낮은 수준으로 상대운전자가 운전분노를 경험할 것으로 추정하는 경향이 더 높았다. 이러한 결과는 운전자의 성별과 운전경력에 따른 운전분노에서의 차이가 위험 운전상황의 유형과 행위자- 관찰자 관점에 따라 매우 다른 양상으로 나타날 수 있다는 것을 시사한다.