• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.228-232
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• 2002

This paper is reporting the whole process of developing a weight measuring scaler of truck and trailer system for static and dynamic condition. The sensors attached on the top of springs each wheels. Acquisition and data processing performs accurate data extraction from noise environment, filtering and estimation. Weight information was highly distorted with noise and perturbation. Hence the perturbation was classified several categories and evaluated for accurate signal extract. The final products supply accurate and easy readable data of load weight for truck. It supplies total weight as well as loading condition of each axle. It is expected that it give the information to the truck operator of proper amount loading and safe condition to drive with it.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.4
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• pp.166-175
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• 2001

The high speed tracking control of a 6-6 Stewart platform manipulator (SPM) normally requires knowledge of its complex full dynamics and measurement of its base motion when the SPM operates on a motion nit. In this study, an enhanced sliding mode control scheme has been developed, which is based on the reduced dynamics, not necessitating measurement of the base motion. The enhanced sliding mode control implemented with the perturbation compensation and modified reaching phase alleviation functions has been successfully employed for high speed tacking control of the laboratory SPM, when it is subjected to a virtual base motion.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.133-138
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• 2006

Singular value decomposition (SDV) approach is applied to the observability analysis of GPS/INS in this paper. A measure of observability for a subspace is introduced. It indicates the minimum size of perturbation in the information matrix that makes the subspace unobservable. It is shown that the measure has direct connections with observability of systems, error covariance, and singular structure of the information matrix. The observability measure given in this paper is applicable to the multi-input/multi-output time-varying systems. An example on the observability analysis of GPS/INS is given. The measure of observability is confirmed to be less sensitive to system model perturbation. It is also shown that the estimation error for the vertical component of gyro bias can be considered unobservable for small initial error covariance for a constant velocity horizontal motion.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.4
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• pp.582-589
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• 1996

In this paper, an adaptive control problem of a hydraulic actuator for vehicle active suspension controller is divided into two parts: the inner loop controller and the outer loop controller. Inner loop controller, which is a nonlinear adaptive controller, is designed to control the force generated by the nonlinear hydraulic actuator acting under the effects of Coulomb friction. For simplicity of designing a nonlinear controller, the spool valve dynamics of a hydraulic actuator is reduced using a singular perturbation technique. The estimation error signal used to an indirect parameter adaptation is calculated without a regressor filtering. The absolute velocity of a sprung mass will be damped down by its negatively proportional term(sky-hook damper) adopted as an outer loop controller. Simulation results are presented to show the importance of controlling the actuator force and the validity of the proposed adaptive controller. (author). refs., figs. tab.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.9-16
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• 2006

The Mobile robots are increasingly being used to perform tasks in unknown environments. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. An algorithm has been developed for robots which explore the environment to measure the physical properties (dust in this paper). While the robot is moving, it measures the amount of dust and registers the value in the corresponding grid cell. The robot moves from local maximum to local minimum, then to another local maximum, and repeats. To reach the local maximum or minimum, simple gradient following is used. Robust estimation of the gradient using perturbation/correlation, which is very effective when analytical solution is not available, is described. By introducing the probability of each grid cell, and considering the probability distribution, the robot doesn't have to visit all the grid cells in the environment still providing fast and efficient sensing. The extended algorithm to coordinate multiple robots is presented with simulation results.

• Journal of Sensor Science and Technology
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• v.29 no.3
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• pp.141-148
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• 2020

To find food, homes, and mates, some animals have adapted special sensing capabilities. Rather than using a passive method, they discharge a signal and then extract the necessary information from the response. More importantly, they use the slope of the detected signal to find the destination of an object. In this paper, similar strategy is mathematically formulated. A perturbation and correlation-based gradient estimation method is developed and used as a sensing strategy. This method allows us to adaptively sense an object in a given environment effectively. The proposed strategy is based on the use of gradient values; rather than instantaneous measurements. Considering the gradient value, the sampling frequency is planned adaptively, i.e., sparse sampling is performed in slowly varying regions, while dense sampling is conducted in rapidly changing regions. Using a temperature sensor, the proposed strategy is verified and its effectiveness is demonstrated.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1995.04a
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• pp.136-143
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• 1995

The problem of the structural identification becomes important, particularly with relation to the rapid increase of the number of the damaged or deteriorated structures, such as highway bridges, buildings, and industrial facilities. This paper summarizes the recent studies related to those problems by the present authors. The system identfication methods are generally classified as the time domain and the frequency domain methods. As time doamin methods, the sequential algorithms such as the extended Kalman filter and the sequential prediction error method are studied. Several techniques for improving the convergences are incorporated. As frequency domain methods, a new frequency response function estimator is introduced. For damage estimation of existing structures, the modal perturbation and the sensitivity matrix methods are studied. From the example analysis, it has been found that the combined utilization of the measurement data for the static response and the dynamic (modal) properties are very effictive for the damage estimation.

• Journal of the Korean Statistical Society
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• v.26 no.2
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• pp.277-288
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• 1997

For the analysis of survival data including covariates whose effects vary in time, the multiprocess discount survival model is proposed. The parameter vector modeling the time-varying effects of covariates is to vary between time intervals and its evolution between time intervals depends on the perturbation of the next time interval. The recursive estimation of the parameter vector can be obtained at the end of each time interval. The retrospective estimation of the survival function and the forecasting of the survival function of individuals of the specific covariates also can be obtained based on the information gathered until the end of the time interval.

• Journal of Communications and Networks
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• v.4 no.3
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• pp.189-198
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• 2002

Precoder has been shown to be able to provide source diversity and design flexibility. In this paper we employ precoding techniques for block transmission based on a multirate filterbank structure. To accommodate multiuser communication with variable data rates, different precoders with corresponding coefficients and up/down sampling rates are used. However, due to unknown multipath distortion, different interferences may exist in the received data, such as multiuser interference, intersymbol interference and interblock interference. To estimate channel parameters for a desired user, we employ all structured signature waveforms associated with different symbols of that user and apply subspace techniques. Therefore better performance of channel estimator can be achieved than the conventional subspace method based only on the signature of the current symbol. The delay for that user can also be jointly estimated. Channel identifiability conditions and asymptotic channel estimation error are investigated in detail. Numerical examples are provided to justify the proposed method. gest either multicode (MC) or multiple processing gain (MPG) mechanism [2], while requiring data rates to be integral multiples of some basic low-rate. In order to support variable rate transmission however, a comprehensive scheme needs to be investigated.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.37.2-37
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• 2001

This paper addresses the robust adaptive output feedback tracking for nonlinear systems under disturbances whose bounds are unknown. A new algorithm is proposed for estimation of unknown bounds and adaptive control of the uncertain nonlinear systems. The State estimation is solved using K-filters, together with the construction of a bound of an error in the state estimation due to the perturbation of the disturbance. Tuning functions are used to estimate unknown system parameters without overparametrization. The proposed control algorithm ensures that the out put tracking error converges to a residual set which can be arbitrarily small, while maintaining the boundedness of all other variables. A simulation shows the effectiveness of the proposed approach