• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.957-963
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• 2014

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

• Fire Science and Engineering
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• v.14 no.3
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• pp.19-26
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• 2000

As a basic physical property of chemical substances, the flash point is of great importance as far as the prevention of chemical disasters is concerned. The measurement of flash point is not easy. and the number of c(Impounds for which systematic data have been collected pitifully small. Because, a need exists for some means of predicting the flash point of compound for which experimental data are unavailable, not only those which are currently in use or at the production stage, but also, those not compounds which are in the process of synthesis and design. The present research concerns the application of OCD (organic conception diagram) to the association between chemical structures and flash points, and an attempt made to discover a method of predicting the approximate flash point of a compound from its chemical structure alone.

• Communications for Statistical Applications and Methods
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• v.4 no.1
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• pp.177-183
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• 1997

A data-adaptive order selection procedure is proposed for local polynomial nonparametric regression. For each given polynomial order, bias and variance are estimated and the adaptive polynomial order that has the smallest estimated mean squared error is selected locally at each location point. To estimate mean squared error, empirical bias estimate of Ruppert (1995) and local polynomial variance estimate of Ruppert, Wand, Wand, Holst and Hossjer (1995) are used. Since the proposed method does not require fitting polynomial model of order higher than the model order, it is simpler than the order selection method proposed by Fan and Gijbels (1995b).

• Communications for Statistical Applications and Methods
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• v.7 no.1
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• pp.327-336
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• 2000

We are mainly interested in hazard rate changes which are usually occur in survival times of manufactured products or patients. We may expect early failures with one hazard rate and next another hazard rate. For this type of data we apply a hazard rate change-point model and estimate the unkown time point to improve the model adequacy. We introduce change-point logistic model to the discrete time hazard rates. The MLEs are obtained routinely and we also explain the suggested model through a dataset of survival times.

• Journal of the Korean Mathematical Society
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• v.32 no.4
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• pp.661-678
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• 1995

In this paper we will estimate from above and below the values of the Bergman, Caratheodory and Kobayashi metrics for a vector X at z, where z is any point near a given point $z_0$ in the boundary of pseudoconvex domains in $C^n$.

• Journal of Korean Society on Water Environment
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• v.27 no.2
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• pp.228-234
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• 2011

The goal of water quality management on stream and watershed is to focus not on discharged loads management but on a water quality management. Discharged loads management is not goal of water quality management but way for perform with total maximum daily loads management. It is necessary to estimate the relation between non-point source with stromwater runoff (NPSSR) and water quality to select a watershed where it is required to manage NPSSR for water quality improvement. To evaluate the effects of NPSSR on stream's water quality, we compare the aspects of water quality in dry and wet seasons using flow duration curve analysis based on flow rate variation data by actual surveying. In this study we attempt to quantify the variation characteristic of water quality and estimate the Inflow characteristic of pollution source with water quality and flow rate monitoring on 10 watersheds. We try to estimate water quality and flow rate by regression analysis and try again regression analysis with each high and low water quality data more than estimations. An analysis of relation between water quality and flow rate of 10 watersheds shows that the water quality of the Nonsan and the Ganggyeong streams had been polluted by NPSSR pollutants. Other eight streams were important point source more than NPSSR. It is wide variation range of $BOD_5$ also high average concentration of $BOD_5$. We have to quantify water quality variation by cv1 in wet season and cv365 in dry season with comparing the estimate of high water quality and low water quality. This method can be used to indicator for water quality variation according to flow rate.

• Journal of the Korean Data and Information Science Society
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• v.16 no.3
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• pp.591-601
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• 2005

In this paper we consider detection of a discontinuity point in the variance function. When the mean function is discontinuous at a point, the variance function is usually discontinuous at the point. In this case, we had better estimate the location of the discontinuity point with the mean function rather than the variance function. On the other hand, the variance function only has a discontinuity point. The target function in order to estimate the location can be used the second moment function since the variance function and the second moment function have the same location and jump size of the discontinuity point. We propose a nonparametric detection method of the discontinuity point with the second moment function. We give the asymptotic results of these estimators. Computer simulation demonstrates the improved performance of the method over the existing ones.

• Journal of the Korean Data and Information Science Society
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• v.20 no.1
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• pp.1-9
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• 2009

Let us consider that the variance function in regression model has a discontinuity/change point at unknown location. Yu and Jones (2004) proposed the local polynomial fit to estimate the log-variance function which break the positivity of the variance. Using the local polynomial fit, Huh (2008) estimate the discontinuity point of the log-variance function. We propose a test for the existence of a discontinuity point in the log-variance function with the estimated jump size in Huh (2008). The proposed method is based on the asymptotic distribution of the estimated jump size. Numerical works demonstrate the performance of the method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.12
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• pp.2291-2299
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• 2008

Hall effect force sensors have been used to measure clamping force in conventional Electric Parking Brake(EPB) systems. Estimation of clamping force without the sensors has drawn attentions due to mounting space limitations and cost issues. Removing the sensor requires the estimation of the initial contact point where the clamping force is effectively applied to the brake pads. In this paper, we propose how to estimate the initial contact point finding the relation between the angular velocity of an actuator and the initial contact point. For force estimation a look-up table is used as a function of the displacement of parking cable from the initial contact point. The proposed method is validated by experiments. From the experimental results we observe that the proposed method satisfies the specifications. The designed method is also able to estimate clamping force although parking cables are loosened and brake pads are worn out. Applying the proposed method enables manufacturing of low cost EPB systems.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.3
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• pp.209-215
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• 2022

As intelligent autonomous driving vehicle development has become a big topic around the world, accurate reference dynamics estimation has been more important than before. Current systems generally use speed and heading information sensed from a distant point as a vehicle reference dynamic, however, the dynamics between different points are not same especially during rotating motions. In order to estimate properly estimate the reference dynamics from the information such as velocity and heading sensed at a point distant from the reference point such as center of gravity, this study proposes estimating reference dynamics from any location in the vehicle by combining the Bicycle and Ackermann models. A test system was constructed by implementing multiple GNSS/INS equipment on an Robot Operating System (ROS) and an actual car. Angle and speed errors of 10° and 0.2 m/s have been reduced to 0.2° and 0.06 m/s after applying the suggested method.