• 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 Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.403-410
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• 2016

This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.26-28
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• 2007

The motion estimation is the most important technique in the image compression of the video standards. In the case of next generation standards in the video codec as H.264, a high compression-efficiency can be also obtained by using a motion compensation. To obtain the accurate motion search, a motion estimation should be achieved up to 1/2 pixel and 1/4 pixel uiuts. To do this, the computational complexity is increased although the image compression rate is increased. Therefore, in this paper, we propose the advanced sub-pixel block matching algorithm to reduce the computational complexity by using a statistical characteristics of SAD(Sum of Absolute Difference). Generally, the probability of the minimum SAD values is high when searching point is in the distance 1 from the reference point. Thus, we reduced the searching area and then we can overcome the computational complexity problem. The main concept of proposed algorithm, which based on TSS(Three Step Search) method, first we find three minimum SAD points which is in integer distance unit, and then, in second step, the optimal point is in 1/2 pixel unit either between the most minimum SAD value point and the second minimum SAD point or between the most minimum SAD value point and the third minimum SAD point In third step, after finding the smallest SAD value between two SAD values on 1/2 pixel unit, the final optimized point is between the most minimum SAD value and the result value of the third step, in 1/2 pixel unit i.e., 1/4 pixel unit in totally. The conventional TSS method needs an eight.. search points in the sub-pixel steps in 1/2 pixel unit and also an eight search points in 1/4 pixel, to detect the optimal point. However, in proposed algorithm, only total five search points are needed. In the result. 23 % improvement of processing speed is obtained.

• The Journal of the Acoustical Society of Korea
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• v.20 no.3E
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• pp.25-30
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• 2001

In angle of arrival estimation, the direction of a signal is usually assumed to be a point. If the direction of a signal is distributed due to some reasons in real surroundings, however, angle of arrival estimation techniques based on the point source assumption may result in poor performance. In this paper, we consider angle of arrival estimation when the signal sources are distributed. A parametric source model is proposed, and the estimation techniques based on the well-known maximum likelihood technique is considered under the model. In addition, Various statistical properties of the estimation errors were obtained.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.290-298
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• 2013

Geomagnetic is refracted by building's wall and pillar. Therefore refracted geomagnetic is able to be used as feature point. In a specific space, a mobile device that is equipped with magnetic sensor array measures 3-axis magnetic field for each point. Magnetic field map is acquired by collecting the every sample point in the magnetic field. The measured magnetic field must be calibrated, because each magnetic sensor has a distortion. For this reason, sensor distortion model and sensor calibration method are proposed in this paper. Magnetic field that is measured by mobile device matches magnetic field map. Result of the matching is used for position estimation. This paper implements hardware system for position estimation method using magnetic field map.

• Journal of Environmental Science International
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• v.7 no.5
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• pp.647-652
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• 1998

This study is to find out the emission estimation in Kimhae area. For this purpose, the Kimhae statistical yearbook and data of waste facilities issued by Kimhae city and the report on energy census issued by the ministry of trade, industry and energy are used. Each item for the emission estimation is $SO_2$, CO, HC, Nox, TSP from point, line, area sources. The results were as follows; The air pollutants with the highest mont of emission from the emission sources is CO followed by Nox, $SO_2$, TSP, HC in descending order of magnitude. The emission consists of 66.15% of line, 24.65% of area and 9.20% of point sources at Kimhae.

• Journal of Internet Computing and Services
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• v.10 no.4
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• pp.115-126
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• 2009

A software size estimation has to be analyzed in the beginning of the software life-cycle and helpful to the prediction of its size and cost. The software cost has been calculated by estimating software size from the user's point of view since the function point method based on international standards was introduced for the estimation of software size in 2004. However, the current function point method is not easy to be exploited for unfamiliar user, and has a problem that it cannot estimate the proper size for software such as engineering software, scientific calculations and simulation with complicated internal computational logic. This paper presents an improved model which can simplify the existing function point measurement procedure, and perform the estimation of software size in easy and fast way at the initial stage of project. Moreover, it presents a mathematical weighted value calculation model which can solve the problem of the fixed complexity weighted value and reflect the characteristics of organization as its data is pilled up. Our evaluation shows that the presented model has advantage that it can measure the size more rapidly than the existing FPA methods and has more correlation with LOC.

• Journal of the Korean Data and Information Science Society
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• v.24 no.6
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• pp.1309-1317
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• 2013

There are various parameter estimation methods for the generalized exponential distribution under progressive type I interval censoring. Chen and Lio (2010) studied the parameter estimation method by the maximum likelihood estimation method, mid-point approximation method, expectation maximization algorithm and methods of moments. Among those, mid-point approximation method has the smallest mean square error in the generalized exponential distribution under progressive type I interval censoring. However, this method is difficult to derive closed form of solution for the parameter estimation using by maximum likelihood estimation method. In this paper, we propose two type of approximate maximum likelihood estimate to solve that problem. The simulation results show the obtained estimators have good performance in the sense of the mean square error. And proposed method derive closed form of solution for the parameter estimation from the generalized exponential distribution under progressive type I interval censoring.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.414-421
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• 2014

This paper presents a method of ballistic missile launch point estimation using phase division least squares. The proposed algorithm employs smoothing to enhance estimation accuracy and generates functions of time for total velocity, flight path angle and heading angle, allowing extrapolation to estimate the launch point. Performance of the proposed algorithm is tested in conjunction with the extended Kalman filter and the Kalman filter.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.855-859
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• 2007

It is essential to obtain accurate and highly reliable streamflow data for water resources planning, evaluation and management as well as design of hydraulic structures. A new discharge estimation method, which is named 'non-dimensional velocity distribution and index-velocity method,' was proposed in this research. This method showed very close channel discharges which were calculated with the exiting velocity-area method. When velocity-area method is used to estimate channel discharge, it is required to observe point velocities at every desired point and vertical using a current meter like Price-AA. However 'non-dimensional velocity distribution and index-velocity method' is used, it become optional to observe point velocities at every desired point and vertical. But this method can not be applied for the cases of very complex and strongly asymmetric channel cross-sections because non-dimensional velocity distribution by entropy concept may be quite biased from that of natural rivers.