• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1788-1789
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• 2011

In order to develop a one-axis gimbaled acoustic source tracker for mobile robots, a pseudo-linear direction of arrival(DOA) estimator is proposed using a linear ultrasonic sensor array. Under the assumption that the sensor measurement errors are negligible, a linear measurement model is derived using the linear prediction relation of the received sinusoidal acoustic signals. Applying the Kalman filtering technique for this model, the linear recursive DOA estimator is designed. For its linear recursive filter structure, it is preferable for real-time implementation on a commercial DSP. Through the experiments, the effectiveness of the suggested method is demonstrated.

• 응용통계연구
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• 제20권1호
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• pp.133-145
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• 2007

국소선형 추정량은 여러 면에서 바람직한 특성을 많이 갖고 있는 좋은 추정량이다. 그러나 자료가 희박한 부분에서는 매우 불안정한 추정값을 갖게 되는 문제가 있음이 밝혀졌으며, 이 문제를 해결하기 위한 여러 방안이 많이 연구되었다. 그러나 이항반응변수를 위한 국소선형 추정량의 변형이라고 할 수 있는 국소선형 준가능도 추정량에 대해서는 아직 자료의 희박성 문제가 다루어지지 않고 있었다. 이 논문에서는 국소선형 준가능도 추정량이 갖고 있는 자료의 희박성 문제를 인식하고, 몇 가지 해결방안을 제시하였으며, 모의 실험을 통하여 가장 효과적인 방안을 선택하였다.

• 전기학회논문지
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• 제59권10호
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• pp.1874-1881
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• 2010

A recursive linear stochastic error compensation algorithm is newly proposed for target localization in sensor network which provides range difference of arrival(RDOA) measurements. Target localization with RDOA is a well-known nonlinear estimation problem. Since it can not solve with a closed-form solution, the numerical methods sensitive to initial guess are often used before. As an alternative solution, a pseudo-linear estimation scheme has been used but the auto-correlation of measurement noise still causes unacceptable estimation errors under low SNR conditions. To overcome these problems, a stochastic error compensation method is applied for the target localization problem under the assumption that a priori stochastic information of RDOA measurement noise is available. Apart from the existing methods, the proposed linear target localization scheme can recursively compute the target position estimate which converges to true position in probability. In addition, it is remarked that the suggested algorithm has a structural reconciliation with the existing one such as linear correction least squares(LCLS) estimator. Through the computer simulations, it is demonstrated that the proposed method shows better performance than the LCLS method and guarantees fast and reliable convergence characteristic compared to the nonlinear method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1768-1769
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• 2011

The nonlinear estimation and the pseudo-linear estimation are used to treat the target localization in sensor network which provides range difference of arrival (RDOA) measurements. It is known that the nonlinear estimation has sensitive problem for the initial estimate and the pseudo-linear estimation has a large estimation error. The QCLS method is the typical estimator of the methods for pseudo-linear estimation. However the estimate by using the QCLS method includes the estimation error because the first stage of two estimation processes of the QCLS method causes the biased estimation error. Therefore we propose a instrumental variables(IV) method for minimizing the estimation error of the first stage. The simulation shows that the performance of the proposed method is superior to the QCLS method.

• 응용통계연구
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• 제20권3호
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• pp.561-571
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• 2007

국소선형회귀모형의 추정량은 좋은 특성을 가지고 있는 추정량으로서 가장 흔히 사용되는 비모수적 회귀모형의 추정량이라고 하겠다. 이러한 국소선형 추정량이 자료가 희박한 구간에서는 심하게 왜곡된 추정결과를 보이는 문제가 있으며, Hall과 Turlach(1997)이 제안한 선형보간법이 이러한 문제에 대한 매우 효과적인 해결방안이라는 것은 잘 알려진 사실이다. 그러나 Hall과 Turlach가 제안한 선형보간법이 이상값에 매우 취약하다는 사실은 아직 지적된 적이 없는 문제이다. 이 논문에서는 이상값의 영향력을 감소시킬 수 있는 수정된 선형보간법에 의한 유사자료의 생성방법을 제안하고, 그 특성을 모의실험을 통하여 기존의 방법과 비교하였다.

• Journal of the Korean Data and Information Science Society
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• 제9권2호
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• pp.95-103
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• 1998

회귀모형의 선형성을 검정하는 방법으로서 Azzalini와 Bowman은 회귀모형의 오차항이 정규분포를 따른다는 가정하에서 커널회귀추정량을 이용한 유사우도비 검정이라는 비모수적 방법을 제안하였다. 붓스트랩(bootstrap)기법을 도입하여 그들의 검정방법을 변형한 커널붓스트랩검정이라는 새로운 검정법을 제시하고 모의실험을 통해 검정력을 살펴보았다. 제안된 방법은 오차항의 분포가 정규분포가 아닌 경우에도 적용이 가능하였다.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.133-140
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• 2008

In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot's 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.

• Journal of Electrical Engineering and Technology
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• 제7권4호
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• pp.606-614
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• 2012

A practical recursive linear robust estimation scheme is proposed for target localization in the sensor network which provides range difference of arrival (RDOA) measurements. In order to radically solve the known practical difficulties such as sensitivity for initial guess and heavy computational burden caused by intrinsic nonlinearity of the RDOA based target localization problem, an uncertain linear measurement model is newly derived. In the suggested problem setting, the target localization performance of the conventional linear estimation schemes might be severely degraded under the low SNR condition and be affected by the target position in the sensor network. This motivates us to devise a new sensor network localization algorithm within the framework of the recently developed robust least squares estimation theory. Provided that the statistical information regarding RDOA measurements are available, the estimate of the proposition method shows the convergence in probability to the true target position. Through the computer simulations, the omnidirectional target localization performance and consistency of the proposed algorithm are compared to those of the existing ones. It is shown that the proposed method is more reliable than the total least squares method and the linear correction least squares method.

• Smart Structures and Systems
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• 제31권5호
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• pp.437-454
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• 2023

Real-time hybrid simulation (RTHS), which has the advantages of a substructure pseudo-dynamic test, is widely used to investigate the rate-dependent mechanical response of structures under earthquake excitation. However, time delay in RTHS can cause inaccurate results and experimental instabilities. Thus, this study proposes a model-based adaptive control strategy using a Kalman filter (KF) to minimize the time delay and improve RTHS stability and accuracy. In this method, the adaptive control strategy consists of three parts-a feedforward controller based on the discrete inverse model of a servohydraulic actuator and physical specimen, a parameter estimator using the KF, and a feedback controller. The KF with the feedforward controller can significantly reduce the variable time delay due to its fast convergence and high sensitivity to the error between the desired displacement and the measured one. The feedback control can remedy the residual time delay and minimize the method's dependence on the inverse model, thereby improving the robustness of the proposed control method. The tracking performance and parametric studies are conducted using the benchmark problem in RTHS. The results reveal that better tracking performance can be obtained, and the KF's initial settings have limited influence on the proposed strategy. Virtual RTHSs are conducted with linear and nonlinear physical substructures, respectively, and the results indicate brilliant tracking performance and superb robustness of the proposed method.