• Journal of Advanced Navigation Technology
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• v.3 no.2
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• pp.156-166
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• 1999

In multi-vehicle tracking systems Kalman filter is generally used for tracking vehicles. Despite well known advantages of Kalman filter that presents optimality with constraints, it is difficult to track several vehicles in real time simultaneously due to a large number of computations. In this paper, we propose a multi-vehicle tracking system with an adaptive predictor that employs recursive least square algorithm which can be easily implemented for real time application on a transversal filter. The performance of the proposed tracking system is compared to one with Kalman filter using a synthetic sequential image generated by computer graphics and real sequential image taken at intersections. Simulation results show that the proposed tracking system can be applied to track vehicles in real sequential image at the rate of 30 frame/sec on a PC environments without any special hardwares.

• The Transactions of the Korea Information Processing Society
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• v.5 no.10
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• pp.2725-2736
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• 1998

In this paper. we present a new pitch determination method for speech analysis. namely VFF(Variable Forgetting Factor) based. by using the WRLS-VFF-VT(Weighted Recursive Least Square-Variable Forgetting Factor-Variable Threshold) algorithm. A proposed method uses VFF to identify the glottal closure points which correspond to the instants of the main excitation pulses for voiced speech. The modified EGG

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.4
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• pp.264-274
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• 2003

This paper presents a direct generalized minimum-variance self tuning controller with a PID structure using neural network which adapts to the changing parameters of the nonlinear system with nonminimum phase behavior, noises and time delays. The self-tuning controller with a PID structure is a combination of the simple structure of a PID controller and the characteristics of a self-tuning controller that can adapt to changes in the environment. The self-tuning control effect is achieved through the RLS (recursive least square) algorithm at the parameter estimation stage as well as through the Robbins-Monro algorithm at the stage of optimizing the design parameter of the controller. The neural network control effect which compensates for nonlinear factor is obtained from the learning algorithm which the learning error between the filtered reference and the auxiliary output of plant becomes zero. Computer simulation has shown that the proposed method works effectively on the nonlinear nonminimum phase system with time delays and changed system parameter.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.1
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• pp.80-88
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• 2003

In this paper, the new robust torsional vibration suppression control scheme is proposed for the two mass system. A reduced order state feedback controller where the motor speed and the observed torsional torque are fed back and the PI controller are proposed as the torsional vibration suppression controller. Using the estimated mechanical parameters by off-line RLS(Recursive Least Square) algorithms, the speed controller for torsional vibration suppression is designed and its gains are determined using the Kharitonov robust control theory. The Kharitonov robust control theory can obtain the robust stability with a specified stability margin and a damping limit and the good performance of vibration suppression although if the parameters are varied within some specified limit. The effectiveness and usefulness of the proposed schemes are verified with the simulation and the experimental results on the fully-digitalized 5.5kW two mass system.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.37 no.2
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• pp.54-61
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• 2000

This paper presents the performance evaluation of channel estimation algorithm using RLS algorithm lot W-CDMA reverse link over Rayleigh fading channels. By obtaining BER(Bit Error Rate) performance through computer simulations, the RLS(Recursive Least Square) algorithm is compared with the existing WMSA(Weighted Averaging)(K=1,3) and constant gain algorithm. The channel structure, modulation and pilot patterns are applied to the ARIB (Association of Radio Industries and Business) and 3GPP (3rd Generation Partnership Project) ITU-R proposal for the IMT-2000. The BER performance of RLS algorithm with linear interpolation is similar to that of WMSA(K=1) and slightly superior to that of constant gain algorithm at low Doppler frequencies. Also, RLS algorithm performance is better than that of the WMSA(K=1,3) and constant gain algorithms about 4dB at BER=2.0$\times$$10^{-2}$ and Doppler frequencies $F_D$=320Hz. With increasing Doppler frequency, therefore, the BER performance of RLS algorithm with linear interpolation is superior to WMSA(K=L.3) and constant rain algorithms.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.2
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• pp.55-64
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• 1990

This paper concerned about a study on the direct pole placement PID self-tuning controller design for DC servo motor control system. The method of a direct pole placement self-tuning PID control for a DC servo motor of Robot manipulator tracks a reference velocity in spite of the parameters uncertainties in nonminimum phase system. In this scheme, the parameters of classical controller are estimated by the recursive least square (RLS)identification algorithm, the pole placement method and diophantine equation. A series of simulation in which minimum phase system and nonminimum phase system are subjected to a pattern of system parameter changes is presented to show some of the features of the proposed control algorithm. The proposed control algorithm which shown are effective for the practical application, and experiments of DC servo motor speed control for Robot manipulator by a microcomputer IBM-PC/AT are performed and the results are well suited.

• Nuclear Engineering and Technology
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• v.27 no.3
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• pp.336-343
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• 1995

The Self Tuning Regulator(STR) method which is an approach of adaptive control theory, is ap-plied to design the fully automatic power controller of the nonlinear reactor model. The adaptive control represent a proper approach to design the suboptimal controller for nonlinear, time-varying stochastic systems. The control system is based on a third­order linear model with unknown, time-varying parameters. The updating of the parameter estimates is achieved by the recursive extended least square method with a variable forgetting factor. Based on the estimated parameters, the output (average coolant temperature) is predicted one-step ahead. And then, a weighted one-step ahead controller is designed so that the difference between the output and the desired output is minimized and the variation of the control rod position is small. Also, an integral action is added in order to remove the steady­state error. A nonlinear M plant model was used to simulate the proposed controller of reactor power which covers a wide operating range. From the simulation result, the performances of this controller for ramp input (increase or decrease) are proved to be successful. However, for step input this controller leaves something to be desired.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.11C
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• pp.1518-1526
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• 2004

In this paper, an algorithm using wavelet transform for detecting a cut that is a radical scene transition point, and fade and dissolve that are gradual scene transition points is proposed. The conventional methods using wavelet transform for this purpose is using features in both spatial and frequency domain. But in the proposed algorithm, the color space of an input image is converted to YUV and then luminance component Y is transformed in frequency domain using 2-level lifting. Then, the histogram of only low frequency subband that may contain some spatial domain features is compared with the previous one. Edges obtained from other higher bands can be divided into global, semi-global and local regions and the histogram of each edge region is compared. The experimental results show the performance improvement of about 17% in recall and 18% in precision and also show a good performance in fade and dissolve detection.

• The Journal of the Acoustical Society of Korea
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• v.22 no.1
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• pp.1-6
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• 2003

This paper analyses the performance of either the minimum variance distortionless response (MVDR) or the recursive least square (RLS) beamformer structured on the systolic array. Provided that the snapshot vector including the desired user's signal and the interferences with the noise is received at the array antenna. In order to improve the quality of received signal, MVDR or RLS algorithm can be utilized to update the beamformer weights recursively. Furthermore to increase the channel capacity, by the usage of the above schemes, the effect of the spatial filtering can be obtained which constructively combining multipath components corresponding to the desired user whereas the multiple access interferences (MAI) is nulled out on spatial domain. This paper introduces the MVDR and RLS beamformer structured on systolic array conducting the spatial filtering, and its performance under the multipath fading channel in the presence of multiple access interferences will be analyzed. To show the superior spatial filtering performances of the proposed scheme employing the systolic way structured beamformer, the computer simulations are carried out. And the validity of practical deployment of the proposed scheme will be confirmed throughout showing the BER behaviors and the beampatterns.