• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.917-920
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• 1988

The effects of the errors due to incorrect a priori informations on the noise model as well as the system model in the continuous state model based optimal FIR filter is considered. When the optimal filter is perturbed, the error covariance is derived. From this equation, the performance of the state model based optimal FIR filter is analyzed for the given modeling error. Also the state model based optimal FIR filter is compared to the standard Kalman filter by an example.

• Journal of Power Electronics
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• 제14권5호
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• pp.1038-1046
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• 2014

Lithium-ion batteries are widely used in hybrid and pure electric vehicles. State-of-charge (SOC) estimation is a fundamental issue in vehicle power train control and battery management systems. This study proposes a novel model-based SOC estimation method that applies closed-loop state observer theory and a comprehensive battery model. The state-space model of lithium-ion battery is developed based on a three-order resistor-capacitor equivalent circuit model. The least square algorithm is used to identify model parameters. A multi-state closed-loop state observer is designed to predict the open-circuit voltage (OCV) of a battery based on the battery state-space model. Battery SOC can then be estimated based on the corresponding relationship between battery OCV and SOC. Finally, practical driving tests that use two types of typical driving cycle are performed to verify the proposed SOC estimation method. Test results prove that the proposed estimation method is reasonably accurate and exhibits accuracy in estimating SOC within 2% under different driving cycles.

• 로봇학회논문지
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• 제19권2호
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• pp.196-202
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• 2024

The ability to understand given environments and plan a sequence of actions leading to goal state is crucial for personal service robots. With recent advancements in deep learning, numerous studies have proposed methods for state representation in planning. However, previous works lack explicit information about relationships between objects when the state observation is converted to a single visual embedding containing all state information. In this paper, we introduce graph-based state representation that incorporates both object and relationship features. To leverage these advantages in addressing the task planning problem, we propose a Graph Neural Network (GNN)-based subgoal prediction model. This model can extract rich information about object and their interconnected relationships from given state graph. Moreover, a search-based algorithm is integrated with pre-trained subgoal prediction model and state transition module to explore diverse states and find proper sequence of subgoals. The proposed method is trained with synthetic task dataset collected in simulation environment, demonstrating a higher success rate with fewer additional searches compared to baseline methods.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.111-117
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• 2008

This paper presents a new continuation-based quasi-steady-state(CQSS) time-domain simulation algorithm incorporating a multiplicative aggregated load model for power systems. The authors' previous paper introduced a CQSS algorithm, which has the robust convergent characteristic near the singularity point due to the application of a continuation method. The previous CQSS algorithm implemented the load restoration in power systems using the exponent-based load recovery model that is derived from the additive dynamic load model. However, the reformulated exponent-based model causes the inappropriate variation of short-term load characteristics when switching actions occur, during time-domain simulation. This paper depicts how to incorporate a multiplicative load restoration model, which does not have the problem of deforming short-term load characteristics, into the time simulation algorithm, and shows an illustrative example with a 39-bus test system.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1103-1108
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• 2007

This paper describes a robust model-based roll state estimator for application to the detection of impending vehicle rollover. The roll state estimator is based on a 2-D bicycle model and a roll model to estimate the maneuver-induced vehicle roll motion. The measurement signals are lateral acceleration, yaw rate, steering angle, and vehicle speed. Vehicle mass is adapted to obtain robust performance of the estimator. Computer simulation is conducted to evaluate the proposed roll state estimator by using a validated vehicle simulator. It is shown that the roll state estimator shows robust performance without exact vehicle mass information.

• 대한음성학회지:말소리
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• 제45호
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• pp.117-126
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• 2003

Decision tree-based state tying has been proposed in recent years as the most popular approach for clustering the states of context-dependent hidden Markov model-based speech recognition. The aims of state tying is to reduce the number of free parameters and predict state probability distributions of unseen models. But, when doing state tying, the size of a decision tree is very important for word independent recognition. In this paper, we try to construct optimized decision tree based on the average of feature vectors in state pool and the number of seen modes. We observed that the proposed optimal decision tree is effective in predicting the state probability distribution of unseen models.

• 정보과학회 논문지
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• 제43권9호
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• pp.953-962
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• 2016

모델 기반 테스팅은 시스템의 행위를 표현하는 모델을 시스템 명세로 활용하여 테스트를 수행하는 기술이다. 자동차, 국방/항공, 의료, 철도, 원자력과 같은 산업 도메인에서는 소프트웨어의 품질 향상을 위해 모델 기반 테스팅과 코드 커버리지 기반 테스팅을 요구하고 있다. 모델 기반 테스팅과 코드 커버리지 기반 테스팅이 모두 요구됨에도 모델과 소스 코드 간의 추상화 수준 차이로 인해 모델 기반 테스팅만으로 높은 코드 커버리지를 달성하는 것이 어려워 모델 기반 테스팅과 코드 커버리지 기반 테스팅이 별도로 수행되어져 왔다. 본 연구에서는 기존의 모델 기반 테스팅의 한계점을 개선하기 위하여 모델 기반 테스팅에서 테스트 모델로서 이용되는 대표적인 모델링 방법 중 하나인 프로토콜 상태 머신을 테스트 모델로서 이용하여 효과적으로 코드 커버리지를 향상시키는 상태 머신 변환 방법을 제안한다. 또한 본 연구에서는 두 시스템을 대상으로 한 사례 연구를 수행하여 제안 방법의 효과성을 분석하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2005년도 추계학술대회 학술발표 논문집 제15권 제2호
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• pp.419-422
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• 2005

In this note, the Takagi-Sugeno (T-S) fuzzy-model-based state estimator using standard Kalman filter theory is investigated. In that case, the dynamic system model is represented the T-S fuzzy model with the fuzzy state estimation. The steady state solutions can be found for proposed modeling method and dynamic system for maneuvering targets can be approximated as locally linear system. And then, modeled filter is corrected by the fuzzy gain which is a fuzzy system using the relation between the filter residual and its variation. This paper studies the T-S fuzzy model-based state estimator which the dynamic system can be approximated as linear system.

• 지식경영연구
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• 제14권4호
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• pp.19-46
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• 2013

This paper aims to show the learning process and the educational effects of Divide-and-Combine principles and State Models, which are included in the Butterfly Model for creative problem solving. In our State Models, there are Time State Model, Space State Model, and Whole-Parts State Model. We have taught middle school students (for 18 hours), high school students (for 24 hours), and undergraduate students (for 1 semester) about our proposed Models when they solved contradiction problems. Also, we have made the students learn our contradiction resolution algorithms by themselves based on team-based discussion. By learning and by using our Models, the students had the higher level of expertise in contradiction problems and had the growth mindset that made them have confidence in themselves and kept them challenging themselves about problems. Also, learning and solving with our Models improved the students' growth mindset as well as their problem-solving ability.

• Journal of Advanced Marine Engineering and Technology
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• 제25권1호
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• pp.162-170
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• 2001

This paper presents a scheme for designing a fuzzy model-bsaed state observer for nonlinear system. For this scheme, a Tagaki-Sugeno type fuzzy model whose consequent part is of the state space form is obtained. In describes the locally linear input/output relationship of a system. The parameters of the fuzzy model are adjusted using a genetic algorithm. Then. fuzzy full-order and reduced-order state observers are designed based on the fuzzy model. A set of simulation works is carried out to demonstrate the effectiveness of the proposed scheme.