• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.978-982
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• 2007

This paper presents the velocity estimation of a mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the basic principle of the proposed velocity estimation method is explained. Second, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. Third, for a given set of optical mouse readings, the mobile robot velocity is estimated based on the least squares solution to the obtained system. Finally, simulation results are given to demonstrate the validity of the proposed velocity estimation method.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.713-721
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• 2008

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a polygonal array of optical mice that are installed at the bottom of the mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. The least squares velocity estimate of a mobile robot is then obtained, which becomes the same as the simple average for a regular polygonal arrangement of optical mice. Next, several practical issues that need be addressed for the use of the least squares mobile robot velocity estimation using optical mice are investigated, which include measurement noises, partial malfunctions, and imperfect installation. Finally, experimental results with different number of optical mice and under different floor surface conditions are given to demonstrate the validity and performance of the proposed least squares mobile robot velocity estimation method.

• Journal of Information Processing Systems
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• v.15 no.4
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• pp.820-832
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• 2019

Estimation of accurate blood volume flow in ultrasound Doppler blood flow spectrograms is extremely important for clinical diagnostic purposes. Blood volume flow measurements require the assessment of both the velocity distribution and the cross-sectional area of the vessel. Unfortunately, the existing volume flow estimation algorithms by ultrasound lack the velocity space distribution information in cross-sections of a vessel and have the problems of low accuracy and poor stability. In this paper, a new robust ultrasound volume flow estimation method based on multigate (RMG) is proposed and the multigate technology provides detail information on the local velocity distribution. In this method, an accurate double iterative flow velocity estimation algorithm (DIV) is used to estimate the mean velocity and it has been tested on in vivo data from carotid. The results from experiments indicate a mean standard deviation of less than 6% in flow velocities when estimated for a range of SNR levels. The RMG method is validated in a custom-designed experimental setup, Doppler phantom and imitation blood flow control system. In vitro experimental results show that the mean error of the RMG algorithm is 4.81%. Low errors in blood volume flow estimation make the prospect of using the RMG algorithm for real-time blood volume flow estimation possible.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.1
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• pp.131-136
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• 2018

Reliable velocity estimation technology for trains is one of technologies used to operate trains safely and effectively. Various sensors such as tachometers, doppler radars, and global positioning systems are used to estimate velocity of a train. Tachometer is widely used to estimate velocity of a trains due to its simplicity, small volume, cost-effectiveness, continuously measurement at high speed, and robustness against noise. Accuracy in the velocity calculation using a tachometer depends on quantization error, measurement error of wheel radius or diameter, and tachometer's imperfection from manufacturing or installation process. In this paper, we present an accurate velocity estimation method using a low-resolution tachometer, which is commonly installed on a high-speed train. Baseline estimation method is proposed to accurately calculate the velocity of the high-speed train from tachometer's pulses. HEMU-430x test train is used for the experiment and verification of the proposed method. Experimental results with several routes show that the proposed method is more accurate than a conventional method.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.2
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• pp.177-184
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• 2016

This paper presents a strike velocity estimation using the recursive Bayesian filter that operates both correction and prediction models to probabilistically remove noises of sensors and accurately estimate the strike velocity during the real-time experiments. Four different types of bullets such as 5.56 mm M193, 7.62 mm M80, 5.45 mm 7N10 and 7.62 mm MSC were used to validate the proposed method. Compared to the existing method, the proposed method statistically results in higher stability of the strike velocity estimation as well as its reliability for the ballistic limit velocity computation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.60-65
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• 2003

In this study, for estimating responses of a controlled structure and determining the maximum control force of velocity-dependent damping devices, three estimation models such as Fourier envelope convex model, probability model, and Newmark design spectrum are used. For this purpose, a procedure proposed by Gupta (1990) for estimating spectral velocity using pseudo-spectral velocity which is given by the estimation models is used and modified to consider the effects of increased damping ratio by the damping device. Time history results indicate that Newmark design spectrum gives the best estimation of maximum control force for over all period structures.

• 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.

• Journal of the Semiconductor & Display Technology
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• v.11 no.3
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• pp.13-18
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• 2012

This paper presents a velocity disturbance estimation system for the stable fine seek control using a genetic algorithm. To estimate accurately the velocity disturbance in spite of the uncertainties of fine actuator, the system utilizes an objective function to minimize the differences of the frequency characteristics between the nominal velocity control loop and the extremal velocity control loops. The objective function is considered by applying a genetic algorithm and the velocity disturbance is estimated by the measurable velocity, the adjusted velocity controller, and the fine actuator model. The proposed velocity disturbance estimation system is applied to the fine seek control system of a DVD recording device and is evaluated through the experimental results.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.8 no.2
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• pp.100-107
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• 2009

Velocity estimation is one of important issues for efficient system management in mobile cellular systems. In this paper, a modified velocity estimation scheme which works in Adaptive Antenna System (AAS) is proposed. The proposed scheme estimates user velocity based on moving distance information and sojourn time information. From numerical results, it is shown that the proposed scheme can estimate user velocity accurately with low cost.