• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.2
• /
• pp.170-174
• /
• 2014

In this paper, an unknown input estimation method via the optimal FIR smoother is proposed for linear discrete-time systems. The unknown inputs are represented by random walk processes and treated as auxiliary states in augmented state space models. In order to estimate augmented states which include unknown inputs, the optimal FIR smoother is applied to the augmented state space model. Since the optimal FIR smoother is unbiased and independent of any a priori information of the augmented state, the estimates of each unknown input are independent of the initial state and of other unknown inputs. Moreover, the proposed method can be applied to stochastic singular systems, since the optimal FIR smoother is derived without the assumption that the system matrix is nonsingular. A numerical example is given to show the performance of the proposed estimation method.

• Journal of KIISE:Software and Applications
• /
• v.30 no.9
• /
• pp.867-875
• /
• 2003

This paper concerns continuous density HMM topology optimization. There have been several researches for HMM topology optimization. BIC (Bayesian Information Criterion) is one of the well known optimization criteria, which assumes statistically well behaved homogeneous model parameters. HMMs, however, are composed of several different kind of parameters to accommodate complex topology, thus BIC's assumption does not hold true for HMMs. Even though BIC reduced the total number of parameters of HMMs, it could not improve the recognition rates. In this paper, we proposed two new model selection criteria, HBIC (HMM-oriented BIC) and BIC_Anti. The former is proposed to improve BIC by estimating model priors separately. The latter is to combine BIC and anti-likelihood to accelerate discrimination power of HMMs. We performed some comparative research on couple of model selection criteria for online handwriting data recognition. We got better recognition results with fewer number of parameters.

• Smart Structures and Systems
• /
• v.3 no.3
• /
• pp.245-261
• /
• 2007

Nonlinear time-domain system identification (SI) algorithm is proposed to assess damage in a shear building by synchronously estimating time-varying stiffness and damping parameters using measured acceleration data. Mass properties have been assumed as the a priori known information. Viscous damping was utilized for the current research. To chase possible nonlinear dynamic behavior under severe vibration, an incremental governing equation of vibrational motion has been utilized. Stiffness and damping parameters are estimated at each time step by minimizing the response error between measured and computed acceleration increments at the measured degrees-of-freedom. To solve a nonlinear constrained optimization problem for optimal structural parameters, sensitivities of acceleration increment were formulated with respect to stiffness and damping parameters, respectively. Incremental state vectors of vibrational motion were computed numerically by Newmark-${\beta}$ method. No model is pre-defined in the proposed algorithm for recovering the nonlinear response. A time-window scheme together with Monte Carlo iterations was utilized to estimate parameters with noise polluted sparse measured acceleration. A moving average scheme was applied to estimate the time-varying trend of structural parameters in all the examples. To examine the proposed SI algorithm, simulation studies were carried out intensively with sample shear buildings under earthquake excitations. In addition, the algorithm was applied to assess damage with laboratory test data obtained from free vibration on a three-story shear building model.

• Structural Engineering and Mechanics
• /
• v.11 no.3
• /
• pp.237-258
• /
• 2001

Structural identification via modal analysis in structural mechanics is gaining popularity in recent years, despite conceptual difficulties connected with its use. This paper is devoted to illustrate both the capabilities and the indeterminacy characterizing structural identification problems even in quite simple instances, as well as the cautions that should be accordingly adopted. In particular, we discuss an application of an identification technique of variational type, based on the measurement of eigenfrequencies and mode shapes, to a steel frame with friction joints under various assembling conditions. Experience has suggested, so as to restrict the indeterminacy frequently affecting identification issues, having resort to all the a priori acknowledged information on the system, to the symmetry and presence of structural elements with equal stiffness, to mention one example, and mindfully selecting the parameters to be identified. In addition, considering that the identification techniques have a local character and correspond to the updating of a preliminary model of the structure, it is important that the analytical model on the first attempt should be adequately accurate. Secondly, it has proved determinant to cross the results of the dynamic identification with tests of other typology, for instance, static tests, so as to fully understand the structural behavior and avoid the indeterminacy due to the nonuniqueness of the inverse problem.

• Asian-Australasian Journal of Animal Sciences
• /
• v.33 no.10
• /
• pp.1558-1565
• /
• 2020

Objective: The objective of this study was to characterize the number of loci affecting growth traits and the distribution of single nucleotide polymorphism (SNP) effects on growth traits, and to understand the genetic architecture for growth traits in Hanwoo (Korean cattle) using genome-wide association study (GWAS), genomic partitioning, and hierarchical Bayesian mixture models. Methods: GWAS: A single-marker regression-based mixed model was used to test the association between SNPs and causal variants. A genotype relationship matrix was fitted as a random effect in this linear mixed model to correct the genetic structure of a sire family. Genomic restricted maximum likelihood and BayesR: A priori information included setting the fixed additive genetic variance to a pre-specified value; the first mixture component was set to zero, the second to 0.0001×σ²_g, the third 0.001×σ²_g, and the fourth to 0.01×σ²_g. BayesR fixed a priori information was not more than 1% of the genetic variance for each of the SNPs affecting the mixed distribution. Results: The GWAS revealed common genomic regions of 2 Mb on bovine chromosome 14 (BTA14) and 3 had a moderate effect that may contain causal variants for body weight at 6, 12, 18, and 24 months. This genomic region explained approximately 10% of the variance against total additive genetic variance and body weight heritability at 12, 18, and 24 months. BayesR identified the exact genomic region containing causal SNPs on BTA14, 3, and 22. However, the genetic variance explained by each chromosome or SNP was estimated to be very small compared to the total additive genetic variance. Causal SNPs for growth trait on BTA14 explained only 0.04% to 0.5% of the genetic variance Conclusion: Segregating mutations have a moderate effect on BTA14, 3, and 19; many other loci with small effects on growth traits at different ages were also identified.

• Journal of Korea Multimedia Society
• /
• v.18 no.7
• /
• pp.886-894
• /
• 2015

In this paper, we conduct sensitivity analysis of parameters used for inverse modeling in order to estimate the PM₁₀ emissions from the 16 areas in East Asia accurately. Parameters used in sensitivity analysis are R, the observational error covariance matrix, and B, a priori (background) error covariance matrix. In previous studies, it was used with the predetermined parameter empirically. Such a method, however, has difficulties in estimating an accurate emissions. Therefore, an automatically determining method for the most suitable value of R and B with an error measurement criteria and posteriori emissions accuracy is required. We determined the parameters through a sensitivity analysis, and improved the accuracy of posteriori emissions estimation. Inverse modeling methods used in the emissions estimation are pseudo inverse, NNLS (Nonnegative Least Square), and BA(Bayesian Approach). Pseudo inverse has a small error, but has negative values of emissions. In order to resolve the problem, NNLS is used. It has a unrealistic emissions, too. The problems are resolved with BA(Bayesian Approach). We showed the effectiveness and the accuracy of three methods through case studies.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.5
• /
• pp.398-405
• /
• 2005

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Also, the control method is proposed to estimate position and direction between the walking human and the mobile robot, and the Kalman filter scheme is used for the estimation of the mobile robot localization. And its performance is verified by the computer simulation and the experiment.

• Journal of the Korean Geophysical Society
• /
• v.3 no.3
• /
• pp.161-174
• /
• 2000

Bayesian inversion is a stable approach to infer the subsurface structure with the limited data from geophysical explorations. In geophysical inverse process, due to the finite and discrete characteristics of field data and modeling process, some uncertainties are inherent and therefore probabilistic approach to the geophysical inversion is required. Bayesian framework provides theoretical base for the confidency and uncertainty analysis for the inference. However, most of the Bayesian inversion require the integration process of high dimension, so massive calculations like a Monte Carlo integration is demanded to solve it. This method, though, seemed suitable to apply to the geophysical problems which have the characteristics of highly non-linearity, we are faced to meet the promptness and convenience in field process. In this study, by the Gaussian approximation for the observed data and a priori information, fast Bayesian inversion scheme is developed and applied to the model problem with electric well logging and dipole-dipole resistivity data. Each covariance matrices are induced by geostatistical method and optimization technique resulted in maximum a posteriori information. Especially a priori information is evaluated by the cross-validation technique. And the uncertainty analysis was performed to interpret the resistivity structure by simulation of a posteriori covariance matrix.

• Journal of Ecology and Environment
• /
• v.32 no.2
• /
• pp.103-107
• /
• 2009

We investigated colonization and extinction patterns in a meta population of the gold-spotted pond frog (Rana planeyi ehoseniea) near the Korea National University of Education, Chungbuk, Korea, by surveying the frogs in the nine occupied habitat patches in the study area four times per breeding season for three years (2006$\sim$2008) and recording whether the patches were occupied by frogs as well as how many frogs were calling in the patches. We then developed five a priori year-specific models using the Akaike Information Criterion (AIC). The models predicted that: 1) probabilities of colonization and local extinction of the frogs were better explained by year-dependent models than by constant models, 2) there are high local extinction and low colonization probabilities, 3) approximately 31% number of patches will be occupied at equilibrium, and 4) that considerable variation in occupation rate should occur over a 30-year period, due to demographic stochasticity (in our model, the occupation rate ranged from 0.222 to 0.889). Our results suggest that colonization is important in this metapopulation system, which is governed by mainly stochastic components, and that more constructive conservation effects are needed to increase local colonization rates.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.44 no.1
• /
• pp.40-48
• /
• 2007

This paper presents a novel texture segmentation method using multilayer perceptron (MLP) networks and Markov random fields in multiscale Bayesian framework. Multiscale wavelet coefficients are used as input for the neural networks. The output of the neural network is modeled as a posterior probability. Texture classification at each scale is performed by the posterior probabilities from MLP networks and MAP (maximum a posterior) classification. Then, in order to obtain the more improved segmentation result at the finest scale, our proposed method fuses the multiscale MAP classifications sequentially from coarse to fine scales. This process is done by computing the MAP classification given the classification at one scale and a priori knowledge regarding contextual information which is extracted from the adjacent coarser scale classification. In this fusion process, the MRF (Markov random field) prior distribution and Gibbs sampler are used, where the MRF model serves as the smoothness constraint and the Gibbs sampler acts as the MAP classifier. The proposed segmentation method shows better performance than texture segmentation using the HMT (Hidden Markov trees) model and HMTseg.