• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.2
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• pp.353-368
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• 2023

The four wing unmanned aerial vehicle owns the characteristics of small size, light weight, convenient operation and well stability. But it is easily disturbed by external environmental factors during flight with these disadvantages of short endurance and poor attitude solving ability. For solving these problems, a microprocessor based on STM32 chip is designed and the overall development is completed by the resources such as built-in timer and multi-function mode general-purpose input/output provided by the master micro controller unit, together with radio receiver, attitude meter, barometer, electronic speed control and other devices. The unmanned aerial vehicle can be remotely controlled and send radio waves to its corresponding receiver, control the analog level change of its corresponding channel pins. The master control chip can analyze and process the data to send multiple sets pulse signals of pulse width modulation to each electronic speed control. Then the electronic speed control will transform different pulse signals into different sizes of current value to drive the motor located in each direction of the frame to generate different rotational speed and generate lift force. To control the body of the unmanned aerial vehicle, so as to achieve the operator's requirements for attitude control, the PID controller based on Kalman filter is used to achieve quick response time and control accuracy. Test results show that the design is feasible.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.107-116
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• 2003

This paper presents a systematic design methodology for fault tolerant controller against a fault in actuators and sensors of linear stochastic systems with uncertainties. The scheme is based on fault detection and diagnosis(isolation and estimation) using a bank of robust two-stage Kalman filters, and accommodation of the actuator fault by eigenstructure assignment and immediate compensation of the sensor's faulty measurement. In order to clarify the fault feature in test statistics of residual, noise reduction method is given by multi-scale discrete wavelet transform. The effectiveness of our approach Is shown via simulations for a VTOL(vertical take-off and landing) aircraft subjected to parameter variations, external disturbances, process and sensor noises.

• KIPS Transactions on Computer and Communication Systems
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• v.6 no.8
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• pp.353-358
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• 2017

An electrical power utility, like an electrical power pole, includes various kinds of sensors for smart services. Temperature data is considered one of the important factors that can influence the smart operations of this utility. This study suggests a method for temperature data analysis for deciding the status of the smart electrical power utilities by using Kalman Filter and Ensemble Model. The suggested approach separates the temperature data according to the different positions of the temperature sensors of a utility, then uses Kalman Filter and Ensemble Model to analyse the characteristics of the temperature variation. With detailed processes, method explains the variation between an external temperature factor like weather temperature data and the sensed temperature data, and then, analysis the temperature data from each position of electrical power utilities. In this process, the suggested method uses Kalman Filter to remove error data and the ensemble model to find out mean value of every hour of electrical data. The result and discussion of temperature analysis were described clearly with the analysed results of electrical data. Finally, we were able to check the working condition of the power devices and the range of the temperature data foe each devices, which may help to indicate any causalities with respect to the devices in the utility pole.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.101-103
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• 2007

In this paper. we design a robust optimal controller for ultra-precision positioning system. Generally, it is hard to control the nanometric scale positioning system because of the parameter uncertainties and external disturbances. To solve this problem. we suggest a control algorithm based on the modified sliding-mode control and the LQ control in an augmented system. The augmented system is composed of additional state variables: state estimates and control input in the nominal system. Through comparison with LQ optimal control, it is verified that the proposed control algorithm is more robust to the unexpected parameter variations and external noises.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.11
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• pp.1868-1878
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• 2016

This paper proposes a novel velocity estimator for long-term underwater navigation of autonomous underwater vehicles(AUVs). Provided that an external position fix is not given, a viable goal in designing a underwater navigation algorithm is to reduce the divergence rate of position error only using the sporadic velocity information obtained from Doppler velocity log(DVL). For such case, the performance of underwater navigation eventually depends on accuracy and reliability of external velocity information. This motivates us to devise a velocity estimator which can drastically enhance the navigation performance even when the DVL measurement is unavailable. Incorporating the Gertler-Hagen hydrodynamics model of an AUV with the measurement models of velocity and depth sensors, the velocity estimator design problem is resolved using the extended Kalman filter. Different from the existing methods in which an AUV simulator is regarded as a virtual sensor, our approach is less sensitive to the model uncertainty often encountered in practice. This is because our velocity filter estimates the simulator errors with sensor aids and furthermore compensates these errors based on the indirect feedforward manner. Through the simulations for typical AUV navigation scenarios, the effectiveness of the proposed scheme is demonstrated.

• KIPS Transactions on Computer and Communication Systems
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• v.6 no.11
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• pp.437-444
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• 2017

Electric Pole is a supporting beam used for power transmission/distribution which is sensitive to external force change of environmental factors. Therefore, power facilities have many difficulties in terms of maintenance/conservation from external environmental changes and natural disasters that cause a great economic impact. The aerial wire cause elasticity due to the influence of temperature, or factors such as wind speed and wind direction, that weakens the electric pole. The situation may lead to many safety risk in day-to-day life. But, the safety assessment of the pole is carried out at the design stage, and aftermath is not considered. For the safety and maintenance purposes, it is very important to analyze the influence of weather factors on external forces periodically. In this paper, we analyze the acceleration data of the sensor nodes installed in electric pole for maintenance/safety purpose and use Kalman filter as noise compensation method. Fast Fourier Transform (FFT) is performed to analyze the influence of each meteorological factor, along with the meteorological factors on frequency components. The result of the analysis shows that the temperature, humidity, solar radiation, hour of daylight, air pressure, wind direction and wind speed were influential factors. In this paper, the influences of meteorological factors on frequency components are different, and it is thought that it can be an important factor in achieving the purpose of safety and maintenance.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.4
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• pp.1603-1623
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• 2020

Multiple Mobile Robots System (MMRS) has shown many attractive features in lots of real-world applications that motivate their rapid and wide diffusion. In MMRS, the Cooperative Localization (CL) is the basis and premise of its high-performance task. However, the statistical characteristics of the system noise should be already known in traditional CL algorithms, which is difficult to satisfy in actual MMRS because of the numerous of disturbances form the complex external environment. So the CL accuracy will be reduced. To solve this problem, an improved Adaptive Active Cooperative Localization (A²CL) algorithm based on information optimization strategy for MMRS is proposed in this manuscript. In this manuscript, an adaptive information fusion algorithm based on the variance component estimation under Extended Kalman filter (VCEKF) method for MMRS is introduced firstly to enhance the robustness and accuracy of information fusion by estimating the covariance matrix of the system noise or observation noise in real time. Besides, to decrease the effect of observation uncertainty on CL accuracy further, an observation optimization strategy based on information theory, the Model Predictive Control (MPC) strategy, is used here to maximize the information amount from observations. And semi-physical simulation experiments were carried out to verity the A²CL algorithm's performance finally. Results proved that the presented A²CL algorithm based on information optimization strategy for MMRS cannot only enhance the CL accuracy effectively but also have good robustness.

• Proceedings of the Korea Water Resources Association Conference
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• 2008.05a
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• pp.997-1000
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• 2008

기상 레이더와 지상강우계를 이용한 실시간 강우산정기법은 전형적인 Marshall-Palmer(M-P) 방법, geostatistic 접근법을 이용한 방법, 회귀분석에 의한 방법, Kalman filter를 이용한 방법 및 실시간 weight mask를 이용한 보정 등 여러 형태가 존재한다. 본 연구에서는 실시간 강우산정을 위한 각 방법의 장단점 및 적용성을 분석하였다. 전형적인 M-P 방법은 잘 알려진 바와 같이 호우사상을 과소 추정하는 단점을 가졌으며 기존 연구자들이 제시한 바와 같이 층운형, 대류형과 같은 강우형태에 따라 다른 Z-R관계식을 가지므로 단일 Z-R관계식으로 강수를 산정함에 있어 한계를 가진다. Geostatistic 기법을 이용한 실시간 강수 산정의 경우, 지상 강우계 정보를 활용하여 강우공간분포를 개선하는 여러 기법 즉 cokriging, external drift 기법 등이 존재함에도 불구하고 과다한 계산시간, 실시간 variogram 산정과 적용상의 문제 등을 내포하고 있다. 실시간 회귀분석을 이용한 강우산정은 실제 적용에 있어 지상 강우계와 레이더 반사도사이의 선형 상관관계에 대한 결정계수가 매우 낮아 기법 적용이 간단한 장점에도 불구하고 적용에 한계를 가진다. Kalman filter기법을 이용한 실시간 레이더 강수산정은 계산시간이 여타 기법보다 많이 소요되어 실시간성을 유지하는데 한계를 가진다. 실시간 weight mask를 이용한 보정기법은 지상강우계 강우강도와 기상레이더 강우강도가 선형상관관계를 가진다는 가정이 대상지역 전체에 균일하게 적용될 수 없음에도 불구하고 기법의 적용이 간편하며 실시간 강우 공간분포를 실제 강우 관측인 지상 강우계 공간 분포 특성을 간접 강우 관측인 기상 레이더 반사도 분포와 결합하여 공간 변화 특성을 잘 나타낸다는 장점을 가지므로 실용적 적용에 있어 장점을 가진다.

• Smart Structures and Systems
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• v.31 no.2
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• pp.131-140
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• 2023

As well-known, the extended Kalman filter (EKF) is a powerful tool for parameter identification with limited measurements. However, traditional EKF is not applicable when the external excitation is unknown. By using least-squares estimation (LSE) for force identification, an EKF with unknown input (EKF-UI) approach was recently proposed by the authors. In this approach, to ensure the influence matrix be of full column rank, the sensors have to be deployed at all the degrees-of-freedom (DOFs) corresponding to the unknown excitation, saying collocated measurements are required. However, it is not easy to guarantee that the sensors can be installed at all these locations. To circumvent this limitation, based on the idea of first-order-holder discretization (FOHD), an improved EKF with unknown input (IEKF-UI) approach is proposed in this study for the simultaneous identification of structural parameters and unknown excitation. By using projection matrix, an improved observation equation is obtained. Few displacement measurements are fused into the observation equation to avoid the so-called low-frequency drift. To avoid the ill-conditioning problem for force identification without collocated measurements, the idea of FOHD is employed. The recursive solution of the structural states and unknown loads is then analytically derived. The effectiveness of the proposed approach is validated via several numerical examples. Results show that the proposed approach is capable of satisfactorily identifying the parameters of linear and nonlinear structures and the unknown excitation applied to them.

• Smart Structures and Systems
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• v.32 no.1
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• pp.9-21
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• 2023

The parameters of civil engineering structures have time-variant characteristics during their service. When extremely large external excitations, such as earthquake excitation to buildings or overweight vehicles to bridges, apply to structures, sudden or gradual damage may be caused. It is crucially necessary to detect the occurrence time and severity of the damage. The unscented Kalman filter (UKF), as one efficient estimator, is usually used to conduct the recursive identification of parameters. However, the conventional UKF algorithm has a weak tracking ability for time-variant structural parameters. To improve the identification ability of time-variant parameters, an adaptive UKF with forgetting factor (AUKF-FF) algorithm, in which the state covariance, innovation covariance and cross covariance are updated simultaneously with the help of the forgetting factor, is proposed. To verify the effectiveness of the method, this paper conducted two case studies as follows: the identification of time-variant parameters of a simply supported bridge when the vehicle passing, and the model updating of a six-story concrete frame structure with field test during the Yangbi earthquake excitation in Yunnan Province, China. The comparison results of the numerical studies show that the proposed method is superior to the conventional UKF algorithm for the time-variant parameter identification in convergence speed, accuracy and adaptability to the sampling frequency. The field test studies demonstrate that the proposed method can provide suggestions for solving practical problems.