• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.481-487
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• 2013

This paper presents an FIR (Finite Impulse Response) fixed-interval smoothing filter for fast and exact estimating state variables of a discrete nonlinear system with modeling uncertainty. Conventional IIR (Infinite Impulse Response) filter and smoothing filter can estimate state variables of a system with an exact model when the system is observable. When there is an uncertainty in the system model, however, conventional IIR filter and smoothing filter may cause large errors because the filters cannot estimate the state variables corresponding to the uncertain model exactly. To solve this problem, FIR filters that have fast estimation properties and have robustness to the modeling uncertainty have been developed. However, there is time-delay estimation phenomenon in the FIR filter. The FIR smoothing filter proposed in this paper makes up for the drawbacks of the IIR filter, IIR smoothing filter, and FIR filter. Therefore, the FIR smoothing filter has good estimation performance irrespective of modeling uncertainty. The proposed FIR smoothing filter is applied to the integrated navigation system composed of a magnetic compass based DR (Dead Reckoning) and a GPS (Global Positioning System) receiver. Even when the magnetic compass error that changes largely as the surrounding magnetic field is modeled as a random constant, it is shown that the FIR smoothing filter can estimate the varying magnetic compass error fast and exactly with simulation results.

• Journal of the Korean Society for Nondestructive Testing
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• v.19 no.5
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• pp.333-339
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• 1999

It is well recognized that ultrasonic technique is one of the most common and reliable nondestructive evaluation techniques for quantitative estimation of defects in structures. For the quantitative and accurate estimation of internal defects. the characteristics of scattered ultrasonic wavefields must be understood. In this study. the scattered near-field and far-field due to a circular cavity embedded in infinite media subjected to incident SH-waves were calculated by the boundary element method. The frequency response of the scattered ultrasonic far-field was transformed into the time-domain signal by obtaining its inverse Fourier transform. It was found that the amplitude of time-domain signal decreases and its time delay increases as the distance between the detecting point of ultrasonic scattered field and the center of internal cavity increases.