• 한국정밀공학회지
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• 제15권11호
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• 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.

• 응용통계연구
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• 제15권2호
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• pp.337-354
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• 2002

본 논문에서는 오차성분이 계열상관을 갖는 불균형 랜덤모형에서 분산성분의 추정방법에 대하여 연구하였다. 분산성분에 대한 추정량으로 조건부 ANOVA(cANOVA), ML및 REML추정량등을 유도하였으며, 계열상관값과 불균형의 정도에 따른 추정량의 변동성을 추정량의 분위수를 이용하는 EQDGs플롯을 이용하여 비교하였다. 모의실험결과 cANOVA추정방법은 불균형의 정도에는 추정량값이 크게 영향을 받지 않는 것으로 나타났으나 계열상관값의 증가에 따라서는 변동성을 보이고 있다. 불균형의 정도와 계열상관값을 동시에 고려하는 경우에는 ML추정방법이 cANOVA, REML추정방법보다 변동성이 안정적으로 나타났다.

• 응용통계연구
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• 제25권3호
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• pp.457-464
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• 2012

Small area estimation is a statistical inference method to overcome the large variance due to the small sample size allocated in a small area. Recently some nonparametric estimators have been applied to small area estimation. In this study, we suggest a nonparametric mixed effect small area estimator using kernel smoothing and compare the small area estimators using labor statistics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.32-35
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• 1996

In this paper, it is shown that the dominant errors of baro-altimeters can be characterized by bias and scale factor errors. Also an optimal filter for estimating both bias and scale factor is derived based on the concept of model transition. The optimal filter is, however, not realizable because the model transition hypotheses increase exponentially. Therefore a realizable suboptimal filter using the interacting multiple model(IMM) technique is proposed. Computer simulation results show that the estimation errors of the proposed filter are smaller than those of the conventional least squares algorithm with a forgetting factor when both the bias and the scale factor are varying.

• Journal of the Korean Data and Information Science Society
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• 제17권3호
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• pp.1009-1019
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• 2006

In this paper, we consider the simultaneous estimation problem for the normal means. We set up the model structure using the several different distributions of the errors for observing their effects of model perturbation for the error terms in obtaining the empirical Bayes and hierarchical Bayes estimators. We compare the performance of those estimators under model perturbation based on a simulation study.

• 한국방재학회 논문집
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• 제10권6호
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• pp.119-130
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• 2010

본 연구에서는 가상유역에 대한 분포형 모형의 적용을 통해 다양한 유역 및 유출조건에서도 적용 가능한 저류함수법의 매개변수를 추정하기 위한 범용모형을 개발하였다. 기존의 매개변수 추정식은 대부분 한정된 조건의 관측자료에 기초하고 있어 실제 유출에 영향을 미치는 인자를 민감하게 고려하기 힘든 문제점이 있었다. 약 35,000회의 다양한 조건을 고려한 유출모의 결과를 기초로 이를 가장 잘 반영해 줄 수 있는 매개변수 모형을 구성한 결과 저류함수법의 지체시간은 주로 유역내 가장 긴 유로의 특성과 밀접한 관련이 있고, 저류상수의 경우 유역의 특성들과 관련성이 높은 것으로 나타났다.

• 대한기계학회논문집A
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• 제33권8호
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• pp.832-841
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• 2009

Wheels of UGV can be used to get the information about the ground. However, wheels of UGV with actively articulated suspension cannot be used as the roles because the each wheel does not remain in contact with the ground. Therefore, in this study, we proposed the indexes and models to estimate the contact wheels. First, we formulated the dynamic equations about the actively articulated suspensions and wheels. Then estimation index $I_{WTC}$ and $I_{ATC}$ were developed from the equations, and analyzed the strengths and weaknesses of each index. As the results, we developed the fuzzy rule-based estimation model additionally derived from our observations. $I_{WTC}$ model and $I_{ATC}$ model could eliminate the noise of about 60% in comparison with the result without the estimation model. Fuzzy model also could reduce the noise of about 83%. In addition, fuzzy rule-based estimation model had high sensitivity and precision as well as robustness.

• 한국IT서비스학회지
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• 제16권3호
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• pp.47-65
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• 2017

The reference guide for the cost of establishing the digital documents has been used as a basis for establishing the budget for the construction of the knowledge information resource. However, due to the abolition of the nominal unit price notification in terms of IT projects, it is necessary to conduct research to convert the standard of the current labor force grade standard to the national incompetency standard (NCS). In this study, we investigate and revise the system and contents of the current knowledge information cost estimation model. In specific, i) we conducted gap analysis of cost estimation model and existing NCS model. As the contents conforming for the construction of the knowledge information resource were not adoptable, we define the description of the construction of the knowledge information resource and to identify the core elements of NCS prior to the improvement of the cost model. ⅱ) then we proposed improve the cost model considering integration with newly proposed NCS model for knowledge information construction job. In order to ensure the validity of the application of NCS development and cost estimation model, the experts reviewed relevant contents and made plans for improvement by using experts from supply and demand groups of various fields of national knowledge informatization projects.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2009년도 춘계 학술발표회
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• pp.1043-1052
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• 2009

To derive easily the coefficient of permeability from several other soil properties, the estimation model of coefficient of permeability was proposed using linear regression analysis. The coefficient of permeability is one of the major factors to evaluate the soil characteristics. The study area is located in Kangwon-do Pyeongchang-gun Jinbu-Myeon. Soil samples of 45 spots were taken from the study area and various soil tests were carried out in laboratory. After selecting the soil factor influenced by the coefficient of permeability through the correlation analysis, the estimation model of coefficient of permeability was developed using the linear regression analysis between the selected soil factor and the coefficient of permeability from permeability test. Also, the estimation model of coefficient of permeability was compared with the results from permeability test and empirical equation, and the suitability of proposed model was proved. As the result of correlation analysis between various soil factors and the coefficient of permeability using SPSS(statistical package for the social sciences), the largest influence factor of coefficient of permeability were the effective grain size, porosity and dry unit weight. The coefficient of permeability calculated from the proposed model was similar to that resulted from permeability test. Therefore, the proposed model can be used in case of estimating the coefficient of permeability at the same soil condition like study area.