• 한국음향학회지
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• 제13권2호
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• pp.76-85
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• 1994

정체형 칼만필터와 간단한 음성-비음성 판별알고리즘을 사용하여 비정체형 유색잡음을 감쇠시키는 방법을 제안하였다. 종래의 잡음감쇠알고리즘들이 대부분 백색 또는 정체형 잡음을 다룬데 비하여 본 연구는 대부분의 실제 잡음환경, 즉, 비백색 비정체성 잡음을 다루었다는 점이 다르다. 잡음감쇠기로서는 AR모델에 의거한 백터형 칼만필터를 사용하였고, 음성/비음성 판별에는 단구간에너지의 임계값논리를 사용하였다. 칼만필터에 필요한 잡음의 계수는 비음성구간에서 추산하였고, 음성의 계수는 EM반복법을 적용하여 추산하였다. 실험결과는 신호대 잡음비와 청취테스트로 제시하였다. 차량잡음을 사용한 실험결과, 비음성구간의 배경잡음은 거의 완전히 제거할 수 있었고, SNR이 0dB내지 -5dB로 낮아짐에 따라 왜곡이 심화 되는 경향을 보였으나, 음성의 명료도를 저하시키지는 않았다.

• Wind and Structures
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• 제36권4호
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• pp.221-236
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• 2023

The lateral component of turbulence and the vortices shed in the wake of a structure result in introducing dynamic wind load in the acrosswind direction and the resulting level of motion is typically larger than the corresponding alongwind motion for a dynamically sensitive structure. The underlying source mechanisms of the acrosswind load may be classified into motion-induced, buffeting, and Strouhal components. This study proposes a frequency domain framework to decompose the overall load into these components based on output-only measurements from wind tunnel experiments or full-scale measurements. First, the total acrosswind load is identified based on measured acceleration response by solving the inverse problem using the Kalman filter technique. The decomposition of the combined load is then performed by modeling each load component in terms of a Bayesian filtering scheme. More specifically, the decomposition and the estimation of the model parameters are accomplished using the unscented Kalman filter in the frequency domain. An aeroelastic wind tunnel experiment involving a tall circular cylinder was carried out for the validation of the proposed framework. The contribution of each load component to the acrosswind response is assessed by re-analyzing the system with the decomposed components. Through comparison of the measured and the re-analyzed response, it is demonstrated that the proposed framework effectively decomposes the total acrosswind load into components and sheds light on the overall underlying mechanism of the acrosswind load and attendant structural response. The delineation of these load components and their subsequent modeling and control may become increasingly important as tall slender buildings of the prismatic cross-section that are highly sensitive to the acrosswind load effects are increasingly being built in major metropolises.

• 비파괴검사학회지
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• 제23권1호
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• pp.21-29
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• 2003

실시간 로봇 위치 제어를 위해 비젼시스템을 사용할 때 이 모델에 포함된 매개변수를 추정하는데 있어 계산시간을 줄이는 것은 매우 중요하다. 불행히도 흔히 사용되고 있는 일괄 처리 기법은 반복적으로 계산이 수행되기 때문에 많은 계산 시간을 필요로 하여 실시간 로봇 위치 제어를 어렵게 한다. 반면에 본 연구에서 사용하고자 하는 화장 칼만 필터링은 사용하기 편리하고, 또한 순환적 방법으로 계산되기 때문에 비젼시스템의 매개변수를 계산하는데 있어 시간을 줄이는 커다란 장점을 가지고 있다. 따라서 본 연구에서는 실시간 로봇 위치 제어를 위해 사용하는 비젼 제어 기법에 확장 칼만 필터링을 적용되었다 여기서 사용된 비젼시스템 모델은 카메라 내부 매개변수(방향, 초점거리 등) 및 외부 매개변수(카메라와 로봇 사이의 상대적 위치)를 설명하기 위해 6개 매개변수를 포함하고 있다. 이러한 매개변수를 추정하기 위해 확장 칼만 필터링 기법이 적용되었다. 또한 이렇게 추정된 6개 매개변수를 사용하여 로봇을 구동시키기 위해 필요한 로봇 회전각 추정에도 화장 칼만 필터링 기법이 적용되었다. 최종적으로 확장 칼만 필터링을 사용하여 개발된 비젼 제어 기법의 타당성을 로봇 위치 제어 실험을 수행하여 확인하였다.

• 한국생산제조학회지
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• 제23권5호
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• pp.485-497
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• 2014

This paper presents the robot vision control schemes based on the Newton-Raphson (N-R) and the Extended Kalman Filter (EKF) methods for the tracking of moving targets. The vision system model used in this study involves the six camera parameters. The difference is that refers to the uncertainty of the camera's orientation and focal length, and refers to the unknown relative position between the camera and the robot. Both N-R and EKF methods are employed towards the estimation of the six camera parameters. Based on the these six parameters estimated using three cameras, the robot's joint angles are computed with respect to the moving targets, using both N-R and EKF methods. The two robot vision control schemes are tested by tracking the moving target experimentally. Given the experimental results, the two robot control schemes are compared in order to evaluate their strengths and weaknesses.

• Journal of Electrical Engineering and Technology
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• 제7권5호
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• pp.789-796
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• 2012

Fingerprinting is a widely used positioning technology for received signal strength (RSS) based wireless local area network (WLAN) positioning system. Though spatial RSS variation is the key factor of the positioning technology, temporal RSS variation needs to be considered for more accuracy. To deal with the spatial and temporal RSS characteristics within a unified framework, this paper proposes an extended signal propagation mode (ESPM) and a fingerprint generation method. The proposed spatiotemporal fingerprint generation method consists of two algorithms running in parallel; Kalman filtering at several measurement-sampling locations and Kriging to generate location fingerprints at dense reference locations. The two different algorithms are connected by the extended signal propagation model which describes the spatial and temporal measurement characteristics in one frame. An experiment demonstrates that the proposed method provides an improved positioning accuracy.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2007년도 학술발표회 논문집
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• pp.58-66
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• 2007

This paper introduces the new generic dynamic neuro-fuzzy local modeling system (DNFLMS) that is based on a dynamic Takagi-Sugeno (TS) type fuzzy inference system for complex dynamic hydrological modeling tasks. The proposed DNFLMS applies a local generalization principle and an one-pass training procedure by using the evolving clustering method to create and update fuzzy local models dynamically and the extended Kalman filtering learning algorithm to optimize the parameters of the consequence part of fuzzy local models. The proposed DNFLMS is applied to develop the inference model to forecast the flow of Waikoropupu Springs, located in the Takaka Valley, South Island, New Zealand, and the influence of the operation of the 32 Megawatts Cobb hydropower station on springs flow. It is demonstrated that the proposed DNFLMS is superior in terms of model accuracy, model complexity, and computational efficiency when compared with a multi-layer perceptron trained with the back propagation learning algorithm and well-known adaptive neural-fuzzy inference system, both of which adopt global generalization.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1788-1789
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• 2011

In order to develop a one-axis gimbaled acoustic source tracker for mobile robots, a pseudo-linear direction of arrival(DOA) estimator is proposed using a linear ultrasonic sensor array. Under the assumption that the sensor measurement errors are negligible, a linear measurement model is derived using the linear prediction relation of the received sinusoidal acoustic signals. Applying the Kalman filtering technique for this model, the linear recursive DOA estimator is designed. For its linear recursive filter structure, it is preferable for real-time implementation on a commercial DSP. Through the experiments, the effectiveness of the suggested method is demonstrated.

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.31-46
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• 2009

An Unscented Kalman Filter (UKF) for estimation of the attitude and rate of a spacecraft using only magnetometer vector measurement is developed. The attitude dynamics used in the estimation is the nonlinear Euler's rotational equation which is augmented with the quaternion kinematics to construct a process model. The filter is designed for small satellite in low Earth orbit, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag torque. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. Two types of actuators have been modeled and applied in the simulation. The PD controller is used for the two types of actuators (reaction wheels and thrusters) to detumble the spacecraft. The estimation error converged to within 5 deg for attitude and 0.1 deg/s for rate respectively when the two types of actuators were used. A joint state parameter estimation has been tested and the effect of the process noise covariance on the parameter estimation has been indicated. Also, Monte-Carlo simulations have been performed to test the capability of the filter to converge with the initial conditions sampled from a uniform distribution. Finally, the UKF performance has been compared to that of the EKF and it demonstrates that UKF slightly outperforms EKF. The developed algorithm can be applied to any type of small satellites that are actuated by magnetic torquers, reaction wheels or thrusters with a capability of magnetometer vector measurements for attitude and rate estimation.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
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• pp.36.1-36.1
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• 2008

An Unscented Kalman Filter(UKF) for estimation of attitude and rate of a spacecraft using only magnetometer vector measurement is presented. The dynamics used in the filter is nonlinear rotational equation which is augmented by the quaternion kinematics to construct a process model. The filter is designed for low Earth orbit satellite, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. To stabilize the attitude, linear PD controller is applied and the actuator is assumed to be thruster. A Monte-Carlo simulation has been done to guarantee the stability of the filter performance to the various initial conditions. The UKF performance is compared to that of EKF and it reveals that UKF outperforms EKF.

• 대한토목학회논문집
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• 제36권3호
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• pp.521-528
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• 2016

고속도로의 주요 영업소 톨부스는 일반적으로 2개 차종(경차포함 승용차, 승용차 이외의 중차량)의 교통수요 변동에 따른 사전 대응방식으로 각 차종에 대하여 운영된다. 이러한 의미에서 2개 차종에 대한 정확한 교통량 예측은 영업소의 첨단 운영에 있어 주요 요소 중 하나이다. 유감스럽게도, 기존 연구로 보고된 현행의 일변량 단기 예측 기법들을 이용하여 2개 차종의 교통량을 동시에 예측하기는 용이하지 않다. 이러한 실용적 학술적 배경으로 인해 수용 가능한 정확도의 수준에서 2개 차종의 장래 교통량 예측은 ITS 예측 분야의 매력적인 연구 주제 중 하나이다. 따라서 본 연구에서는 기존의 일변량 단기 예측기법의 단점을 극복함과 더불어 2개 차종의 교통량을 동시에 예측하기 위한 다중 입출력(Multiple In-and-Out, MIO) 모형을 제시하도록 한다. 제안된 MIO 모형은 대용량 이력자료의 실시간 이용이 가능한 자료 환경에서 비모수 접근법을 기반으로 개발되었다. 실제 자료를 이용한 적용가능 실험에서, 개발모형은 다변량 예측 수준에도 불구하고 폭 넓게 이용되는 일변량 예측모형 중 하나인 Kalman filtering에 비하여 예측 정확도 측면에서 우수하게 나타났다.