• 전기학회논문지
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• 제61권2호
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• pp.284-290
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• 2012

This paper addresses a new passive target tracking problem using the range differences measured by cooperative UAVs. In order to solve the range difference based passive target tracking problem within the framework of linear robust state estimation, the uncertain linear measurement model which contains the stochastic parameter uncertainty is derived by using the noisy range difference measurements. To cope with the performance degradation due to the stochastic parameter uncertainty, the recently developed non-conservative robust Kalman filtering technique [1] is applied. For the cruciform formation flying UAVs, the relationship between the target tracking performance and the measurement errors is quantitatively analyzed. The proposed filter has practical advantages over the classical nonlinear filters because, for its recursive linear structure, it can provide satisfactory convergence properties and is suitable for real-time multiple UAVs applications. Through the simulations, the usefulness of the proposed method is demonstrated.

• 전기학회논문지
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• 제57권9호
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• pp.1612-1617
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• 2008

Since most disturbance observer (DOB) approaches have been limited to minimum-phase systems (or systems having no zero dynamics), we propose a new DOB structure that can be applied to non-minimum phase systems. The new structure features an additional system, which is called as V-filter, whose role is to yield a minimum phase system when connected with the plant in parallel. In order to design the V-filter systematically we first consider a class of linear systems that can be stabilized via PID controller. By inverting the controller's transfer function, we can simply construct the filter. A convenient way of designing V-filter is presented by using an iterative linear matrix inequality (LMI) algorithm. With an illustrative example the simulation result shows that substantial improvement in the performance has been achieved compared with the control system without the DOB.

• 전기학회논문지P
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• 제59권2호
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• pp.141-145
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• 2010

Most of the industrial loads includes the non-linear load as well as the linear load because there are many kinds of power conversion equipments at the input stage of the load in distribution network. The non-linear load causes the distortion of voltage waveform at PCC because the non-linear load generates the harmonic current. As a result, various voltage harmonics are existed at PCC depending on the current harmonics from the non-linear load. And, a series reactor is generally connected to the power capacitor in series to attenuate the distortion of voltage waveform and to reduce an inrush current of power capacitor. Also, harmonic current of power capacitor is highly dependent on the series reactor because it is operated with the power capacitor as a passive filter against nonlinear loads. Then, these capacitors might be damaged by the excessive voltage and current harmonic components. In this paper, we presented how to select the capacitor and series reactor to meet the requirement of the voltage distortion at PCC and analyzed the voltage, current and capacity rating of the power capacitor by the computer simulation to ensure the safe operation of power capacitor when the voltage harmonics at PCC are existed. Also, the analysis data were compared with the experimental measurements for the verification.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 춘계학술대회
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• pp.437-440
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• 2009

소프트웨어 구현을 위한 고속 스트림 암호 ASC16을 제안한다. ASC16은 ASR(Arithmetic Shift Register), NLF(Non-Linear Filter), NLB(Non-Linear Block)로 매우 간결한 구조를 이루고 있으며, 워드 단위로 연산을 수행하고, 비선형변환으로 S-박스를 사용하여 32비트 키 스트림을 만드는 무선 통신용 스트림 암호이다. Zhang, Carroll 그리고 Chan에 의해 개발된 32비트 출력 스트림 암호 SSC2와 수행 결과 비교에서 거의 동등한 결과를 보였고, 주기는 SSC2보다 더 길어 졌으며, 상관공격(Correlation attack)이 어려워 안전성은 더욱 향상 되었다. 제안한 ASC16은 무선통신 등과 같은 제한적인 환경에서 고속 암호 수행에 유용하게 사용될 수 있다.

• 한국지능시스템학회논문지
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• 제23권5호
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• pp.418-422
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• 2013

본 논문은 비가우시안 노이즈가 존재하는 수중환경에서 비선형 필터 기법에 따른 2차원 위치 추정에 관한 연구 내용이다. 최근 위치 추정을 위한 필터로 확장형 칼만필터(EKF: Extended Kalman filter)가 많이 사용되고 있다. 하지만, 수중과 같은 비가우시안 노이즈가 존재하는 비선형 시스템에서는 많은 문제점을 가지고 있다. 따라서 본 논문에서는 상태변이의 예측을 기반으로한 EKF를 대신하여 통계적 발생인자 에 기반을 둔 분포 재해석 기법을 이용한 2차원 파티클필터 (TDPF: Two-Dimension Particle Filter)를 제안한다. 모의 실험을 통하여 Non-Gaussian Noise 가 존재하는 수중환경에서 제안하는 TDPF의 성능을 EKF와 비교분석하였으며 TDPF가 EKF보다 정확한 위치 추정결과를 제공하는 것을 확인하였다.

• 한국멀티미디어학회논문지
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• 제12권9호
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• pp.1210-1216
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• 2009

본 논문에서는 순환최소순위(RLR) L-필터의 수렴성을 해석하였다. RLR L-필터는 순서통계필터로서 입력의 크기순서에 따른 가중치를 필터계수로 한다. 또한 RLR L-필터는 비선형 적응 필터로서 필터계수의 갱신을 위하여 RLR 알고리즘을 이용한다. RLR 알고리즘은 로버스트 통계학의 순위추정에 기초한 비선형 적응 알고리즘이다. 본 논문에서는 가변적인 스텝 크기를 적용하여 평균 및 평균제곱의 견지에서 수렴성을 해석하였다. RLRL-필터는 잡음의 분포함수가 두꺼운 꼬리 분포인 임펄스 잡음에 가까울수록 메디안 필터의 형태로 적응하며 가우시안 잡음의 경우 평균 필터의 형태로 적응한다.

• 전기학회논문지
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• 제61권2호
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• pp.276-283
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• 2012

In this paper, a practical quasi-optimal DOA(direction of arrival) estimator is proposed in order to develop a one-axis gimbaled ultrasonic source tracker for mobile robot applications. With help of the gimbal structure, the ultrasonic moving source tracking problem can be simply reduced to the DOA estimation. The DOA estimation is known as one of the representative long-pending nonlinear filtering problems, but the conventional nonlinear filters might be restrictive in many actual situations because it cannot guarantee the reliable performance due to the use of nonlinear signal model. This motivates us to reformulate the DOA estimation problem in the linear robust state estimation setting. Based on the assumption that the received ultrasonic signals are noisy sinusoids satisfying linear prediction property, a linear uncertain measurement model is newly derived. To avoid the DOA estimation performance degradation caused by the stochastic parameter uncertainty contained in the linear measurement model, the recently developed NCRKF (non-conservative robust Kalman filter) scheme [1] is utilized. The proposed linear DOA estimator provides excellent DOA estimation performance and it is suitable for real-time implementation for its linear recursive filter structure. The effectiveness of the suggested DOA estimation scheme is demonstrated through simulations and experiments.

• Journal of Electrical Engineering and Technology
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• 제6권2호
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• pp.239-244
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• 2011

Industrial power distribution system includes many kinds of non-linear loads, which produce the harmonics during energy conversion transition. The single-tuned passive filter is widely used to absorb the harmonics and attenuate its undesirable effect in the distribution system. However, the passive filter might be severely stressed, and sometimes even damaged, due to the absorption of harmonics. There is voltage rise on the capacitor when the single-turned harmonic filter is applied. When the capacitor voltage rose above the allowable limit, the expected life of the capacitor will considerably deteriorate. On the other hand, the reactor can experience the spike voltage even if the voltage and current of the capacitor are within the allowable limit, and this accumulated voltage stress of the reactor causes its premature fault. In this paper, we analyzed and compared the harmonic voltage and current of the reactor and capacitor in a single-tuned harmonic filter through the EMTP software and verified them with the experimental results.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2006년도 춘계학술대회 학술발표 논문집 제16권 제1호
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• pp.245-248
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• 2006

A particle filter is one of the most famous filters. The reason why the particle filter is widely used is that particle deals with the state estimation problem for not only linear models with Gaussian noise but also the non-linear models with non-Gaussian noise and it receives great attention from many engineering fields. In the point of view state estimator, particle filter is feedforward observer. According to the characteristic of dynamic system, the feedforward observer can estimate real state. However, the speed of convergence of feedforward observer between the actual state and the estimated state cannot be satisfied. Since the particle filter is a sort of feedforward observer, the convergence speed of particle filter is slow, and the particle filter cannot estimate actual state like particle collapse problem. In order to overcome the limitation of particle filter as a kind of feedfoward estimator, we propose a new particle filter which has feedback term, called particle filter with feedback. Our proposed method is analyzed theoretically and studied by computer simulation. Comparisons are made with other filtering mehod.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1738-1739
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• 2011

In this paper, the range difference based the moving target tracking problem using multiple UAVs is solved within the new framework of linear robust state estimation. To do this, the relative kinematics is modeled as an uncertain linear system containing stochastic parametric uncertainties in its measurement matrix. Applying the non-conservative robust Kalman filter for the uncertain system, a quasi-optimal linear target tracking filter is designed. For its recursive linear filter structure, the proposed method can ensure the fast convergence and reliable target tracking performance. Moreover, it is suitable for real-time applications using multiple UAVs.