• The Journal of the Acoustical Society of Korea
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• v.15 no.6
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• pp.104-109
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• 1996

In passive sonar system, frequency lines generated by underwater target are very important for detection, tracking and classification. In this paper, the extraction method of unstable frequency line from the time samples of the radiated noise of underwater target is studied. As unstable frequency line is time varying, an extended Kalman filter algorithm which is desirable for nonlinear system is applied to extract unstable frequency line. The proposed method shows good extraction of unstable frequency line by application of simulated signal and real target.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.32 no.10
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• pp.367-375
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• 1983

An extended Kalman filter (EKF) algorithm for estimating aerodynamic parameters from missile flight data is evaluated using simulated test data. The algorithm includes a general purpose 6-DOF missile airframe suitable for representing a variety of missile configurations. The EKF is demonstrated to be well suited as a postflight analysis tool for extracting large numbers of airframe parameters from flight test measurements. A structure identification algorithm is evaluated using synthetic measurement data. This algorithm used in conjunction with the parameter identification algorithm, can select that model from a family of candidate models which most likely produced the synthetic measurement data.

• International Journal of Ocean System Engineering
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• v.1 no.1
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• pp.16-27
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• 2011

The depth and heading control of an autonomous underwater vehicle (AUV) are considered to follow the predetermined depth and heading angle. The proposed control algorithm was based on a sliding mode control, using estimated hydrodynamic coefficients. The hydrodynamic coefficients were estimated employing conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. Using the estimated coefficients, a sliding mode controller was constructed for a combined diving and steering maneuver. The simulated results of the proposed control system were compared with those of a control system that employed true coefficients. This paper demonstrated the proposed control system, and discusses the mechanisms that make the system stable and accurately follow the desired depth and heading angle in the presence of parameter uncertainty.

• Magazine of the Korean Society of Agricultural Engineers
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• v.36 no.3
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• pp.67-73
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• 1994

This paper is to validate the proposed models for the real-time forecasting for the Keum river estuary dam such as tidal-level forecasting model, one-dimensional unsteady flood routing model, and Kalman filter models. The tidal-level forecasting model was based on semi-range and phase lag of four tidal constituents. The dynamic wave routing model was based on an implicit finite difference solution of the complete one-dimensional St. Venant equations of unsteady flow. The Kalman filter model was composed of a processing equation and adaptive filtering algorithm. The processng equations are second ordpr autoregressive model and autoregressive moving average model. Simulated results of the models were compared with field data and were reviewed.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.224-232
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• 2015

In order to develop an active safety system which avoids or mitigates collisions with preceding vehicles such as autonomous emergency braking (AEB), accurate state estimation of the nearby vehicles is very important. In this paper, an algorithm is proposed using 3 dynamic models to better estimate the state of a vehicle which has various dynamic patterns in both longitudinal and lateral direction. In particular, the proposed algorithm is based on the Interacting Multiple Model (IMM) method which employs three different dynamic models, in cruise mode, lateral maneuver mode and longitudinal maneuver mode. In addition, a Probabilistic Data Association Filter (PDAF) is utilized as a data association algorithm which can improve the reliability of the measurement under a clutter environment. In order to verify the performance of the proposed method, it is simulated in comparison with a Kalman filter method which employs a single dynamic model. Finally, the proposed method is validated using radar data obtained from the field test in the proving ground.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.5
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• pp.601-607
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• 2006

This paper proposes a novel balance control scheme of a biped robot to predict the next position of ZMP using Kalman Filter. The mathematical model of the biped robot is generally approximated by 3D-LIPM(3D-Linear Inverted Pendulum Mode), but it cannot completely express the robot's dynamics. The stability of the biped robot depends on whether the ZMP(Zero Moment Point) position is in the stability region or out of. And the internal error between the robot mechanism and its model could affect the stability of a robot. Therefore, the proposed balance control not reduces the internal error, but also timely generates the proper control. The experiment of the proposed balance control is simulated on the virtual workspace where the biped robot may encounter with various difficulties.

• Journal of Korea Water Resources Association
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• v.42 no.11
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• pp.963-972
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• 2009

The objective of this study is to evaluate an application of stochastic continuous storage function model with ensemble Kalman filter technique. The case study is performed at the upstream basin of Jibo streamflow gauge including Andong and Imha dam. Test period is for the rainy season during 2006 and 2007. Long term runoff analysis is feasible in the case of using deterministic model. Ensemble members for input data and parameters are generated using Monte Carlo simulation for the purpose of applying ensemble Kalman filter technique. The cumulative absolute errors of stochastic model to the deterministic one are improved for the amount of 17.5 %, 18.3 % and more than 40.0 % for Andong dam, Imha dam and Jibo station, respectively. The results indicate that the stochastic model improves the accuracy of the simulated discharge considerably.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.2
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• pp.772-778
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• 2012

In this paper, the states and the parameters in the dynamic system are simultaneously estimated by applying the UKF(Unscented Kalman Filter), which is widely used for estimating the state of non-linear systems. Estimating the parameter is very important in various fields, such as system control, modeling, analysis of performance, and prediction. Most of the dynamic systems which are dealt with in engineering have non-linearity as well as some noise. Therefore, the parameter estimation is difficult. This paper estimates the states and the parameters applying to the UKF, which is a non-linear filter and has strong noise. The augmented equation is used by including the addition of the parameter factors to the original state equation of the system. Moreover, it is simulated by applying to a 2-DOF(Degree of Freedom) dynamic system composed of the pendulum and the slide. The measurement noise of the dynamic equation is assumed to be a Gaussian distribution. As the simulation results show, the proposed parameter estimation performs better than the LSM(Least Square Method). Furthermore, the estimation errors and convergence time are within three percent and 0.1 second, respectively. Consequentially, the UKF is able to estimate the system states and the parameters for the system, despite having measurement data with noise.

• Journal of Wetlands Research
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• v.12 no.1
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• pp.51-61
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• 2010

Changes in climate have largely increased concentrated heavy rainfall, which in turn is causing enormous damages to humans and properties. Therefore, it is important to understand the spatial-temporal features of rainfall. In this study, RADAR rainfall was used to calculate gridded areal rainfall which reflects the spatial-temporal variability. In addition, Kalman-filter method, a stochastical technique, was used to combine ground rainfall network with RADAR rainfall network to calculate areal rainfall. Thiessen polygon method, Inverse distance weighting method, and Kriging method were used for calculating areal rainfall, and the calculated data was compared with adjusted areal RADAR rainfall measured using the Kalman-filter method. The result showed that RADAR rainfall adjusted with Kalman-filter method well-reproduced the distribution of raw RADAR rainfall which has a similar spatial distribution as the actual rainfall distribution. The adjusted RADAR rainfall also showed a similar rainfall volume as the volume shown in rain gauge data. Anseong-Cheon basin was used as a study area and the RADAR rainfall adjusted with Kalman-filter method was applied in $Vflo^{TM}$ model, a physical-based distributed model, and ModClark model, a semi-distributed model. As a result, $Vflo^{TM}$ model simulated peak time and peak value similar to that of observed hydrograph. ModClark model showed good results for total runoff volume. However, for verifying the parameter, $Vflo^{TM}$ model showed better reproduction of observed hydrograph than ModClark model. These results confirmed that flood runoff simulation is applicable in domestic settings(in South Korea) if highly accurate areal rainfall is calculated by combining gauge rainfall and RADAR rainfall data and the simulation is performed in link to the distributed hydrological model.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.494-497
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• 2005

In this paper, harmonic detecting methods for the active power application are investigated. They are RDFT, Kalman Filter, Adaptive predictive filter, Instantaneous reactive power detecting method, Improved adaptive filter detecting method. The 5 harmonic detecting methods are simulated and their characteristics for the active filter application are compared using simulation results.