• 센서학회지
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• 제29권5호
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• pp.348-353
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• 2020

This paper presents an adaptive method to avoid obstacles in various environmental settings, using a two-dimensional (2D) LiDAR sensor for mobile robots. While the conventional reaction based smooth nearness diagram (SND) algorithms use a fixed safety distance criterion, the proposed algorithm autonomously changes the safety criterion considering the obstacle density around a robot. The fixed safety criterion for the whole SND obstacle avoidance process can induce inefficient motion controls in terms of the travel distance and action smoothness. We applied a multinomial logistic regression algorithm, softmax regression, to classify 2D LiDAR point clouds into seven obstacle structure classes. The trained model was used to recognize a current obstacle density situation using newly obtained 2D LiDAR data. Through the classification, the robot adaptively modifies the safety distance criterion according to the change in its environment. We experimentally verified that the motion controls generated by the proposed adaptive algorithm were smoother and more efficient compared to those of the conventional SND algorithms.

• 한국산학기술학회논문지
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• 제14권3호
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• pp.1416-1421
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• 2013

비-가우시안 잡음 환경의 적응 시스템을 위해, 평행 이동한 오차 분포와 오차 0에 위치한 델타 함수 사이의 유클리드 거리를 새로운 성능기준으로 제안하였다. 또한, 이 성능 기준에 근거하여 적응 알고리듬을 개발하였고, 얕은 바다에서 구한 수중 통신 다경로 채널에 충격성 잡음과 직류 바이어스 잡음이 더해진 환경으로 등화 성능을 시뮬레이션한 결과, 제안한 알고리듬이 기존의 MEDE 알고리듬 보다 5 dB 이상 향상된 MSE 성능을 보이며 오차 분포의 중심 위치가 정확히 0에 위치하였다.

• 대한기계학회논문집A
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• 제29권9호
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• pp.1217-1224
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• 2005

To improve the accuracy of a metamodel, additional sample points can be selected by using a specified criterion, which is often called sequential sampling approach. Sequential sampling approach requires small computational cost compared to one-stage optimal sampling. It is also capable of monitoring the process of metamodeling by means of identifying an important design region for approximation and further refining the fidelity in the region. However, the existing critertia such as mean squared error, entropy and maximin distance essentially depend on the distance between previous selected sample points. Therefore, although sufficient sample points are selected, these sequential sampling strategies cannot guarantee the accuracy of metamodel in the nearby optimum points. This is because criteria of the existing sequential sampling approaches are inefficient to approximate extremum and inflection points of original model. In this research, new sequential sampling approach using the sensitivity of metamodel is proposed to reflect the response. Various functions that can represent a variety of features of engineering problems are used to validate the sensitivity approach. In addition to both root mean squared error and maximum error, the error of metamodel at optimum points is tested to access the superiority of the proposed approach. That is, optimum solutions to minimization of metamodel obtained from the proposed approach are compared with those of true functions. For comparison, both mean squared error approach and maximin distance approach are also examined.

• 한국정보전자통신기술학회논문지
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• 제4권4호
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• pp.295-299
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• 2011

Blind equalization techniques have been widely used in wireless communication systems. In this paper, we propose to apply the balanced information potentials to the criterion of minimum Euclidian distance between two PDFs with constant modulus errors for adaptive blind equalizers. One of the two PDFs is constructed with constant modulus error samples and another does with Dirac delta functions. Two information potentials derived from the criterion are balanced in order to have better performance by putting a weighting factor to each information potentials. The proposed blind algorithm has shown in the MSE convergence performance that it can produce enhanced performance by over 3 dB of steady state MSE.

• Structural Engineering and Mechanics
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• 제78권2호
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• pp.209-218
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• 2021

For engineering, there are two major challenges in reliability analysis. First, to ensure the accuracy of simulation results, mechanical products are usually defined implicitly by complex numerical models that require time-consuming. Second, the mechanical products are fortunately designed with a large safety margin, which leads to a low failure probability. This paper proposes an efficient and high-precision adaptive active learning algorithm based on the Kriging surrogate model to deal with the problems with low failure probability and time-consuming numerical models. In order to solve the problem with multiple failure regions, the adaptive kernel-density estimation is introduced and improved. Meanwhile, a new criterion for selecting points based on the current Kriging model is proposed to improve the computational efficiency. The criterion for choosing the best sampling points considers not only the probability of misjudging the sign of the response value at a point by the Kriging model but also the distribution information at that point. In order to prevent the distance between the selected training points from too close, the correlation between training points is limited to avoid information redundancy and improve the computation efficiency of the algorithm. Finally, the efficiency and accuracy of the proposed method are verified compared with other algorithms through two academic examples and one engineering application.

• Journal of Communications and Networks
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• 제12권5호
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• pp.399-405
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• 2010

Blind equalization techniques have been used in broadcast and multipoint communications. In this paper, two criteria of minimizing Euclidian distance between two probability density functions (PDFs) for adaptive blind equalizers are presented. For PDF calculation, Parzen window estimator is used. One criterion is to use a set of randomly generated desired symbols at the receiver so that PDF of the generated symbols matches that of the transmitted symbols. The second method is to use a set of Dirac delta functions in place of the PDF of the transmitted symbols. From the simulation results, the proposed methods significantly outperform the constant modulus algorithm in multipath channel environments.

• 한국정보전자통신기술학회논문지
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• 제2권1호
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• pp.51-57
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• 2009

블라인드 등화기법은 무선 통신 시스템에 널리 쓰이고 있는 기술이다. 이 논문에서는, 블라인드 등화를 위한 기준으로서, 두 확률밀도함수의 유클리드 거리를 최소화하는 기준에서 나타나는 정보 포텐셜에 대해 연구하였고 두 정보 포텐셜 사이의 적절한 균형을 활용한 방법의 BER 성능을 평가하였다. 정보 포텐셜에는 두 가지가 있는데 송신 심볼의 확률밀도함수와 맞도록 수신단에서 무작위로 발생시킨 심볼과 등화기 출력 샘플 사이에서 두 입자간 위치에너지처럼 나타나는 정보 포텐셜과 출력 샘플간에 나타나는 정보 포텐셜로 표현된다. 이 두 포텐셜을 적절히 균형 잡아 줄 때, 큰 성능향상을 보이는데 그 성능지표로 BER 성능 평가가 가장 신뢰성이 있으므로 BER 성능 평가를 시행하였다. 그 시뮬레이션 결과에서 정보 포텐셜 균형 방식은 블라인드 등화 환경에서 탁월한 BER 성능을 나타내었다.

• 전자공학회논문지
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• 제51권8호
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• pp.126-135
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• 2014

오차 신호의 확률분포 사이의 유클리드 거리 (Euclidean distance between error probability density functions, EDEP)는 충격성 잡음 환경의 적응 신호 처리를 위한 성능 지수로 사용되었다. 이 EDEP 알고리듬의 단점 중의 하나로 각 반복 시간마다 수행하는 이중적분에 의해 과다한 계산상의 복잡성이 있다. 이 논문에서는 EDEP 와 그 기울기 계산에서 계산상의 부담을 줄일 수 있는 반복적 추정 방법을 제안하였다. 데이터 블록 크기 N에 대하여, 기존의 추정 방식에 의한 EDEP와 그 기울기 계산량은 $O(N^2)$인 반면, 제안한 방식의 계산량은 O(N)이다. 성능 시험에서 제안한 방식의 EDEP와 그 기울기는 정상상태에서 기존의 블록 처리 방식과 동일한 추정결과를 나타냈다. 이러한 시뮬레이션 결과로부터, 제안한 방식이 실제 적응신호처리 분야에서 효과적인 방식임을 알 수 있다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권4호
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• pp.1424-1441
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• 2014

Two-tier femtocell networks, consisting of a conventional cellular network underlaid with femtocell hotspots, play an important role in the indoor coverage and capacity of cellular networks. However, the cross- and co-tier interference will cause an unacceptable quality of service (QoS) for users with universal frequency reuse. In this paper, we propose a novel downlink interference mitigation strategy for spectrum-shared two-tier femtocell networks. The proposed solution is composed of three parts. The first is femtocells clustering, which maximizes the distance between femtocells using the same slot resource to mitigate co-tier interference. The second is to assign macrocell users (MUEs) to clusters by max-min criterion, by which each MUE can avoid using the same resource as the nearest femtocell. The third is a novel adaptive power control scheme with femtocells downlink transmit power adjusted adaptively based on the signal to interference plus noise ratio (SINR) level of neighboring users. Simulation results show that the proposed scheme can effectively increase the successful transmission ratio and ergodic capacity of femtocells, while guaranteeing QoS of the macrocell.

• 인터넷정보학회논문지
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• 제10권1호
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• pp.11-17
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• 2009

인터넷에 관련된 많은 연구들이 멀티포인트 통신에 집중되어 있으며 이 멀티 포인트 통신에 블라인드 등화기술이 주로 사용되어 왔다. 이 논문에서는, 적응 블라인드 등화기를 위해, 두 확률밀도함수의 유클리드 거리를 최소화하는 기준을 소개한다. 파젼 확률밀도로 표현되는 유클리드 거리가 최소화되기 위해, 전송 심볼의 확률밀도함수와 같은 형태를 갖도록 하는 랜덤 심볼을 수신단에서 생성하여 사용한다. 시뮬레이션 결과로부터, 일반적으로 쓰이는 CMA 알고리듬이 열악한 성능을 보이는 채널모델에 대해 제안한 방식은 크게 향상된 성능을 나타냈다. CMA와 비교했을 때, 채널의 고유치분포비에 대해서도 비교적 민감하지 않은 일관된 성능을 보였으며, ITL의 한 영역으로서, 파젼 확률밀도를 사용한 유클리드 거리 최소화 기준이 블라인드 등화에 성공적으로 응용될 수 있음을 보였다.