• Journal of Sensor Science and Technology
• /
• v.29 no.5
• /
• pp.348-353
• /
• 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.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.3
• /
• pp.1416-1421
• /
• 2013

In this paper, the Euclidean distance between the probability density functions (PDFs) for biased errors and a Dirac-delta function located at zero on the error axis is proposed as a new performance criterion for adaptive systems in non-Gaussian noise environments. Also, based on the proposed performance criterion, a supervised adaptive algorithm is derived and applied to adaptive equalization in the shallow-water communication channel distorted by severe multipath fading, impulsive and DC-bias noise. The simulation results compared with the performance of the existing MEDE algorithm show that the proposed algorithm yields over 5 dB of MSE enhancement and the capability of relocating the mean of the error PDF to zero on the error axis.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.29 no.9 s.240
• /
• pp.1217-1224
• /
• 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.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.4 no.4
• /
• pp.295-299
• /
• 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
• /
• v.78 no.2
• /
• pp.209-218
• /
• 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
• /
• v.12 no.5
• /
• pp.399-405
• /
• 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.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.2 no.1
• /
• pp.51-57
• /
• 2009

Blind equalization techniques have been widely used in wireless communication systems. In this paper, we investigate the information potentials in the criterion of minimizing Euclidian distance between two PDFs criterion for adaptive blind equalizers and evaluate BER performance of the method that has utilized an appropriate balance between the two information potentials, one from output samples and ramdomly generated desired samples at the receiver and another from the interactions among output samples. The balanced information potential method has shown in the BER performance results that it can produce significantly enhanced BER performance in blind equalization applications.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.8
• /
• pp.126-135
• /
• 2014

The Euclidean distance between error probability density functions (EDEP) has been used as a performance criterion for supervised adaptive signal processing in impulsive noise environments. One of the drawbacks of the EDEP algorithm is a heavy computational complexity due to the double summation operations at each iteration time. In this paper, a recursive method to reduce its computational burden in the estimation of the EDEP and its gradient is proposed. For the data block size N, the computational complexity for the estimation of the EDEP and its gradient can be reduced to O(N) by the proposed method, while the conventional estimation method has $O(N^2)$. In the performance test, the proposed EDEP and its gradient estimation yield the same estimation results in the steady state as the conventional block-processing method. The simulation results indicates that the proposed method can be effective in practical adaptive signal processing.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.8 no.4
• /
• pp.1424-1441
• /
• 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.

• Journal of Internet Computing and Services
• /
• v.10 no.1
• /
• pp.11-17
• /
• 2009

Blind equalization techniques have been used in multipoint communication on which the research on the internet has focused. In this paper, a criterion of minimizing Euclidian Distance between two PDFs for adaptive blind equalizers has been presented. In order for ED expressed with Parzen PDFs to be minimized, we propose to use a set of randomly generated desired symbols at the receiver so that the PDF of the generated symbols matches that of the transmitted symbols. From the simulation results, the proposed method has shown superior error performance even in severe channel environments in which CMA has shown severe performance degradation. This indicates that the proposed algorithm can be considered relatively insensitive to ESR variations compared to CMA. As a field of ITL, ED minimization using Parzen PDFs has shown possibilities of being successfully applied to blind equalization.