• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.619-625
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• 2009

FastSLAM which uses the Rao-Blackwellized particle filter is one of the famous solutions to SLAM (Simultaneous Localization and Mapping) problem that estimates concurrently a robot's pose and surrounding environment. However, the particle depletion problem arises from the loss of the particle diversity in the resampling process of FastSLAM. Then, the performance of FastSLAM degenerates over the time. In this work, DIR (Density Information-based Resampling) technique is proposed to solve the particle depletion problem. First, the cluster is constructed based on the density of each particle, and the density of each cluster is computed. After that, the number of particles to be reserved in each cluster is determined using a linear method based on the distance between the highest density cluster and each cluster. Finally, the resampling process is performed by rejecting the particles which are not selected to be reserved in each cluster. The performance of the DIR proposed to solve the particle depletion problem in FastSLAM was verified in computer simulations, which significantly reduced both the RMS position error and the feature error.

• Journal of Korean Society of Transportation
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• v.14 no.2
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• pp.157-172
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• 1996

The long-existed licence system which has acted as one of the strong barriers to entry in the ocean shipping market in Korea is supposed to repeal in the near future. As a result, competition among the different sizes of firms which are operating under regional shield by means of the licence will be intensified. The main objective of this paper is to estimate the degree of economies of scale and economies of density for various firm sizes. For the successful estimation of economies scale and economies of density, translog cost models are developed and estimated through SURE technique which was suggested by Zeller (1963). The major findings are as follows ; All shipping firms in the sample exhibit economies of scale and density. Even small size shipping firms under licence system, they show substantial economies of scale contrary to the wide-known idea that small-size firms are subject to diseconomies of scale. For the ranked firm sizes according to owned deadweight tons, the degree of economies of scale decreases as the firm sizes are larger and larger. The degree of economies of density moderately declines from the smallest to the firm size of 30-60 thousand deadweight tons and sharply rise thereafter. And the large shipping firms with over half-million deadweight tons exhibit high economies density compared to other sizes of firm. If follows that the larger firms have great advantage in competition if the licence system is abolished.

• The Korean Journal of Applied Statistics
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• v.25 no.5
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• pp.757-773
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• 2012

Traditional value at risk(S-VaR) has a difficulity in predicting the future risk of financial asset prices since S-VaR is a backward looking measure based on the historical data of the underlying asset prices. In order to resolve the deficiency of S-VaR, an economic value at risk(E-VaR) using the risk neutral probability distributions is suggested since E-VaR is a forward looking measure based on the option price data. In this study E-VaR is estimated by assuming the generalized gamma distribution(GGD) as risk neutral density function which is implied in the option. The estimated E-VaR with GGD was compared with E-VaR estimates under the Black-Scholes model, two-lognormal mixture distribution, generalized extreme value distribution and S-VaR estimates under the normal distribution and GARCH(1, 1) model, respectively. The option market data of the KOSPI 200 index are used in order to compare the performances of the above VaR estimates. The results of the empirical analysis show that GGD seems to have a tendency to estimate VaR conservatively; however, GGD is superior to other models in the overall sense.

• Journal of the Korean Statistical Society
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• v.23 no.1
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• pp.79-88
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• 1994

This paper concerns the problem of estimating the spectral density function in the analysis of stationary time series data. A kernel type estimate is considered, which entails choice of bandwidth. A data-driven bandwidth choice is proposed, and it is obtained by plugging some suitable estimates into the unknown parts of a theoretically optimal choice. A theoretical justification is give for this choice in terms of how far it is from the theoretical optimum. Furthermore, an empirical investigation is done. It shows that the data-driven choice yields a reliable spectrum estimate.

• Journal of Veterinary Clinics
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• v.16 no.2
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• pp.422-427
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• 1999

We are proposed for the computation of disease frequency measures and of their associated variances from data collected through prospective study of multiple dynamic cohort (herds) with a National Animal Health Monitoring System (NAHMS) in Gyeongnam. We can be estimated and calculated the annual incidence density for a group of herds and the 1-month risk of disease from the same within herd measure of monthly incidence density. We are proposed that the choice of measure to be estimated depend on the intended use of the information. From results in this study, Our study demonstrate that risk estimates are appropriates for producers and clinic veterinarian making decisions at the animal or herd level. Incidence density measures are appropriate for extrapolation to reference populations used for state and regional-level decision making.

• Publications of The Korean Astronomical Society
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• v.9 no.1
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• pp.55-68
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• 1994

We have reviewed three different techniques to estimate molecular cloud mass, and discussed the uncertainties involved. We found that determination of the most important parameter, the $^{13}CO$ abundance, is not very sensitive to the real LTE conditions, and that any possible error in deriving LTE column density may not introduce an error in the total gas column density, as far as the visual extinction is established for the object cloud. The virial technique always endows the largest mass estimate as there are several uncertainties, even if the cloud is in virial equilibrium. The strong indicator of the cloud perturbation is the centroid velocity dispersion. The mass using CO luminosity is based on the empirical law, but weakly dependent on the virial assumption, thus it still gives a larger mass estimate. The mass discrepancy is likely to be inevitable, and a factor of two or three difference between mass estimates could easily be attributed to the uncertainties mentioned above. The LTE mass estimate may be the most reliable one if we use the relation visual extinction and $^{13}CO$ column density of the object cloud, and the intercept is included.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.52 no.6
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• pp.725-734
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• 2019

Moon jellyfish Aurelia coerulea are highly abundant off the coast of Tongyeong, Korea. We measured the density of A. coerulea in this area using a scientific echosounder at frequencies of 38 and 120 kHz, and then applied a distorted wave Born approximation (DWBA) model to calculate the target strength of the echosounder at each frequency. Then, we used the frequency difference method to extract jellyfish echo signals and estimate the A. coerulea density. A. coerulea was evenly distributed throughout the water column; the backscattering strength ranged from -75 to -65 dB. In May and August, the A. coerulea densities at survey lines 3 and 4 were estimated at 1.5-1.6 and 0.2-0.9 g/m2, with mean weighted densities of 1.04 and 0.48 g/m2, respectively. In September, the A. coerulea densities estimates in Jaran Bay and Goseong Bay were 0.6-2.1 and 0.1-0.4 g/m2, with mean weighted densities of 1.25 and 0.24 g/m2, respectively.

• Communications for Statistical Applications and Methods
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• v.22 no.3
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• pp.233-239
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• 2015

This study compares two generalized Lindley distributions and assesses consistency between theoretical and analytical results. Data (complete and censored) assumed to follow the Lindley distribution are generated and analyzed using two generalized Lindley distributions, and maximum likelihood estimates of parameters from the generalized distributions are obtained. Size and power of tests of hypotheses on the parameters are assessed drawing on asymptotic properties of the maximum likelihood estimates. Results suggest that whereas size of some of the tests of hypotheses based on the considered generalized distributions are essentially ${\alpha}$-level, some are possibly not; power of tests of hypotheses on the Lindley distribution parameter from the two distributions differs.

• Journal of the Korean Data and Information Science Society
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• v.8 no.1
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• pp.9-20
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• 1997

Several methods are proposed for optimizing Fourier series estimators with respect to Mean Integrated Square Error metrics. Traditionally, such method have followed. one of two basic strategies; A stopping rules or the rules of determine multipliers. A central hypothesis of this study is that better estimates can be obtained by combining the two strategies. A new multiplier sequence is proposed, which used in conjunction with any of the stopping rules, is shown to improve the performance of estimator which relies solely on a stopping rule.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.457-459
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• 2005

In this paper the BER consideration of a quadrature receiver that has an autocalibration method is considered. The analysis is based on the derivation of the statistical characteristics of the imbalances in gain and phase between in-phase and quadrature components that may cause severe performance degradation of the receiver. The density. mean and variance functions of the estimates of gain and phase imbalances are discussed. Then it is shown that the estimates are asymptotically minimum variance unbiased with respect to the integration time in sampling. A brief consideration on the BER calculation follows.