• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.177.4-177
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• 2001

In this paper, we propose a new type of nonlinear fixed interval smoothing filter which is modified from the existing nonlinear smoothing filter. A nonlinear smoothing filter is derived from two-filter formulas. For the backward filter, the propagation and update equation of error states are derived. Particularly the modified update equation of the backward filter use the estimated error terms from the forward filter. Smoothing algorithm is altered into the compatible form with the new type of the backward fitter. An advantage of the proposed algorithm is more efficient than the existing one because propagation in backward filter is very simple from the implementation point of view. We apply the proposed nonlinear smoothing ...

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.27 no.6
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• pp.545-556
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• 2016

JPDAF is a method of updating target's state estimation by using posterior probability that measurements are originated from existing target in multi-target tracking. In this paper, we propose a multi-target tracking algorithm for falling cluster bombs separated from a mother bomb based on JPDAS method which is obtained by applying fixed-interval smoothing technique to JPDAF. The performance of JPDAF and JPDAS multi-target tracking algorithm is compared by observing the average of the difference between targets' state estimations obtained from 100 independent executions of two algorithms and targets' true states. Based on this, results of simulations for a radar tracking problem that show proposed JPDAS has better tracking performance than JPDAF is presented.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.481-487
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• 2013

This paper presents an FIR (Finite Impulse Response) fixed-interval smoothing filter for fast and exact estimating state variables of a discrete nonlinear system with modeling uncertainty. Conventional IIR (Infinite Impulse Response) filter and smoothing filter can estimate state variables of a system with an exact model when the system is observable. When there is an uncertainty in the system model, however, conventional IIR filter and smoothing filter may cause large errors because the filters cannot estimate the state variables corresponding to the uncertain model exactly. To solve this problem, FIR filters that have fast estimation properties and have robustness to the modeling uncertainty have been developed. However, there is time-delay estimation phenomenon in the FIR filter. The FIR smoothing filter proposed in this paper makes up for the drawbacks of the IIR filter, IIR smoothing filter, and FIR filter. Therefore, the FIR smoothing filter has good estimation performance irrespective of modeling uncertainty. The proposed FIR smoothing filter is applied to the integrated navigation system composed of a magnetic compass based DR (Dead Reckoning) and a GPS (Global Positioning System) receiver. Even when the magnetic compass error that changes largely as the surrounding magnetic field is modeled as a random constant, it is shown that the FIR smoothing filter can estimate the varying magnetic compass error fast and exactly with simulation results.

• Journal of the Korean Geographical Society
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• v.49 no.3
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• pp.339-356
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• 2014

Easy access to DEMs and the development of technology treating DEMs make it easier to extract stream longitudinal profiles from DEMs than previously done. Since such profiles possess many problems such as artificial flats and steps, it should be required for them to be smoothed like natural profiles to estimate gradient values along those sections. However smoothing itself comes with much distortion of raw profile from original DEMs. There has been no research evaluating quantitatively the effects due to smoothing process. Here we attempt to quantify the effects of major smoothing methods on raw and real profiles, suggest a new method to overcome the limitations of them, and evaluate it. This study not only suggests a new smoothing method, but also provides a guideline for choosing a proper smoothing method.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.984-990
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• 2002

We propose a new type of nonlinear fixed interval smoother to which an existing nonlinear smoother is modified. The nonlinear smoother is derived from two-filter formulas. For the backward filter. the propagation and the update equation of error states are derived. In particular, the modified update equation of the backward filter uses the estimated error terms from the forward filter. Data fusion algorithm, which combines the forward filter result and the backward filter result, is altered into the compatible form with the new type of the backward filter. The proposed algorithm is more efficient than the existing one because propagation in backward filter is very simple from the implementation point of view. We apply the proposed nonlinear smoothing algorithm to off-line navigation system and show the proposed algorithm estimates position, and altitude fairly well through the computer simulation.

• Journal of the Korean Data and Information Science Society
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• v.28 no.2
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• pp.451-459
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• 2017

There are many researches showing that when a process change has occurred, variable sampling intervals (VSI) control chart is better than the fixed sampling interval (FSI) control chart in terms of reducing the required time to signal. When the process engineers use VSI control procedure, frequent switching between different sampling intervals can be a complicating factor. However, average number of samples to signal (ANSS), which is the amount of required samples to signal, and average time to signal (ATS) do not provide any control statistics about switching performances of VSI charts. In this study, we evaluate numerical switching performances of multivariate VSI EWMA chart including average number of switches to signal (ANSW) and average switching rate (ASWR). In addition, numerical study has been carried out to examine how to improve the performance of considered chart with accumulate-combine approach under several different smoothing constant and sample size. In conclusion, process engineers, who want to manage the correlation coefficients of related quality variables, are recommended to make sample size as large and smoothing constant as small as possible under permission of process conditions.

• 한국신재생에너지학회:학술대회논문집
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• 2005.06a
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• pp.638-642
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• 2005

For gas hydrate exploration, long offset multichannel seismic data acquired using by the 4km streamer length in Ulleung basin of the East Sea. The dataset was processed to define the BSRs (Bottom Simulating Reflectors) and to estimate the amount of gas hydrates. Confirmation of the presence of Bottom Simulating reflectors (BSR) and investigation of its physical properties from seismic section are important for gas hydrate detection. Specially, faster interval velocity overlying slower interval velocity indicates the likely presences of gas hydrate above BSR and free gas underneath BSR. In consequence, estimation of correct interval velocities and analysis of their spatial variations are critical processes for gas hydrate detection using seismic reflection data. Using Dix's equation, Root Mean Square (RMS) velocities can be converted into interval velocities. However, it is not a proper way to investigate interval velocities above and below BSR considering the fact that RMS velocities have poor resolution and correctness and the assumption that interval velocities increase along the depth. Therefore, we incorporated Migration Velocity Analysis (MVA) software produced by Landmark CO. to estimate correct interval velocities in detail. MVA is a process to yield velocities of sediments between layers using Common Mid Point (CMP) gathered seismic data. The CMP gathered data for MVA should be produced after basic processing steps to enhance the signal to noise ratio of the first reflections. Prestack depth migrated section is produced using interval velocities and interval velocities are key parameters governing qualities of prestack depth migration section. Correctness of interval velocities can be examined by the presence of Residual Move Out (RMO) on CMP gathered data. If there is no RMO, peaks of primary reflection events are flat in horizontal direction for all offsets of Common Reflection Point (CRP) gathers and it proves that prestack depth migration is done with correct velocity field. Used method in this study, Tomographic inversion needs two initial input data. One is the dataset obtained from the results of preprocessing by removing multiples and noise and stacked partially. The other is the depth domain velocity model build by smoothing and editing the interval velocity converted from RMS velocity. After the three times iteration of tomography inversion, Optimum interval velocity field can be fixed. The conclusion of this study as follow, the final Interval velocity around the BSR decreased to 1400 m/s from 2500 m/s abruptly. BSR is showed about 200m depth under the seabottom

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.13 no.3
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• pp.209-229
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• 2001

Simultaneous field measurements of short-period and long-period waves were made at five stations inside or outside Okkye Harbor, which is located in the east coast of Korea. Based on the measured data, spacial and temporal variations of the long-period wave energy were examined. Three smoothing methods were examined for the spectral estimates: fixed interval averaging method, incremental interval averaging method, and moving averaging method. It was shown that a proper smoothing method should be chosen depending on the period of first resonant mode and the length of data being used. By comparing the results obtained using the long-term data with those obtained using two-day data, we showed that it is necessary to analyze the data of calm seas and storm seas separately. The Helmholtz resonant period in Okkye Harbor was found to be about 9.6 minutes with its relative amplification ratio of 9 to 10, and local amplifications were apparent at the periods of 1.2 to 1.3 minutes and 0.7 minute. During calm seas, both at the harbor entrance and inside the harbor the energy of the waves of 9 minutes or longer period was larger than the infra-gravity wave energy by more than 100 times. However, during storm seas the energy level was very high all over the period band, and local amplification was larger than that during calm seas by more than 100 times, especially inside the harbor, Finally it was shown that the energies of the Helmholtz resonant mode and the infra-gravity waves of 1 to 2 minutes are proportional to the storm wave height.