• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.865-872
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• 2008

Spacecraft attitude estimation using the nonlinear unscented filter is addressed to fully utilize capabilities of the unscented transformation. To release significant computational load, an efficient technique is proposed by reasonably removing correlation between random variables. This modification introduces considerable reduction of sigma points and computational burden in matrix square-root calculation for most nonlinear systems. Unscented filter technique makes use of a set of sample points to predict mean and covariance. The general QUEST(QUaternion ESTimator) algorithm preserves explicitly the quaternion normalization, whereas extended Kalman filter(EKF) implicitly obeys the constraint. For spacecraft attitude estimation based on quaternion, an approach to computing quaternion means from sampled quaternions with guarantee of the quaternion norm constraint is introduced applying a constrained optimization technique. Finally, the performance of the new approach is demonstrated using a star tracker and rate-gyro measurements.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 전력전자학술대회 논문집
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• pp.245-248
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• 1998

This paper proposes a sensorless velocity estimator using the reduced-order state equation of induction motor based on Kalman Filter. The electrical transients in the stator voltage equations of induction motor are neglected in the reduced-order model. The advantage of using the reduced-order model is to reduce the required number of numerical integrations for filtering the rotor speed. As changing the operating points and the parameters of the induction motor in simulation studies, the behavior of the sensorless velocity estimator as predicted by the reduced-order state equation of induction machine is compared with the behavior predicted by the complete state equation of induction machine.

• International Journal of Aeronautical and Space Sciences
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• 제2권1호
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• pp.67-77
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• 2001

In recent navigation system, the profitable solution is to integrate the GPS and Stapdwon INS (SDINS) system and its integration allows compensation for shortcomings of each system. This paper describes the hardware preparation and presents the test results obtained from the automobile test of the developed system. The automobile tests was conducted with two kinds of inertial sensors and GPS receivers : short range and middle range test, to verify and evaluate the performance of the integrated navigation system. The reference of position is given by the Differential GPS(DGPS) which has cm-level accuracy to compare the accuracy of system. Kalman filtering is used for integrating GPS and SDINS and this filter effectively allows the long-term stability of GPS to correct and decrease the time deviation error of SDINS.

• 한국정밀공학회지
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• 제22권7호
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• pp.137-145
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• 2005

A new design of contact detection algorithm is proposed for the z-axis of a wire bonder that interconnects between pads and leads in semiconductor manufacturing processes. Fast and stable contact detection of the z-axis is extremely important fer maintaining proper quality in the fine pitch gold wire bonding process, which has a small pad size of below 70um. The new method is based on a statistical approach and designed for the discrete Kalman filter. Real wire bonding experimental results are presented to demonstrate the advantages of the proposed algorithm.

• 한국농공학회지
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• 제36권2호
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• pp.79-87
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• 1994

A real-time flood forecasting system(FLOFS) was developed for the real-time and predictive determination of flood discharges and stages, and to aid in flood management decisions in the Keum River Estuary Dam. The system consists of three subsystems : data subsystem, model subsystem, and user subsystem. The data subsystem controls and manages data transmitted from telemetering systems and simulated by models. The model subsystem combines various techniques for rainfall-runoff modeling, tidal-level forecasting modeling, one-dimensional unsteady flood routing, Kalman filtering, and autoregressivemovingaverage(ARMA) modeling. The user subsystem in a menu-driven and man-machine interface system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.224-226
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• 2004

Digital Kalman filter is presented as a powerful approach to obtain the reference estimation of the control current for shunt active power filter. This algorithm provides the best estimate of the fundamental and harmonic frequency components from the sampled values of the line current or voltage. By adopting of the digital Kalman filtering algorithm, the structure of the control algorithm eliminates the need of a Phase locked loop(PLL) for the synchronization of the reference signal used in the compensation and it not sensitive to the distortion of the line voltage. The effectiveness of the algorithm is confirmed by the computer simulations.

• 전력전자학회논문지
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• 제20권4호
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• pp.344-350
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• 2015

A battery management system requires accurate information on the battery state of charge (SOC) to achieve efficient energy management of electric vehicle and renewable energy systems. Although correct SOC estimation is difficult because of the changes in the electrical characteristics of the battery attributed to ambient temperature, service life, and operating point, various methods for accurate SOC estimation have been reported. On the basis of piecewise linear (PWL) modeling technique, this paper proposes a simple SOC observer for lithium-polymer batteries. For performance evaluation, the SOC estimated by the PWL SOC observer, the SOC measured by the battery-discharging experiment and the SOC estimated by the extended Kalman filter (EKF) estimator were compared through a PSIM simulation study.

• Advances in aircraft and spacecraft science
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• 제1권4호
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• pp.455-469
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• 2014

High-precision autonomous localization technique is essential for future Mars rovers. This paper addresses an innovative integrated localization algorithm using a multiple information fusion approach. Firstly, the output of IMU is employed to construct the two-dimensional (2-D) dynamics equation of Mars rover. Secondly, radio beacon measurement and terrain image matching are considered as external measurements and included into the navigation filter to correct the inertial basis and drift. Then, extended Kalman filtering (EKF) algorithm is designed to estimate the position state of Mars rovers and suppress the measurement noise. Finally, the localization algorithm proposed in this paper is validated by computer simulation with different parameter sets.

• 한국화재소방학회:학술대회논문집
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• 한국화재소방학회 2013년도 추계학술대회 초록집
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• pp.219-220
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• 2013

본 연구에서는 최근 5년간 서울 지역에서 발생한 월별 화재 건수와 동일한 지역에서 같은 기간 동안 가정용으로 사용된 전기량 사이에 존재하는 연관성을 파악하기 위하여, 이 두 변수에 대하여 시계열분석을 수행하였다. 본 연구에서는 통계전용 인터프리터 언어 R이 사용되었으며, 특히 칼만 필터를 이용한 데이터 처리를 위해 R에서 제공되는 KFAS(Kalman Filtering And Smoothing) 패키지가 사용되었다. 우선 시계열분석을 통해 월별 화재발생 건수는 1년을 주기로 하는 사인파 곡선의 형태로 변화하지만, 가정용 전기사용량은 1년에 두 번씩, 즉 여름철과 겨울철에 크게 증가한다는 사실을 확인할 수 있었다. 더 나아가 KFAS의 파라미터를 적절히 조절함으로써, 가정용 전기사용량과 월별 화재발생 건수 사이의 연관성을 가시적으로 보여줄 수 있었다.

• 한국농공학회지
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• 제36권3호
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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.