• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.5
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• pp.503-510
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• 2004

In this paper, the well-conditioned observer for a stochastic system is designed so that the observer is less sensitive to the ill-conditioning factors in transient and steady-state observer performance. These factors include not only deterministic uncertainties such as unknown initial estimation error, round-off error, modeling error and sensing bias, but also stochastic uncertainties such as disturbance and sensor noise. In deterministic perspectives, a small value in the L$_{2}$ norm condition number of the observer eigenvector matrix guarantees robust estimation performance to the deterministic uncertainties. In stochastic viewpoints, the estimation variance represents the robustness to the stochastic uncertainties and its upper bound can be minimized by reducing the observer gain and increasing the decay rate. Both deterministic and stochastic issues are considered as a weighted sum with a LMI (Linear Matrix Inequality) formulation. The gain in the well-conditioned observer is optimally chosen by the optimization technique. Simulation examples are given to evaluate the estimation performance of the proposed observer.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.187-193
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• 1998

This paper proposes an advanced visual tracking algorithm for the stable grasping of a moving target(2D). This algorithm is programmed to find grasping points of an unknown polygonal object and execute visual tracking. The Kalman Filter(KF) algorithm based on the SVD(Singular Value Decomposition) is applied to the visual tracking system for the tracking of a moving object. The KF based on the SVD improves the accuracy of the tracking and the robustness in the estimation of state variables and noise statistics. In addition, it does not have the numerical unstability problem that can occur in the visual tracking system based on Kalman filter. In the grasping system, a parameterized family is constructcd, and through the family, the grasping system finds the stable grasping points of an unknown object through the geometric properties of the parameterized family. In the previous studies, many researchers have been studied on only 'How to track a moving target'. This paper concern not only on 'how to track' but also 'how to grasp' and apply the grasping theory to a visual tracking system.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1230-1242
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• 2007

This paper describes an IIR/FIR fusion filter for a nonlinear system, and analyzes the stability of the fusion filter. The fusion filter is applied to INS/GPS integrated system, and the performance is verified by simulation and experiment. In the fusion filter, an IIR-type filter (SPKF) and FIR-type filter (MRHKF filter) are processed independently, then the two filters are merged using the mixing probability calculated using the residuals and residual covariance information of the two filters. The merits of the SPKF and the MRHKF filter are embossed and the demerits of the filters are diminished via the filter fusion. Consequently, the proposed fusion filter has robustness against to model uncertainty, temporary disturbing noise, large initial estimation error, etc. The stability of the fusion filter is verified by showing the closeness of the states of the two sub filters in the mixing/redistribution process and the upper bound of the error covariance matrices. This fusion filter is applied into INS/GPS integrated system, and important factors for filter processing are presented. The performance of the INS/GPS integrated system designed using the fusion filter is verified by simulation under various error environments and is confirmed by experiment.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.10
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• pp.48-58
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• 1998

We present a method that can recognize face images using independent component analysis that is used mainly for blind sources separation in signal processing. We assumed that a face image can be expressed as the sum of a set of statistically independent feature images, which was obtained by using independent component analysis. Face recognition was peformed by projecting the input image to the feature image space and then by comparing its projection components with those of stored reference images. We carried out face recognition experiments with a database that consists of various varied face images (total 400 varied facial images collected from 10 per person) and compared the performance of our method with that of the eigenface method based on principal component analysis. The presented method gave better results of recognition rate than the eigenface method did, and showed robustness to the random noise added in the input facial images.

• Corrosion Science and Technology
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• v.9 no.1
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• pp.1-7
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• 2010

Cost reduction of products is and will always be a key objective of industrials. However, it is well identified that the wiping process reaches its limits at high line speed in general and especially thin coatings. If wiping models predict that it is possible to reach 32-37 g/$m^2$ of pure Zinc at 180 m/min provided the nozzle to strip distance can be reduced to 6mm, the possibility to reach that process window industrially with sufficient robustness is debated. 3 key problems are reviewed and analyzed: Zinc splashing and liquid drop emissions of various forms, the production of skimming and the noise generated by the nozzles. The available data and models are firstly used to predict phenomena. Secondly, videos and pictures from the lines showing what really happens on the edges especially in case of a strip width change are analyzed. Whereas the predicted level of skimming to remove from the pot is expected very high, it turns out that the target may be very close to the full splashing phenomena and that the most critical industrial situation is related to strip specification changes. It is then expected that the industrial feasibility of the 32-37 g/$m^2$ at 180 m/min will depend strongly on the amount of incoming strip with the same width that can be processed continuously.

• Journal of Communications and Networks
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• v.6 no.1
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• pp.19-25
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• 2004

In this paper, we present a trellis-based blind channel estimation and equalization technique coupling two kinds of adaptive Viterbi algorithms. First, the initial blind channel estimation is accomplished by incorporating the list parallel Viterbi algorithm with the least mean square (LMS) updating approach. In this operation, multiple trellis mappings are preserved simultaneously and ranked in terms of path metrics. Equivalently, multiple channel estimates are maintained and updated once a single symbol is received. Second, the best channel estimate from the above operation will be adopted to set up the whole trellis. The conventional adaptive Viterbi algorithm is then applied to detect the signal and further update the channel estimate alternately. A small delay is introduced for the symbol detection and the decision feedback to smooth the noise impact. An automatic switch between the above two operations is also proposed by exploiting the evolution of path metrics and the linear constraint inherent in the trellis mapping. Simulation has shown an overall excellent performance of the proposed scheme in terms of mean square error (MSE) for channel estimation, robustness to the initial channel guess, computational complexity, and channel equalization.

• Journal of Communications and Networks
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• v.18 no.2
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• pp.173-181
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• 2016

In this paper, we address a new robust optimization problem in a multiuser multiple-input single-output broadcasting system with simultaneous wireless information and power transmission, where a multi-antenna base station (BS) sends energy and information simultaneously to multiple users equipped with a single antenna. Assuming that perfect channel-state information (CSI) for all channels is not available at the BS, the uncertainty of the CSI is modeled by an Euclidean ball-shaped uncertainty set. To optimally design transmit beamforming weights and receive power splitting, an average total transmit power minimization problem is investigated subject to the individual harvested power constraint and the received signal-to-interference-plus-noise ratio constraint at each user. Due to the channel uncertainty, the original problem becomes a homogeneous quadratically constrained quadratic problem, which is NP-hard. The original design problem is reformulated to a relaxed semidefinite program, and then two different approaches based on convex programming are proposed, which can be solved efficiently by the interior point algorithm. Numerical results are provided to validate the robustness of the proposed algorithms.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.2
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• pp.247-252
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• 2015

Adaptive algorithms based on the criterion of zero-error probability (ZEP) have robustness to impulsive noise and their decision feedback (DF) versions are known to compensate effectively for severe multipath channel distortions. However the ZEP-DF algorithm computes several summation operations at each iteration time for each filter section and this plays an obstacle role in practical implementation. In this paper, the ZEP-DF with recursive gradient estimation (RGE) method is proposed and shown to reduce the computational burden of O(N) to a constant which is independent of the sample size N. Also the weight update of the initial state and the steady state is a continuous process without bringing about any propagation of gradient estimation error in DF structure.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.1C
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• pp.105-112
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• 2009

In this paper, we propose a digital watermarking method using Multi-resolution Characteristic of 2D CAT (2D cellular automata transform). Firstly, we select the gateway values to generate a basis function and the basis function transforms images into cellular automata space. Then, we embed the random bit sequence as watermark in specific parts of cellular automata transform coefficients. The proposed method not only verifies higher fidelity than the existing method but also stronger stability on JPEG lossy compression, filtering, sharpening and noise through tests for robustness. Moreover, the proposed scheme allows only one 2D CAT basis function per gateway value. Since there are $2^{96}$ possible gateway values.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.4
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• pp.751-756
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• 2018

In smart factories and industrial IoT, all facilities in a factory are monitored over the Internet, thereby facility can reduce the downtime and increase the availiability by preventive maintenance before it breaks down. The abnormal conditions of the major facilities in the plant are caused by abnormal temperature rise, vibration, and variations in noise. Consequently, it is critical to develop a very small smart device that is easily installed in a small space to enable real-time monitoring of the vibration status of the facility. In this study, smart devices were developed for smart factory fault prediction and robustness management using ultra small micro-controllers with WiFi capabilities and MEMS acceleration sensors.