• The Journal of the Acoustical Society of Korea
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• v.23 no.4E
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• pp.103-107
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• 2004

In this Paper, we propose an algorithm called partitioned recursive least square (PRLS) that involves a procedure that partitions a large data matrix into small matrices, applies RLS scheme in each of the small sub matrices and assembles the whole size estimation vector by concatenation of the sub-vectors from RLS output of sub matrices. Thus, the algorithm should be less complex than the conventional RLS and maintain an almost compatible estimation performance.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.9
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• pp.1141-1145
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• 2016

In general, a variable forgetting factor is applied to the RLS algorithm for the time-varying parameter estimation in the non-stationary environments. The introduction of a variable forgetting factor to RLS needs heavy additional calculation complexity. We propose a new Gauss Newton variable forgetting factor RLS algorithm which needs small amount of calculation as well as estimates the better parameters in time-varying nonstationary environment. The algorithm performs as good as the conventional Gauss Newton variable forgetting factor RLS and the required additional calculation complexity reduces from $O(N^2)$ to O(N).

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.435-439
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• 2007

This paper deals with RLS algorithm using Newton-Raphson method based adaptive forgetting factor for a passive telemetry RF sensor system in order to estimate the time variant parameter to be included in RF sensor model. For this estimation with RLS algorithm, phasor typed RF sensor system modelled with inductive coupling principle is used. Instead of applying constant forgetting factor to estimate time variant parameter, the adaptive forgetting factor based on Newton-Raphson method is applied to RLS algorithm without constant forgetting factor to be determined intuitively. Finally, we provide numerical examples to evaluate the feasibility and generality of the proposed method in this paper.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.5
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• pp.858-865
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• 2008

In this paper, Capacitive Telemetry RF Sensor System using Recursive Least Square (RLS) algorithm was proposed. General Telemetry RF Sensor System means that it should be "wireless", "implantable" and "batterless". Conventional Telemetry RF Sensor System adopts Integrated Circuit type, but there are many defects like complexity of structure and the limitation of large power consumption in some cases. In order to overcome these disadvantages, Telemetry RF Sensor System based on inductive coupling principle was proposed in this paper. Proposed Telemetry RF Sensor System is very simple because it consists of R, L and C and measures the changes of environment like pressure and humidity in the type of capacitive value. This system adopted RLS algorithm for estimation of this capacitive parameter. For the purpose of applying RLS algorithm, proposed system was mathematically modelled with phasor method and was quasi-linearized. As two parameters such as phase and amplitude of output voltage for estimation were needed, Phase Difference Detector and Amplitude Detector were proposed respectively which were implemented using TMS320C2812 made by Texas Instrument. Finally, It is verified that the capacitance of proposed telemetry RF Sensor System using RLS algorithm can be estimated efficiently under noisy environment.

• Proceedings of the KIEE Conference
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• 2007.04c
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• pp.29-33
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• 2007

In this paper, time-varying parameter of passive telemetry RF sensor system is estimated using RLS(Rescursive $\leq$* Square) algorithm. In order to overcome the problems such as power limits and complication that general RF sensor system including IC chip has, the principle of inductive coupling is applied to model sensor system The model parameter is rearranged for applying RLS algorithm based on mathematical model to the derived model using inductive coupling principle. Time variant parameter of rearranged model is estimated using forgetting factor, and in case measured data is contaminated by noise and modelling error, the performance of RLS algorithm characterized by the convergence of squared error sum is verified by simulation.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.37 no.2
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• pp.54-61
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• 2000

This paper presents the performance evaluation of channel estimation algorithm using RLS algorithm lot W-CDMA reverse link over Rayleigh fading channels. By obtaining BER(Bit Error Rate) performance through computer simulations, the RLS(Recursive Least Square) algorithm is compared with the existing WMSA(Weighted Averaging)(K=1,3) and constant gain algorithm. The channel structure, modulation and pilot patterns are applied to the ARIB (Association of Radio Industries and Business) and 3GPP (3rd Generation Partnership Project) ITU-R proposal for the IMT-2000. The BER performance of RLS algorithm with linear interpolation is similar to that of WMSA(K=1) and slightly superior to that of constant gain algorithm at low Doppler frequencies. Also, RLS algorithm performance is better than that of the WMSA(K=1,3) and constant gain algorithms about 4dB at BER=2.0$\times$$10^{-2}$ and Doppler frequencies $F_D$=320Hz. With increasing Doppler frequency, therefore, the BER performance of RLS algorithm with linear interpolation is superior to WMSA(K=L.3) and constant rain algorithms.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.11a
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• pp.131-137
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• 2007

본 연구에서는 RLS(Rescursive Least Square) 추정 알고리즘을 이용하여 정전용량형 센서를 사용한 원격 RF 센서 시스템을 구현하고자 한다. IC 칩 형태의 원격 RF 센서 시스템이 가지는 구성의 복잡성 그리고 전력소모 문제를 해결하기 위해 보다 간단한 유도결합모델이 제안된다. 원격 RF 시스템은 페이저법을 이용하여 수학적으로 모델링되며, 모델기반의 RLS 알고리즘을 적용하기위해 시스템의 파라메타를 재배열한다. 오차 제곱합의 수렴특성을 가진 RLS 알고리즘을 이용하여 정전용량 파라메타를 추정한다. 실제 위상차를 측정하기 위해 Exclusive OR를 이용한 위상차 감지 장치를 제안한다. 센서로는 각종 환경 측정-습도, 압력 등-에 실제 활용되고 있는 정전용량형 센서를 채택한다. 잡음을 내포한 측정 데이터에 대한 추정 성능을 확인함으로써 그 유효성을 검증하고자 한다.

• The Journal of the Acoustical Society of Korea
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• v.39 no.1
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• pp.32-37
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• 2020

This paper proposes a new l₁-norm-Recursive Least Squares (RLS) algorithm which is numerically more robust than the conventional l₁-norm-RLS. The l₁-norm-RLS was proposed by Eksioglu and Tanc in order to estimate the sparse acoustic channel. However the algorithm has numerical instability in the inverse matrix calculation. In this paper, we propose a new algorithm which is robust against the numerical instability. We show that the proposed method improves stability under several numerically erroneous situations.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.9C
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• pp.922-928
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• 2007

This paper presents the fast adaptive algorithm which applies an approximation scheme into RLS algorithm. The proposed algorithm(D-RLS) derives a QRD RLS algorithm derivation process from RLS algorithm recursively. D-RLS has the similar pattern as the algorithm having the approximation that input signals are separated respectively. Computational complexity of D-RLS is O(N), fewer than $O(N^2)$. To evaluate performance of proposed algorithm, we use the system identification method of FIR and Volterra system. And, finally, we can show D-RLS has an excellent performance.