• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.16-20
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• 2022

Accurate state estimation is important for autonomous driving. However, the estimation error increases in situations that a lot of longitudinal slip occurs. Therefore, this paper presents a vehicle state estimation method using an Extended Kalman Filter. The filter estimates the states of the host vehicle robust to wheel slip. It utilizes the measurements of the four-wheel rotational speeds, longitudinal acceleration, yaw-rate, and steering wheel angle. Nonlinear measurement model is represented by Ackermann Model. The main advantage of this approach is the accurate estimation of yaw rate due to the measurement of the steering wheel angle. The proposed algorithm is verified in scenarios of autonomous emergency braking (AEB), lane change (LC), lane keeping (LK) using an automated vehicle. The results show that the proposed algorithm guarantees accurate estimation in such scenarios.

• Journal of the Korean Data and Information Science Society
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• v.24 no.3
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• pp.659-667
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• 2013

If the regression model or the propensity model is correct, the unbiasedness of the estimator using doubly robust imputation can be guaranteed. Using a neural network instead of a logistic regression model for the propensity model, the estimators using doubly robust imputation are approximately unbiased even though both assumed models fail. We also propose a doubly robust estimator of ratio form using population information of an auxiliary variable. We prove some properties of proposed theory by restricted simulations.

• The Journal of Korea Robotics Society
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• v.10 no.1
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• pp.9-15
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• 2015

We present a robust power transmission lines detection method based on vanishing point estimation. Vanishing point estimation can be helpful to detect power transmission lines because parallel lines converge on the vanishing point in a projected 2D image. However, it is not easy to estimate the vanishing point correctly in an image with complex background. Thus, we first propose a vanishing point estimation method on power transmission lines by using a probabilistic voting procedure based on intersection points of line segments. In images obtained by our system, power transmission lines are located in a fan-shaped area centered on this estimated vanishing point, and therefore we select the line segments that converge to the estimated vanishing point as candidate line segments for power transmission lines only in this fan-shaped area. Finally, we detect the power transmission lines from these candidate line segments. Experimental results show that the proposed method is robust to noise and efficient to detect power transmission lines.

• Journal of the Korea Society of Computer and Information
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• v.10 no.2 s.34
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• pp.21-30
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• 2005

In general, the robust estimation method is well known for a good statistical estimator that is insensitive to small departures from the idealized assumptions for which the estimation is optimized. While there are many existing robust estimation techniques that have been proposed in the literature, two main techniques used in computer vision are M-estimators and least-median of squares (LMS). Among these. we utilized the M-estimators since they are known to provide an optimal estimation of affine motion parameters. The M-estimators have higher statistical efficiency but tolerate much lower percentages of outliers unless properly initialized. To resolve these problems, we proposed an adaptive M-estimators algorithm that effectively separates outliers from non-outliers and estimate affine model parameters, using a continuous sigmoid weight function. The experimental results show the superiority of our method.

• The KIPS Transactions:PartA
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• v.9A no.1
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• pp.75-82
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• 2002

A robust signal transition density propagation method for a zero delay model is presented to obtain the signal transition density for estimating the power consumption. The power estimation for the zero delay model is a proper criteria for the lower boundary of power consumption. Since the input characteristics are generally unknown at design stage, robust estimation for wide range input characteristics is very important for the power consumption. In this paper, a conventional transition estimation method will be explored. And this exploration will be analyzed with the input/output signal transition behavior and used to propose the robust signal transition density propagation for the power estimation. In order to apply to practical circuits, the reconvergent path, which is crucial to affect the exactness of the power estimation, will be studied and an algorithm to take the reconvergent path into consideration will be presented. In experiment, the proposed methodology shows better robustness, comparable accuracy and elapsed time compared to the conventional methods.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.5
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• pp.361-368
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• 2015

This paper deals with a robust fine seek controller design problem with multiple constraints using a genetic algorithm. A robust $H\infty$ constraint is introduced to attenuate effectively velocity disturbance caused by the eccentric rotation of the disk. A weighting function is optimally selected based on the estimation of velocity disturbance and the estimated minimum velocity loop gain. A robust velocity loop constraint is considered to minimize the variances of the velocity loop gain and bandwidth against the uncertainties of fine actuator. Finally, a robust fine seek controller is obtained by solving a genetic algorithm with an LMI condition and an appropriate objective function. The proposed controller design method is applied to the fine seek control system of a DVD recording device and is evaluated through the experimental results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.8A
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• pp.649-655
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• 2005

We propose a robust channel estimation method against imperfect synchronization in orthogonal frequency division multiple access (OFDMA) downlink systems. We address time and frequency synchronization, and the channel estimation at the same time, and try to minimize the error propagation from the time and frequency synchronization steps into the chailnel estimation. The simulation results show that the proposed channel estimation method outperforms the conventional algorithms by about 3dB, and circumvents the problem of mismatch among the synchronization tasks.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.17-18
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• 2006

In this paper, we propose a robust detection scheme of OSTBCs with channel estimation errors over time-selective fading channels. Channel estimation errors are inevitable over time-selective fading channels and even small channel estimation errors dramatically degrade the performance of space-time block coding schemes. Therefore, it is desired to investigate the effect of channel estimation errors on the performance of the proposed detection scheme compared with the existing detection scheme. The proposed detection scheme minimizes noise enhancement and impact of channel estimation errors which occur in an existing detection scheme. It is shown by simulations that the proposed detection scheme performs better than the existing detection scheme over time-selective fading channels.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.3100-3102
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• 2000

In this paper, we propose to a robust frequency offset estimation method of OFDM signals. A carrier frequency offset may be decomposed into an integer multiple of the subcarrier spacing and a residual frequency offset. Fractional part of frequency offset is obtained by using the maximum likelihood estimation(MLE) method. And we use the correlation of the samples at the output of the discrete Fourier transform(DFT) to estimate integer part of frequency offset. The result shows that the estimation frequency offset is almost linear to frequency offset. We propose to an improved estimation error variance of the carrier frequency offset estimation. The proposed estimator has better performance than the conventional ones in terms of error variance and tracking range.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1822-1825
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• 2003

A practical range estimator based on the robust Kalman filter is proposed to solve the range estimation problem for surface to air missile(SAM) homing guidance. Apart from the previous works based on the extended Kalman filter(EKF) with bearing only measurement, the proposed scheme makes use of line-of-sight(LOS) rate to ensure the fast convergency at long-range. In this reason, the robust Kalman filter is considered to deal with LOS rate measurement error. The recursive linear structure of proposed filter is easy to implement and make it possible to reduce computational burdens. Moreover, it shows good estimation performance without specific guidance law such as oscillation proportional navigation guidance(OPNG).