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

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.34 no.12B
• /
• pp.1387-1398
• /
• 2009

In the latest we will make a demand for the precision position estimation for the Mobile-station(MS)'s position. But, we have a lot of problems the position estimation method using the existing method. The Base-station(BS) measure a distance according to time delay waves to receive propagate from the MS and estimate the position using the existing circle equation with method to be selected BSs in close proximity the MS. It knows that happens a lot of error the estimated position and the true position. This paper propose that the method is selected round BSs to estimate for MS's position and estimated the angle using the second law of cosine. This paper demonstrate that using simulation the proposal method is a predominant method to compare with the existing method.

• Journal of Korean Society of Transportation
• /
• v.27 no.5
• /
• pp.7-16
• /
• 2009

This paper proposes a plan which can raise the accuracy of economic benefit estimation in road construction projects. The point of existing economic appraisals may be that the speeds forecasted by models are different from the field speeds because only volumes are calibrated in the road network. The result of such a calibration has an influence on estimating wrong economic benefits in terms of vehicle operating cost savings, travel time savings, and air pollution savings. Then this study performs a calibration when volumes are at the same amount but the calibration between the field speeds and model speeds is different from each other with two different volume-delay functions; the differences of benefits are confirmed according to two different speed calibrations. Three improvement schemes, including the development of a new volume-delay function, are proposed in this study in order to solve the problem of current benefit calculations. The outcome of this study will help practitioners perform more accurate benefit calculations and reasonable economic appraisals.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.38 no.5
• /
• pp.509-517
• /
• 2001

Full-search algorithm requires large amount of computation which causes time delay or very complex hardware architecture for real time implementation. In this paper, we propose a fast motion estimator based on bit-plane matching, which reduce the computational complexity and the hardware cost. In the proposed motion estimator, the conventional motion estimation algorithms are applied to the binary images directly extracted from the video sequence. Furthermore, in the proposed VLSI motion estimator, we employ a Pair of processing cores that calculate the motion vector continuously By controlling the data flow in a systolic fashion using the internal shift registers in the processing cores, we avoid using SRAM (local memory) so that we remove the time overhead for accessing the local memory and adopt lower-cost fabrication technology. We modeled and tested the proposed motion estimator in VHDL, and then synthesized the whole system which has been integrated in a 0.6-$\mu$m triple-metal CMOS chip of size 8.15 X 10.84$\textrm{mm}^2$.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.19 no.5
• /
• pp.333-339
• /
• 1999

It is well recognized that ultrasonic technique is one of the most common and reliable nondestructive evaluation techniques for quantitative estimation of defects in structures. For the quantitative and accurate estimation of internal defects. the characteristics of scattered ultrasonic wavefields must be understood. In this study. the scattered near-field and far-field due to a circular cavity embedded in infinite media subjected to incident SH-waves were calculated by the boundary element method. The frequency response of the scattered ultrasonic far-field was transformed into the time-domain signal by obtaining its inverse Fourier transform. It was found that the amplitude of time-domain signal decreases and its time delay increases as the distance between the detecting point of ultrasonic scattered field and the center of internal cavity increases.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.12 no.10
• /
• pp.1845-1852
• /
• 2008

The key elements of inter prediction are motion estimation(ME) and motion compensation(MC). Motion estimation is to find the optimum motion vectors, not only by using a distance criteria like the SAD, but also by taking into account the resulting number of 비트s in the 비트 stream. Motion compensation is compensate for movement of blocks of current frame. Inter-prediction Encoding is always the main bottleneck in high-quality streaming applications. Therefore, in real-time streaming applications, dedicated hardware for executing Inter-prediction is required. In this paper, we studied a motion estimator(ME) for H.264/AVC. The designed motion estimator is based on 2-D systolic array and it connects processing elements for fast SAD(Sum of Absolute Difference) calculation in parallel. By providing different path for the upper and lower lesion of each reference data and adjusting the input sequence, consecutive calculation for motion estimation is executed without pipeline stall. With data reuse technique, it reduces memory access, and there is no extra delay for finding optimal partitions and motion vectors. The motion estimator supports variable-block size and takes 328 cycles for macro-block calculation. The proposed architecture is local memory-free different from paper [6] using local memory. This motion estimation encoder can be applicable to real-time video processing.

• The Journal of Korea Robotics Society
• /
• v.12 no.4
• /
• pp.402-410
• /
• 2017

Acoustic based localization is essential to operate autonomous robotic systems in underwater environment where the use of sensorial data is limited. This paper proposes a localization method using artificial underwater acoustic sources. The proposed method acquires directional angles of acoustic sources using time difference of arrivals of two hydrophones. For this purpose, a probabilistic approach is used for accurate estimation of the time delay. Then, Gaussian sum filter based SLAM technique is used to localize both acoustic sources and underwater vehicle. It is performed by using bearing of acoustic sources as measurement and inertial sensors as prediction model. The proposed method can handle directional ambiguity of time difference based source localization by generating Gaussian models corresponding to possible locations of both front and back sides. Through these processes, the proposed method can provide reliable localization method for underwater vehicles without any prior information of source locations. The performance of the proposed method is verified by experimental results conducted in a real sea environment.

• The Bulletin of The Korean Astronomical Society
• /
• v.41 no.1
• /
• pp.70.4-71
• /
• 2016

The links between super-massive black hole masses and their host galaxy properties are observed, indicating that black hole growth and host galaxy evolution are closely related. Reverberation mapping, which uses the time delay from the central black hole to broad line regions, is one of the best methods to estimate masses of black holes of active galactic nuclei (AGNs). However, only masses of about 50 black holes have been determined in reverberation mapping studies so far, and most of them are limited to optical luminosities below 10^45 erg/s due to the challenges of long-term time domain observations in both photometry and spectroscopy. In this project, we expand reverberation mapping samples to higher luminosities of > 10^44.5 erg/s at 0.1 < z < 0.35, that have expected time lags of 40 - 250 light days. Photometric (using LOAO 1-m and MDM 1.3-m) and spectroscopic (using MDM 2.4-m and Lick 3-m) monitoring campaigns are being conducted for a 3 year duration and 20 day cadence. Precedent photometric observations in 2015B show some targets with variability and follow-up spectroscopic observations are on-going. In this presentation, we introduce our project, present reverberation mapping simulation results, and preliminary results on photometry. These reverberation mapping masses of relatively high luminous AGNs will provide a strong constraint on black hole mass calibration, e.g., the single-epoch mass estimation.

• Journal of IKEEE
• /
• v.24 no.4
• /
• pp.1109-1116
• /
• 2020

The matching score evaluating human copying ability can be a good measure to check children's developmental stages, or sports movements like golf swing and dance, etc. It also can be used as HCI for AR, VR applications. This paper presents a method to evaluate the motion similarity between demonstrator who initiates movement and participant who follows the demonstrator action. We present a quantification method of the similarity which utilizes Euclidean L2 distance of Openpose keypoins vector similarity. The proposed method adapts DTW, thus can flexibly cope with the time delayed motions.

• Journal of Korea Water Resources Association
• /
• v.53 no.7
• /
• pp.533-543
• /
• 2020

In order to provide information for proper management of groundwater resources, it is necessary to estimate the rise time of groundwater level by calculating the delay time between the time series of precipitation and groundwater level and to understand the characteristics of groundwater level variation. In this study, total delay time (TDT) and cross correlation coefficient between the moving averaged precipitation generated by using the moving average method to take into account the preceding precipitation and the groundwater level were calculated and analyzed for the nine groundwater level monitoring wells in the Pyoseon watershed in the southeast of Jeju Island. As a result, when the moving averaged precipitation was used, the correlation with the groundwater level was higher in all monitoring wells than in the case of using the raw precipitation, so that it was possible to more clearly estimate the delay time between precipitation and groundwater level. When using the moving averaged precipitation, it had cross correlation coefficients of up to 0.57 ~ 0.58 with the time series data of the groundwater level, and had a relatively high correlation when considering the preceding precipitation of about 24 days on average. The TDT was about 32 days on average, and it was confirmed that the consideration of preceding precipitation plays an important role in estimating the TDT because the days of moving averaged precipitation greatly influences the calculation of the TDT. In addition, through the use of moving averaged precipitation, we found an error in estimating the TDT due to the use of raw precipitation. Through the method of estimating the TDT used in this study and the use of the R code for estimating the TDT presented in the appendix of this paper, it will be possible to estimate the TDT for other regions in the future relatively easily.