• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.978-982
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• 2007

This paper presents the velocity estimation of a mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the basic principle of the proposed velocity estimation method is explained. Second, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. Third, for a given set of optical mouse readings, the mobile robot velocity is estimated based on the least squares solution to the obtained system. Finally, simulation results are given to demonstrate the validity of the proposed velocity estimation method.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.713-721
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• 2008

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a polygonal array of optical mice that are installed at the bottom of the mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. The least squares velocity estimate of a mobile robot is then obtained, which becomes the same as the simple average for a regular polygonal arrangement of optical mice. Next, several practical issues that need be addressed for the use of the least squares mobile robot velocity estimation using optical mice are investigated, which include measurement noises, partial malfunctions, and imperfect installation. Finally, experimental results with different number of optical mice and under different floor surface conditions are given to demonstrate the validity and performance of the proposed least squares mobile robot velocity estimation method.

• Journal of Information Processing Systems
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• 제15권4호
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• pp.820-832
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• 2019

Estimation of accurate blood volume flow in ultrasound Doppler blood flow spectrograms is extremely important for clinical diagnostic purposes. Blood volume flow measurements require the assessment of both the velocity distribution and the cross-sectional area of the vessel. Unfortunately, the existing volume flow estimation algorithms by ultrasound lack the velocity space distribution information in cross-sections of a vessel and have the problems of low accuracy and poor stability. In this paper, a new robust ultrasound volume flow estimation method based on multigate (RMG) is proposed and the multigate technology provides detail information on the local velocity distribution. In this method, an accurate double iterative flow velocity estimation algorithm (DIV) is used to estimate the mean velocity and it has been tested on in vivo data from carotid. The results from experiments indicate a mean standard deviation of less than 6% in flow velocities when estimated for a range of SNR levels. The RMG method is validated in a custom-designed experimental setup, Doppler phantom and imitation blood flow control system. In vitro experimental results show that the mean error of the RMG algorithm is 4.81%. Low errors in blood volume flow estimation make the prospect of using the RMG algorithm for real-time blood volume flow estimation possible.

• 전기학회논문지
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• 제67권1호
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• pp.131-136
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• 2018

Reliable velocity estimation technology for trains is one of technologies used to operate trains safely and effectively. Various sensors such as tachometers, doppler radars, and global positioning systems are used to estimate velocity of a train. Tachometer is widely used to estimate velocity of a trains due to its simplicity, small volume, cost-effectiveness, continuously measurement at high speed, and robustness against noise. Accuracy in the velocity calculation using a tachometer depends on quantization error, measurement error of wheel radius or diameter, and tachometer's imperfection from manufacturing or installation process. In this paper, we present an accurate velocity estimation method using a low-resolution tachometer, which is commonly installed on a high-speed train. Baseline estimation method is proposed to accurately calculate the velocity of the high-speed train from tachometer's pulses. HEMU-430x test train is used for the experiment and verification of the proposed method. Experimental results with several routes show that the proposed method is more accurate than a conventional method.

• 한국군사과학기술학회지
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• 제19권2호
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• pp.177-184
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• 2016

This paper presents a strike velocity estimation using the recursive Bayesian filter that operates both correction and prediction models to probabilistically remove noises of sensors and accurately estimate the strike velocity during the real-time experiments. Four different types of bullets such as 5.56 mm M193, 7.62 mm M80, 5.45 mm 7N10 and 7.62 mm MSC were used to validate the proposed method. Compared to the existing method, the proposed method statistically results in higher stability of the strike velocity estimation as well as its reliability for the ballistic limit velocity computation.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.60-65
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• 2003

In this study, for estimating responses of a controlled structure and determining the maximum control force of velocity-dependent damping devices, three estimation models such as Fourier envelope convex model, probability model, and Newmark design spectrum are used. For this purpose, a procedure proposed by Gupta (1990) for estimating spectral velocity using pseudo-spectral velocity which is given by the estimation models is used and modified to consider the effects of increased damping ratio by the damping device. Time history results indicate that Newmark design spectrum gives the best estimation of maximum control force for over all period structures.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2007년도 학술발표회 논문집
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• pp.855-859
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• 2007

It is essential to obtain accurate and highly reliable streamflow data for water resources planning, evaluation and management as well as design of hydraulic structures. A new discharge estimation method, which is named 'non-dimensional velocity distribution and index-velocity method,' was proposed in this research. This method showed very close channel discharges which were calculated with the exiting velocity-area method. When velocity-area method is used to estimate channel discharge, it is required to observe point velocities at every desired point and vertical using a current meter like Price-AA. However 'non-dimensional velocity distribution and index-velocity method' is used, it become optional to observe point velocities at every desired point and vertical. But this method can not be applied for the cases of very complex and strongly asymmetric channel cross-sections because non-dimensional velocity distribution by entropy concept may be quite biased from that of natural rivers.

• 반도체디스플레이기술학회지
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• 제11권3호
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• pp.13-18
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• 2012

This paper presents a velocity disturbance estimation system for the stable fine seek control using a genetic algorithm. To estimate accurately the velocity disturbance in spite of the uncertainties of fine actuator, the system utilizes an objective function to minimize the differences of the frequency characteristics between the nominal velocity control loop and the extremal velocity control loops. The objective function is considered by applying a genetic algorithm and the velocity disturbance is estimated by the measurable velocity, the adjusted velocity controller, and the fine actuator model. The proposed velocity disturbance estimation system is applied to the fine seek control system of a DVD recording device and is evaluated through the experimental results.

• 한국ITS학회 논문지
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• 제8권2호
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• pp.100-107
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• 2009

이동 셀룰라 시스템에서 단말의 속도를 알아내는 것은 효율적인 시스템 운영을 위해 꼭 필요한 일이다. 그동안 여러 가지 이동체의 속도 추정 방안이 제안되어 왔는데, 이 논문에서는 적응형 어레이 안테나를 이용해 간단하게 속도를 추정하는 방안을 제안한다. 제안하는 방안은 이동체의 속도를 이동 거리 정보와 상주시간 정보를 이용해 추정한다. 이 방안은 추가적인 코스트 부담 없이 정확하게 속도를 추정할 수 있다. 제안하는 방안의 성능 분석을 위해 본 논문에서는 수학적 분석과 시뮬레이션을 수행하였고 그 결과 제안하는 방안이 만족할만한 성능을 보여주는 것을 알 수 있었다.