• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.133-138
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• 1993

This paper presents neural network based position estimation method in slippery environment as an approach to solve one of problems which are engaged in dead reckoning method. Position estimator is composed of slip detector and linear velocity estimator. Both of them are based on the fact that dynamic characteristic of mobile robot in slippery environment is different from the case without slip. To find out the dynamic relation among driving torque, angular acceleration of driving wheel and linear acceleration of mobile robot, accelerometer is used for measuring acceleration of mobile robot and neural network is used for dynamic system identifier in slippery environment.

• Journal of Positioning, Navigation, and Timing
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• 제9권4호
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• pp.379-385
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• 2020

The satellite employs an adaptive beamformer to efficiently detect various signals and to suppress multiple interference signals, simultaneously. Although the adaptive beamforming satellite system needs Angle-of-Arrival (AOA) information of the desired signal, it is difficult to estimate the signal AOAs on the satellite environment. However, the AOA estimation on the ground control tower is more efficient and accurate comparing to the satellite environment. In this paper, we propose an adaptive beamforming satellite system based on the signal location information on the ground, consisting on an angle estimator, an adaptive beamformer, and signal processing & D/B unit. The ground control tower estimates the accurate location of the signal source, and it sends the estimated coordinates of the desired signal to the satellite. The angle estimator mounted on the satellite calculates the desired signal AOA, based on the signal location information transmitted from the ground control center. The satellite beamformer detects the desired signal and suppresses unwanted signals based on the signal AOA calculated by the angle estimator. We provide computer simulation results to present the performance of the proposed satellite adaptive beamforming system based on the signal location information.

• 한국물환경학회지
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• 제23권2호
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• pp.251-259
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• 2007

In this study three log-transformed linear regression models are compared with the focus of bias correction problem. The models are the traditional simple linear regression estimator (SL), the quasi maximum likelihood estimator (QMLE) and the minimum variance unbiased estimator (MVUE). Using such models, suspended solid loads can be estimated using the discharge - suspended solid data set that has been measured by NIER Nakdong River Water Environment Laboratory. As a result, SL shows negative bias for most values of the measured discharge range. QMLE is nearly unbiased for moderate values of the measured discharge range, but shows increasingly positive bias for either large or small value of the measured discharge range. MVUE is unbiased. It is also analyzed how the estimated regression coefficient and exponent are distributed along Nakdong river main stream.

• International Journal of Computer Science & Network Security
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• 제23권9호
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• pp.8-16
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• 2023

In Japan, high-speed ground transportation service using linear motors at speeds of 500 km/h is scheduled to begin in 2027. To accommodate 5G services in trains, a subcarrier spacing frequency of 30 kHz will be used instead of the typical 15 kHz subcarrier spacing to mitigate Doppler effects in such high-speed transport. Furthermore, to increase the cell size of the 5G mobile system, multiple base station antennas will transmit identical downlink (DL) signals to form an expanded cell size along the train rails. In this situation, the forward and backward antenna signals are Doppler-shifted in opposite directions, respectively, so the receiver in the train may suffer from estimating the exact Channel Transfer Function (CTF) for demodulation. In a previously published paper, we proposed a channel estimator based on Delay and Doppler Profiler (DDP) in a 5G SISO (Single Input Single Output) environment and successfully implemented it in a signal processing simulation system. In this paper, we extend it to 2×2 MIMO (Multiple Input Multiple Output) with spatial multiplexing environment and confirm that the delay and DDP based channel estimator is also effective in 2×2 MIMO environment. Its simulation performance is compared with that of a conventional time-domain linear interpolation estimator. The simulation results show that in a 2×2 MIMO environment, the conventional channel estimator can barely achieve QPSK modulation at speeds below 100 km/h and has poor CNR performance versus SISO. The performance degradation of CNR against DDP SISO is only 6dB to 7dB. And even under severe channel conditions such as 500km/h and 8-path inverse Doppler shift environment, the error rate can be reduced by combining the error with LDPC to reduce the error rate and improve the performance in 2×2 MIMO. QPSK modulation scheme in 2×2 MIMO can be used under severe channel conditions such as 500 km/h and 8-path inverse Doppler shift environment.

• 동력기계공학회지
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• 제13권2호
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.18-20
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• 2006

The statistics for the neighbor differences between the particular pixels and their neighbors are introduced. They are incorporated into the filter to remove additive Gaussian noise contaminating images. The derived denoising method corresponds to the maximum likelihood estimator for the heavy-tailed Gaussian distribution. The error norm corresponding to our estimator from the robust statistics is equivalent to Huber's minimax norm. Our estimator is also optimal in the respect of maximizing the efficacy under the above noise environment.

• 대한전자공학회논문지SP
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• 제44권6호
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• pp.93-99
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• 2007

본 논문에서는 ${\alpha}$-stable 확률분포를 갖는 잡음에 열화된 이미지의 화질을 개선하는 알고리즘을 제안한다. 제안한 진폭제한 평균필터(amplitude-limited sample average filter)는 heavy-tailed 가우시안 잡음환경 하에서 maximum likelihood estimator (MLE)임을 증명한다. 그리고, 이 알고리즘에 해당하는 error norm은 Huber의 minimax norm과 일치하고, 위에서 언급한 잡음 환경 하에서 efficacy를 최대화한다는 점에서 최적의 필터임을 보인다. 이 개념을 미리어드(myriad) 필터와 결합하여 진폭제한 미리어드 필터(amplitude-limited myriad filter)를 제안하고 실험을 통하여 이의 성능을 확인한다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2003년도 정기총회 및 학술대회
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• pp.127-131
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• 2003

In this paper an adaptive channel estimator is proposed and investigated which improves the receiving performance for the DVB-T system. A conventional estimator for the system consists of a two-dimensional Wiener filter which is implemented as a cascade of one-dimensional filters, and the filter is operating with the filter coefficients set which is selected from the four different sets according to the channel environment. Our proposed estimator uses the filter coefficients which is interpolated by the two closest coefficients sets. The proposed scheme shows an improvement of 5 to 10dB in SNR compared to the conventional scheme.

• 한국물환경학회지
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• 제25권2호
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• pp.212-220
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• 2009

In many studies, the Numeric Integration (NI) method has been widely used to calculate pollutant loads from the watershed because it is easy to apply. However, there have been many needs for more accurate pollutant loads estimation method with the restricted number of water quality samples. However, the ESTIMATOR model does not allow the users to define the regression model to explain the measured flow and water quality relationship, indicating the ESTIMATOR model is not flexible. The LOADEST model allows the user to choose the model type from 11 predefined general forms of regression equations. Annual loads of T-N and T-P with the LOADEST model were 0.70 times and 0.84 times of those by NI method, respectively. The coefficient of determination ($R^2$) of the LOADEST regression for the T-N and T-P were 0.92 and 0.72, respectively. This indicates that the load estimation regression model with the LOADEST for the study watershed explains the relationship between the observed flow and water quality data well reasonably well. Based on these findings, we suggest that the LOADEST model estimated regression equation could be used to estimate pollutant loads using the measured flow data for the study watershed.

• 한국통신학회논문지
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• 제31권3A호
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• pp.282-290
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• 2006

본 논문에서는 2.45GHz 대역 IEEE 802.15.4 LR-WPAN(Low-Rate Wireless Personal Area Network; ZigBee) 시스템의 수신기를 위한 개선된 방식의 Timing estimator의 알고리즘을 제안한다. 저가 구현을 지향하는 LR-WPAN 시스템의 특성상 고가의 오실레이터를 사용할 수 없으므로 반송파 중심 주파수의 80ppm에 해당하는 주파수 옵셋 환경에서 안정된 동작이 가능한 Timing estimator 알고리즘이 요구된다. 본 논문에서는 이러한 수신 환경을 고려하여 Multiple delay differential filter를 적용함으로써 주파수 옵셋에 대한 강인성 및 수신 성능의 안정성을 증대시켰으며, Multiple delay differential filter의 출력 신호에 대한 reference 신호의 상관 결과가 I-channel 에만 국한되는 특성을 이용하여 일반적인 noncoherent 방식 대신 coherent 방식의 correlator를 적용함으로써 non-coherent 방식의 제곱 손실을 제거하여 검출 성능을 향상시킴과 동시에 복잡도를 감소시켜 초소형, 저전력, 저가를 지향하는 LR-WPAM 수신기에 보다 적합하도록 설계하였다. 다양한 채널 환경에서의 성능정가를 통하여 제안된 알고리즘이 differential detection 기반의 noncoherent 방식보다 평균적으로 2dB의 향상된 성능을 보임을 입증하였다.