• 전기학회논문지
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• 제63권11호
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• pp.1551-1558
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• 2014

We propose a multi-rate sensor fusion of vision and radar using Kalman filter to solve problems of asynchronized and multi-rate sampling periods in object vehicle tracking. A model based prediction of object vehicles is performed with a decentralized multi-rate Kalman filter for each sensor (vision and radar sensors.) To obtain the improvement in the performance of position prediction, different weighting is applied to each sensor's predicted object position from the multi-rate Kalman filter. The proposed method can provide estimated position of the object vehicles at every sampling time of ECU. The Mahalanobis distance is used to make correspondence among the measured and predicted objects. Through the experimental results, we validate that the post-processed fusion data give us improved tracking performance. The proposed method obtained two times improvement in the object tracking performance compared to single sensor method (camera or radar sensor) in the view point of roots mean square error.

• 한국자동차공학회논문집
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• 제22권3호
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• pp.220-227
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• 2014

This paper presents about multi-rate sensors' synchronization and filter fusion via a sigmoid function of the Kalman filter. To synchronize multi-rate sensors, the estimation states of the Kalman filter is modified. A specific matrix that makes the filter choose sensor values only updated is multiplied to measurement matrix. For the filter that has weak points on some criteria, filter fusion is suggested by using sigmoid function. Modified kalman filter is tested with practical case. A sigmoid function was designed for the test and the performance of the modified function is estimated with respect to conventional Kalman filter. Unscented Kalman filter is used to the base filter of the suggested filter because of its stability.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.170-172
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• 2005

The DSD(Direct Stream Digital) encoder, which is a standard for SACD(Super Audio Compact Disc) proposed by Sony and philips, use 1 bit representation with a sampling frequency of 2.8224 MHz (64 $\times$ 44.1 kHz). For multi-rate PCM (Pulse Code Modulation) input like as 48/96/192 kHz, a external sample-rate converter is necessary to the DSD encoder. This paper has been proposed a digital filter structure composed of sample-rate converter and interpolation filter for the DSD encoder with multi-rate (48/96/192 kHz) PCM input. without a external sample-rate converter.

• 전기학회논문지
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• 제61권5호
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• pp.735-743
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• 2012

In this paper, we present model predictive control (MPC) applied to lane keeping system (LKS) based on a vision module. Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may result in uncomfortable steering control rate in a high vehicle speed. By applying MPC using multi-rate Kalman filter to active steering control, the proposed MPC-based active steering control system prevents undesirable saturated steering control command. The effectiveness of the MPC is validated by simulations for the LKS equipped with a camera module having a slow sampling rate on the curved lane with the minimum radius of 250[m] at a vehicle speed of 30[m/s].

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.358-360
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• 2005

The DSD(Direct Stream Digital) encoder, which is a standard for SACD(Super Audio Compact Disc) proposed by Sony and philips, uses 1 bit representation with a sampling frequency of 2.8224MHz (64${\times}$44.1kHz). For multi-rate PCM (Pulse Code Modulation) input such as 8${\sim}$192kHz, a external sample-rate converter is necessary to the DSD encoder. This paper has been proposed a digital mter structure composed of sample-rate converter and interpolaton filter for the DSD encoder with multi-rate (8${\sim}$192kHz) PCM input, without a external sample-rate converter.

• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.87-94
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• 2013

UKF (Unscented Kalman Filter) has been used in the nonlinear systems without initial accurate state estimates instead of EKF (Extended Kalman Filter) of the last decade because the UKF has robustness to the large initial estimation error. In the multirate integrated system such as INS (Inertial Navigation System)/GPS (Global Positioning System) integrated navigation system, however, it is difficult to implement the UKF based navigation algorithm in the mid-grade micro-processor due to the large computational burden. To overcome this problem, this paper proposes a MUKF (Modified UKF) that has a reduced computation burden using the basic idea that the change of the provability distribution for the state variables between measurement updates is small in the multi-rate INS/GPS integrated navigation filter. The performance of the proposed MUKF is verified by numerical simulations.

• 상하수도학회지
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• 제23권1호
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• pp.121-128
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• 2009

Objectives of this study were to investigate influencing factors of detention time, particle size distribution, and filter medium characteristics for waterworks sludge dewatering. The stepped pressure filtration was carried out with lab scale apparatus and the filter press pilot test for dewatering was conducted at the water treatment plant. Effects of filter medium and polymer dose were examined through observing water content and dewatering velocity and cyclic dewatering rate with filter press pilot test. Relationships among detention time, particle size distribution and filtration resistance were analyzed. Prolongation of sludge detention time was found to cause blinding phenomenon in cake and filter medium and to decrease dewatering process efficiency. The average specific resistance increased according to detention time. In pilot test of dewatering for thickened sludge with Nylon Multi-NY840D and Nylon Mono-100% filter media, dewatering velocities were 0.92 and $0.93kg\;DS/m^2{\cdot}hr$ according to 0.1% polymer dose of dried solids weight base. And cyclic dewatering rates were 2.45 and $2.50kg\;DS/m^2{\cdot}cycle$ cycle for the Nylon Multi-NY840D and Nylon Mono-100% media. Dewatering velocity of polymer dosed sludge was observed to be higher than that of non-polymer sludge.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권3호
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• pp.908-928
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• 2022

Multiple target tracking mainly focuses on tracking unknown number of targets in the complex environment of clutter and missed detection. The generalized labeled multi-Bernoulli (GLMB) filter has been shown to be an effective approach and attracted extensive attention. However, in the scenarios where the clutter rate is high or measurement-outliers often occur, the performance of the GLMB filter will significantly decline due to the Gaussian-based likelihood function is sensitive to clutter. To solve this problem, this paper presents a robust GLMB filter and smoother to improve the tracking performance in the scenarios with high clutter rate, low detection probability, and measurement-outliers. Firstly, a Student-T distribution variational Bayesian (TDVB) filtering technology is employed to update targets' states. Then, The likelihood weight in the tracking process is deduced again. Finally, a trajectory smoothing method is proposed to improve the integrative tracking performance. The proposed method are compared with recent multiple target tracking filters, and the simulation results show that the proposed method can effectively improve tracking accuracy in the scenarios with high clutter rate, low detection rate and measurement-outliers. Code is published on GitHub.

• 한국통신학회논문지
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• 제27권3B호
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• pp.188-195
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• 2002

본 논문에서는 멀티 레이트 부호분할 다중접속(Code Division Multiple Access: CDMA) 방식에서의 효과적인 다중 사용자 검출 기술을 제안한다. 최적 다중 사용자 검출 기술이 최적의 비트 오류 확률(Bit Error Rate: BER) 성능을 보이긴 하지만, 실제 구현을 위해서는 계산상의 복잡도 측면에서의 문제가 있다. 따라서, 본 논문에서는 멀티 레이트 CDMA 환경에서 비교적 낮은 계산상의 복잡도를 갖는 준칙적의 다중 사용자 검출기 구조를 제안하며, 기존의 정합필터(matched filter)와 멀티 레이트 환경에서 제안된 다른 다중 사용자 검출기와의 성능 비교를 수행한다. 레일리 페이딩 환경에서의 컴퓨터 시뮬레이션을 통해 제안된 홉필em(Hopfield) 신경망(neural network) 알고리즘을 이용한 다중 사용자 검출기법의 성능이 우수함을 검증한다.

• 한국환경과학회지
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• 제4권5호
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• pp.481-488
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• 1995

This study was carried out to evaluate the variations of headloss rate and of specific deposit to depths with effective size of media and configuration of filter layer during algae blooming period. 0.51mm size media was disqualified because most of headloss occurred rapidly below 5cm from surface layer however 0.91mm size media acted deep filtration more than 20cm from top, as result 0.91mm sixte media filter had 2~3 times longer filtration time than 0.51mm sixte media filter, but 0.91mm size media have break-through potentiality. multi-layer filter with 1.02mm anthracite and 0.51mm sand had large deposit volume in upper layer that could longer filtration time, moreover smaller media in lower layer that could protect break-through.