• 대한기계학회논문집A
• /
• 제28권5호
• /
• pp.503-510
• /
• 2004

In this paper, the well-conditioned observer for a stochastic system is designed so that the observer is less sensitive to the ill-conditioning factors in transient and steady-state observer performance. These factors include not only deterministic uncertainties such as unknown initial estimation error, round-off error, modeling error and sensing bias, but also stochastic uncertainties such as disturbance and sensor noise. In deterministic perspectives, a small value in the L$_{2}$ norm condition number of the observer eigenvector matrix guarantees robust estimation performance to the deterministic uncertainties. In stochastic viewpoints, the estimation variance represents the robustness to the stochastic uncertainties and its upper bound can be minimized by reducing the observer gain and increasing the decay rate. Both deterministic and stochastic issues are considered as a weighted sum with a LMI (Linear Matrix Inequality) formulation. The gain in the well-conditioned observer is optimally chosen by the optimization technique. Simulation examples are given to evaluate the estimation performance of the proposed observer.

• 제어로봇시스템학회논문지
• /
• 제4권2호
• /
• pp.187-193
• /
• 1998

This paper proposes an advanced visual tracking algorithm for the stable grasping of a moving target(2D). This algorithm is programmed to find grasping points of an unknown polygonal object and execute visual tracking. The Kalman Filter(KF) algorithm based on the SVD(Singular Value Decomposition) is applied to the visual tracking system for the tracking of a moving object. The KF based on the SVD improves the accuracy of the tracking and the robustness in the estimation of state variables and noise statistics. In addition, it does not have the numerical unstability problem that can occur in the visual tracking system based on Kalman filter. In the grasping system, a parameterized family is constructcd, and through the family, the grasping system finds the stable grasping points of an unknown object through the geometric properties of the parameterized family. In the previous studies, many researchers have been studied on only 'How to track a moving target'. This paper concern not only on 'how to track' but also 'how to grasp' and apply the grasping theory to a visual tracking system.

• 제어로봇시스템학회논문지
• /
• 제13권12호
• /
• pp.1230-1242
• /
• 2007

This paper describes an IIR/FIR fusion filter for a nonlinear system, and analyzes the stability of the fusion filter. The fusion filter is applied to INS/GPS integrated system, and the performance is verified by simulation and experiment. In the fusion filter, an IIR-type filter (SPKF) and FIR-type filter (MRHKF filter) are processed independently, then the two filters are merged using the mixing probability calculated using the residuals and residual covariance information of the two filters. The merits of the SPKF and the MRHKF filter are embossed and the demerits of the filters are diminished via the filter fusion. Consequently, the proposed fusion filter has robustness against to model uncertainty, temporary disturbing noise, large initial estimation error, etc. The stability of the fusion filter is verified by showing the closeness of the states of the two sub filters in the mixing/redistribution process and the upper bound of the error covariance matrices. This fusion filter is applied into INS/GPS integrated system, and important factors for filter processing are presented. The performance of the INS/GPS integrated system designed using the fusion filter is verified by simulation under various error environments and is confirmed by experiment.

• 전자공학회논문지C
• /
• 제35C권10호
• /
• pp.48-58
• /
• 1998

신호처리 분야에서 미지의 신호원 분리에 주로 응용되는 독립 성분 분석법을 이용하여 얼굴인식을 할 수 있는 한 방식을 제안하였다. 하나의 얼굴영상 자체가 통계적으로 서로 독립인 어떤 미지의 특징영상의 합으로 표현될 수 있다고 가정하고 이 특징영상을 독립성분분석을 이용하여 구한 후, 새로운 얼굴이나 변화된 얼굴을 특징영상의 공간에 투영시켜 투영된 성분을 기준 얼굴영상과 비교하는 방법으로 인식을 수행하였다. 변화가 심한 여러 얼굴영상으로 구성된 데이터베이스(한 사람 당 10개씩의 변화된 400개의 얼굴 영상)에 대해 얼굴인식 실험을 수행하였고 또한 주성분 분석에 기초한 고유얼굴을 이용한 인식률과 비교 분석하였다. 제안된 방식은 주성분 분석법에 비해 높은 인식률을 제공하며, 특히 입력 얼굴 영상에 첨가되는 랜덤 잡음에 대단히 강한 특성을 갖는다.

• Corrosion Science and Technology
• /
• 제9권1호
• /
• pp.1-7
• /
• 2010

Cost reduction of products is and will always be a key objective of industrials. However, it is well identified that the wiping process reaches its limits at high line speed in general and especially thin coatings. If wiping models predict that it is possible to reach 32-37 g/$m^2$ of pure Zinc at 180 m/min provided the nozzle to strip distance can be reduced to 6mm, the possibility to reach that process window industrially with sufficient robustness is debated. 3 key problems are reviewed and analyzed: Zinc splashing and liquid drop emissions of various forms, the production of skimming and the noise generated by the nozzles. The available data and models are firstly used to predict phenomena. Secondly, videos and pictures from the lines showing what really happens on the edges especially in case of a strip width change are analyzed. Whereas the predicted level of skimming to remove from the pot is expected very high, it turns out that the target may be very close to the full splashing phenomena and that the most critical industrial situation is related to strip specification changes. It is then expected that the industrial feasibility of the 32-37 g/$m^2$ at 180 m/min will depend strongly on the amount of incoming strip with the same width that can be processed continuously.

• Journal of Communications and Networks
• /
• 제6권1호
• /
• pp.19-25
• /
• 2004

In this paper, we present a trellis-based blind channel estimation and equalization technique coupling two kinds of adaptive Viterbi algorithms. First, the initial blind channel estimation is accomplished by incorporating the list parallel Viterbi algorithm with the least mean square (LMS) updating approach. In this operation, multiple trellis mappings are preserved simultaneously and ranked in terms of path metrics. Equivalently, multiple channel estimates are maintained and updated once a single symbol is received. Second, the best channel estimate from the above operation will be adopted to set up the whole trellis. The conventional adaptive Viterbi algorithm is then applied to detect the signal and further update the channel estimate alternately. A small delay is introduced for the symbol detection and the decision feedback to smooth the noise impact. An automatic switch between the above two operations is also proposed by exploiting the evolution of path metrics and the linear constraint inherent in the trellis mapping. Simulation has shown an overall excellent performance of the proposed scheme in terms of mean square error (MSE) for channel estimation, robustness to the initial channel guess, computational complexity, and channel equalization.

• Journal of Communications and Networks
• /
• 제18권2호
• /
• pp.173-181
• /
• 2016

In this paper, we address a new robust optimization problem in a multiuser multiple-input single-output broadcasting system with simultaneous wireless information and power transmission, where a multi-antenna base station (BS) sends energy and information simultaneously to multiple users equipped with a single antenna. Assuming that perfect channel-state information (CSI) for all channels is not available at the BS, the uncertainty of the CSI is modeled by an Euclidean ball-shaped uncertainty set. To optimally design transmit beamforming weights and receive power splitting, an average total transmit power minimization problem is investigated subject to the individual harvested power constraint and the received signal-to-interference-plus-noise ratio constraint at each user. Due to the channel uncertainty, the original problem becomes a homogeneous quadratically constrained quadratic problem, which is NP-hard. The original design problem is reformulated to a relaxed semidefinite program, and then two different approaches based on convex programming are proposed, which can be solved efficiently by the interior point algorithm. Numerical results are provided to validate the robustness of the proposed algorithms.

• 한국통신학회논문지
• /
• 제40권2호
• /
• pp.247-252
• /
• 2015

영확률을 성능기준으로 하는 적응 알고리듬은 충격성 잡음에 강인함을 나타내며 그 결정 궤환 알고리듬은 심각한 다경로 채널 왜곡을 효과적으로 보상하는 것으로 알려져 있다. 그러나 이러한 결정 궤환 영확률 알고리듬은 각 필터 구역에 대해 매 샘플시간마다 여러 합산 동작을 계산해야하는데 이것이 실제 구현에 장애가 되고 있다. 이 논문에서는 반복적 기울기 추정 방식을 가진 결정 궤환 영확률 알고리듬을 제안하며 이 알고리듬은 기존 계산량 O(N)을 샘플 사이즈 N에 무관한 상수량으로 줄일 수 있음을 보인다. 또한 초기상태와 안정상태의 가중치 갱신이 연속적인 과정으로 이루어져 결정 궤환에서 어떤 기울기 추정 오류 전파도 일으키지 않음을 보인다.

• 한국통신학회논문지
• /
• 제34권1C호
• /
• pp.105-112
• /
• 2009

본 논문에서는 다 해상도 특성을 갖는 2D 셀룰러 오토마타 변환 (2D Cellular Automata Transform)을 이용한 디지털 워터마킹 방법을 제안한다. 먼저 게이트웨이(gateway) 값들을 선택하여 기저함수를 만든 후 원 영상을 셀룰러 오토마타 영역으로 변환한다. 다음 변환 영역의 특정 부분에 랜덤 비트 옅을 워터마크로 삽입한다. 마지막으로 실험을 통하여 제안 방법의 충실도가 기존의 방법보다 높을 뿐만 아니라 JPEG 압축, 필터링, 첨예화, 노이즈 등 공격에도 강인성을 가지고 있음을 증명한다. 본 제안 방법에서 기저함수는 한 조의 게이트웨이 값들에 의해 유일하게 하나가 존재하며 가능한 게이트웨이 값들의 종류는 $2^{96}$개가 있기 때문에 뛰어난 안전성을 가진다.

• 한국전자통신학회논문지
• /
• 제13권4호
• /
• pp.751-756
• /
• 2018

스마트 팩토리나 산업용 IoT에서는 공장 내 모든 기기와 장비가 인터넷으로 연결되어 모니터링 됨으로써, 장비나 기기가 고장 나기 전에 예지보전을 통해 설비의 다운타임을 줄이고, 생산성과 가용성을 높일 수 있다. 공장내 주요 설비의 이상 상태는 온도의 이상 상승, 진동과 소음의 변화를 수반하여 나타나게 되므로, 좁은 공간에 쉽게 설치하여 설비의 진동상태를 실시간으로 모니터링 할 수 있는 초소형 스마트 디바이스 개발은 매우 중요하다. 본 연구에서는 WiFi 기능이 있는 초소형 마이크로컨트롤러와 MEMS 가속도 센서를 이용하여 스마트 펙토리의 이상 고장 예지 및 건전성 관리를 위한 스마트 디바이스를 개발하고 그 성능을 분석하였다.