• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.957-963
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• 2014

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

• 한국화재소방학회논문지
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• 제14권3호
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• pp.19-26
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• 2000

화학물질의 기본적인 물리적 특성으로서 인화점은 화학물질에 의한 재난방제에 있어서 중요한 인자 중에 하나이다. 많은 혼합물에 대한 체계적 자료는 매우 빈약하여 이들 물질에 대한 인화점 측정은 어렵다. 따라서 화학적으로 합성과정에 있는 물질 뿐 만 아니라 현재 제품으로 사용하고 있는 물질의 물리화학적 특성을 모두 실험에 의하여 구하는 것은 현실적으로 곤란하다. 본 연구의 관심은 화학적 구조와 인화점 사이에 관계를 이용한 유기개념도를 이용하여 화학적 구조만으로 화차물의 인화점을 대략적으로 예측하는 방법을 시도하고자 하였다.

• Communications for Statistical Applications and Methods
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• 제4권1호
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• pp.177-183
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• 1997

A data-adaptive order selection procedure is proposed for local polynomial nonparametric regression. For each given polynomial order, bias and variance are estimated and the adaptive polynomial order that has the smallest estimated mean squared error is selected locally at each location point. To estimate mean squared error, empirical bias estimate of Ruppert (1995) and local polynomial variance estimate of Ruppert, Wand, Wand, Holst and Hossjer (1995) are used. Since the proposed method does not require fitting polynomial model of order higher than the model order, it is simpler than the order selection method proposed by Fan and Gijbels (1995b).

• Communications for Statistical Applications and Methods
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• 제7권1호
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• pp.327-336
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• 2000

We are mainly interested in hazard rate changes which are usually occur in survival times of manufactured products or patients. We may expect early failures with one hazard rate and next another hazard rate. For this type of data we apply a hazard rate change-point model and estimate the unkown time point to improve the model adequacy. We introduce change-point logistic model to the discrete time hazard rates. The MLEs are obtained routinely and we also explain the suggested model through a dataset of survival times.

• 대한수학회지
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• 제32권4호
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• pp.661-678
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• 1995

In this paper we will estimate from above and below the values of the Bergman, Caratheodory and Kobayashi metrics for a vector X at z, where z is any point near a given point $z_0$ in the boundary of pseudoconvex domains in $C^n$.

• 한국물환경학회지
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• 제27권2호
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• pp.228-234
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• 2011

The goal of water quality management on stream and watershed is to focus not on discharged loads management but on a water quality management. Discharged loads management is not goal of water quality management but way for perform with total maximum daily loads management. It is necessary to estimate the relation between non-point source with stromwater runoff (NPSSR) and water quality to select a watershed where it is required to manage NPSSR for water quality improvement. To evaluate the effects of NPSSR on stream's water quality, we compare the aspects of water quality in dry and wet seasons using flow duration curve analysis based on flow rate variation data by actual surveying. In this study we attempt to quantify the variation characteristic of water quality and estimate the Inflow characteristic of pollution source with water quality and flow rate monitoring on 10 watersheds. We try to estimate water quality and flow rate by regression analysis and try again regression analysis with each high and low water quality data more than estimations. An analysis of relation between water quality and flow rate of 10 watersheds shows that the water quality of the Nonsan and the Ganggyeong streams had been polluted by NPSSR pollutants. Other eight streams were important point source more than NPSSR. It is wide variation range of $BOD_5$ also high average concentration of $BOD_5$. We have to quantify water quality variation by cv1 in wet season and cv365 in dry season with comparing the estimate of high water quality and low water quality. This method can be used to indicator for water quality variation according to flow rate.

• Journal of the Korean Data and Information Science Society
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• 제16권3호
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• pp.591-601
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• 2005

지금까지 회귀모형에서 불연속점의 추정은 주로 평균함수에 대해 연구되어져 왔다. 분산함수는 평균함수와 더불어 회귀모형의 연구에 매우 중요한 함수이며 이 함수가 불연속일 때의 연구는 활발히 이루어지지 않았다. Delgado와 Hidalgo (2000)와 Perron(2001)은 시계열모형에서는 비모수적 추정법에 의해 분산함수의 추정을 연구하였다. Huh와 Kang (2004)은 Perron의 추정법을 회귀모형에 적용하여 분산함수의 불연속점의 추정에 대하여 연구하였고, Perron의 추정량보다 수렴속도가 개선된 불연속점 추정량을 제안하였다 이러한 분산함수의 추정들은 잔차의 제곱을 이용한 것으로 평균함수의 추정이 필수적이다. 결국, 전체적인 계산량이 늘어나게 되고, 늘어난 만큼 불연속점 추정의 정도가 벌어지게 될 것이다. 만약, 평균함수가 연속이고 분산함수만 불연속이라면 굳이 잔차를 이용하여 분산함수의 불연속점을 추정할 필요 없다. 분산함수만 불연속점을 가지므로 이차적률함수의 불연속점이 곧 분산함수의 불연속점이므로 이차함수의 불연속점을 추정하는 것으로 충분하다. 평균함수와 분산함수 모두 불연속이라면 불연속점의 위치가 같으므로 평균함수의 불연속점의 위치를 추정하면 분산함수의 불연속점의 위치를 추정하게 되는 것이다. 따라서 이 논문에서는 이차적률함수의 불연속점을 추정하는 방법을 제안하였고 이 제안된 추정량들의 수렴속도가 잔차를 이용한 Huh와 Kang의 분산함수의 불연속점 추정량의 수렴속도와 같음을 보였고, 모의실험 결과에서는 우수함을 보여주었다.

• Journal of the Korean Data and Information Science Society
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• 제20권1호
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• pp.1-9
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• 2009

회귀모형의 분산함수가 알려져 있지 않은 한 점에서 불연속이라 가정하자. Yu와 Jones (2004)는 음이 아닌 값을 취하는 분산함수를 실수 값을 취하도록 하기 위하여 로그 변환하였고, 변환된 로그분산함수를 국소다항적합으로 추정하였다. 로그분산함수의 국소다항적합을 이용하여, Huh (2008)는 분산함수의 불연속점의 추정하는 대신 로그분산함수의 불연속점을 추정하였다. 본 연구는 Huh의 점프의 크기 추정량의 점근분포를 이용하여 로그분산함수의 불연속점의 존재여부에 대한 가설검정을 제안하고, 제안한 방법에 대한 모의실험 결과를 제시하고자 한다.

• 전기학회논문지
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• 제57권12호
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• pp.2291-2299
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• 2008

Hall effect force sensors have been used to measure clamping force in conventional Electric Parking Brake(EPB) systems. Estimation of clamping force without the sensors has drawn attentions due to mounting space limitations and cost issues. Removing the sensor requires the estimation of the initial contact point where the clamping force is effectively applied to the brake pads. In this paper, we propose how to estimate the initial contact point finding the relation between the angular velocity of an actuator and the initial contact point. For force estimation a look-up table is used as a function of the displacement of parking cable from the initial contact point. The proposed method is validated by experiments. From the experimental results we observe that the proposed method satisfies the specifications. The designed method is also able to estimate clamping force although parking cables are loosened and brake pads are worn out. Applying the proposed method enables manufacturing of low cost EPB systems.

• Journal of Positioning, Navigation, and Timing
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• 제11권3호
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• pp.209-215
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• 2022

As intelligent autonomous driving vehicle development has become a big topic around the world, accurate reference dynamics estimation has been more important than before. Current systems generally use speed and heading information sensed from a distant point as a vehicle reference dynamic, however, the dynamics between different points are not same especially during rotating motions. In order to estimate properly estimate the reference dynamics from the information such as velocity and heading sensed at a point distant from the reference point such as center of gravity, this study proposes estimating reference dynamics from any location in the vehicle by combining the Bicycle and Ackermann models. A test system was constructed by implementing multiple GNSS/INS equipment on an Robot Operating System (ROS) and an actual car. Angle and speed errors of 10° and 0.2 m/s have been reduced to 0.2° and 0.06 m/s after applying the suggested method.