• Journal of the Society of Naval Architects of Korea
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• v.61 no.2
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• pp.98-105
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• 2024

Due to the low accuracy of measured data obtained from low-cost GNSS and IMU devices, it was hard to secure the required accuracy of the measured position and heading angle for autonomous navigation which was conducted by a model-scale marine mobility. In this paper, a localization technique using the Extended Kalman Filter (EKF) is proposed for coping with the issue. First of all, a position and heading angle estimator is developed using EKF with the assumption of a point mass model. Second, the measured data from GNSS and IMU, including position, heading angle, and velocity are used for the estimator. In addition, the heading angle is additionally obtained by comparing the LiDAR point cloud with map information for a temporal water tank. The newly acquired heading angle is integrated into the estimator as an additional measurement to correct the inaccuracy in the heading angle measured from the IMU. The effectiveness of the proposed approach is investigated using data acquired from preliminary tests of the model-scale autonomous marine mobility.

• Communications for Statistical Applications and Methods
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• v.1 no.1
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• pp.10-19
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• 1994

We study the change-point problem in the context of system reliability models. The maximum likelihood estimators are obtained based on the Jelinski and Moranda model. To find the approximate distribution of the change-point estimator, we suggest of parametric bootstrap method in which the estimators are substituted in the assumed model. Through an example we illustrate the proposed method.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.646-647
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• 2005

A recently published paper demonstrates the utility of allowing delays in state estimators for linear systems with unknown inputs. In this note, we point out an error in the derivation of the estimator.

• Proceedings of the Korean Statistical Society Conference
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• 2002.05a
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• pp.183-188
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• 2002

Multiple imputation, proposed by Rubin, is a procedure for handling missing data. One of the attractive parts of multiple imputation is the simplicity of the variance estimation formula. Because of the simplicity, it has been often abused and misused beyond its original prescription. This paper provides the bias of the multiple imputation variance estimator for a linear point estimator and discusses when the bias can be safely neglected.

• Journal of the Korean Statistical Society
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• v.20 no.2
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• pp.99-107
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• 1991

Behrens-Fisher problem is viewed from a model selection approach. Normal distribution is regarded as an approximating model, A criterion, called TIC, is derived and is compared with selection criteria such as AIC and a bootstrap estimator. Stochastic approximation is used since no closed form expression is available for the bootstrap estimator.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.231-234
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• 1996

This paper considers the output regulation problems on uncertain systems. Using NR-estimator(on-line), a family of equilibrium points for the uncertain system is computed. The state variables of the closed loop system track the average value of the obtained equilibrium manifold by dynamic state feedback control.

• Proceedings of the Korean Society of Computational and Applied Mathematics Conference
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• 2003.09a
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• pp.12.1-12
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• 2003

Sufficient conditions are given under which a generalized class of kernel-type estimators allows asymptotic approximation On the modulus of continuity This generalized class includes sample distribution function, kernel-type estimator of density function, and an estimator that may apply to the censored case. In addition, an application is given to asymptotic normality of recursive density estimators of density function at an unknown point.

• Journal of the Korean Statistical Society
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• v.27 no.4
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• pp.507-514
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• 1998

The minimum distance estimation based on the L$_2$ distance between a model density and a density estimator is studied from M-estimation point of view. We will show that how a model density and a density estimator are incorporated in order to create an M-estimation function. This method enables us to create an M-estimating function reflecting the natures of both an assumed model density and a given set of data. Some new types of M-estimation functions for estimating a location and scale parameters are introduced.

• Journal of applied mathematics & informatics
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• v.15 no.1_2
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• pp.147-158
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• 2004

Sufficient conditions are given under which a generalized class of kernel-type estimators allows asymptotic approximation on the modulus of continuity. This generalized class includes sample distribution function, kernel-type estimator of density function, and an estimator that may apply to the censored case. In addition, an application is given to asymptotic normality of recursive density estimators of density function at an unknown point.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.531-536
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• 1992

In GMA welding processes, monitoring and control of weld quality are extremely difficult problems. This paper describes a neural network-based method for monitoring and control of weld pool sizes. First, weld pool sizes are estimated via a neural estimator using multi-point surface temperatures, which are strongly related to the formation of weld pool, and then controlled using the estimated pool sizes. Two types of controllers using the pool size estimator are designed and tested. To evaluate the performance of the designed controllers, a series of simulation studies was performed.