• Journal of Information Processing Systems
• /
• 제7권2호
• /
• pp.271-286
• /
• 2011

In this paper, we propose efficient algorithms for parallel prefix computation and sorting on a recursive dual-net. The recursive dual-net $RDN^k$(B) for k > 0 has $(2n_o)^{2K}/2$ nodes and $d_0$ + k links per node, where $n_0$ and $d_0$ are the number of nod es and the node-degree of the base-network B, respectively. Assume that each node holds one data item, the communication and computation time complexities of the algorithm for parallel prefix computation on $RDN^k$(B), k > 0, are $2^{k+1}-2+2^kT_{comm}(0)$ and $2^{k+1}-2+2^kT_{comp}(0)$, respectively, where $T_{comm}(0)$ and $T_{comp}(0)$ are the communication and computation time complexities of the algorithm for parallel prefix computation on the base-network B, respectively. The algorithm for parallel sorting on $RDN^k$(B) is restricted on B = $Q_m$ where $Q_m$ is an m-cube. Assume that each node holds a single data item, the sorting algorithm runs in $O((m2^k)^2)$ computation steps and $O((km2^k)^2)$ communication steps, respectively.

• Journal of Positioning, Navigation, and Timing
• /
• 제3권3호
• /
• pp.117-122
• /
• 2014

In CDGPS, ambiguity resolution is determined by the performance of a floating solution, and thus, the performance needs to be improved. In the case of precise positioning at a stationary position, the batch method using multiple measurements is used for the accuracy improvement of a position. The position accuracy performance of a floating solution is outstanding, but it has a problem of high computation cost because all measurements are used. In this study, to improve the floating solution performance of the initial static user in CDGPS, a floating solution method using a recursive filter was implemented. A recursive filter estimates the position solution of the current epoch using the position solution of up to the previous epoch and the pseudorange measurement of the current epoch. The computation cost of the floating solution method using a recursive filter was found to be similar to that of the epoch-by-epoch method. Also, based on actual GPS signals, the floating solution performance was found to be similar to that of the batch method. The floating solution using a recursive filter could significantly improve the performance of the prompt initial position and ambiguity resolution of the initial static user.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2532-2537
• /
• 2005

FIR(Finite Impulse Response) filter is well known to be ideal for the finite time state-space model, but it requires much computation due to its inherent non-recursive structure especially when the measurement interval grows to a large extent. And often a fixed-lag smoother based on the finite time interval is needed to monitor the soundness of the system model and the measurement model, but the computation burden of FIR-type smoother imposes much restriction of its usage for real-time application. Conventional recursive forms of FIR estimator[1]-[4] could not be used for real time applications, since they are numerically unstable in their recursive equations. To cope with this problem, we suggest a stable recursive form FIR estimator(SRFIR) and its usefulness is demonstrated for designing the real-time fixed-lag smoother on the finite time window through an example of detection of rate bias in the anti-aircraft gun fire control system.

• Smart Structures and Systems
• /
• 제24권4호
• /
• pp.459-474
• /
• 2019

This study develops a novel recursive algorithm to significantly enhance the computation efficiency of a recently proposed stochastic subspace identification (SSI) methodology based on an alternative stabilization diagram. Exemplified by the measurements taken from the two investigated office buildings, it is first demonstrated that merely one sixth of computation time and one fifth of computer memory are required with the new recursive algorithm. Such a progress would enable the realization of on-line and almost real-time monitoring for these two steel framed structures. This recursive SSI algorithm is further applied to analyze 20 months of monitoring data and comprehensively assess the environmental effects. It is certified that the root-mean-square (RMS) response can be utilized as an excellent index to represent most of the environmental effects and its variation strongly correlates with that of the modal frequency. More detailed examination by comparing the monthly correlation coefficient discloses that larger variations in modal frequency induced by greater RMS responses would typically lead to a higher correlation.

• International Journal of Control, Automation, and Systems
• /
• 제4권6호
• /
• pp.736-747
• /
• 2006

Simultaneous Localization and Map Building(SLAM) is one of the fundamental problems in robot navigation. The Extended Kalman Filter(EKF), which is widely adopted in SLAM approaches, requires extensive computation. The conventional particle filter also needs intense computation to cover a high dimensional state space with particles. This paper proposes an efficient SLAM method based on the recursive unscented Kalman filtering in an environment including a large number of landmarks. The posterior probability distributions of the robot pose and the landmark locations are represented by their marginal Gaussian probability distributions. In particular, the posterior probability distribution of the robot pose is calculated recursively. Each landmark location is updated with the recursively updated robot pose. The proposed method reduces filtering dimensions and computational complexity significantly, and has produced very encouraging results for navigation experiments with noisy multiple simultaneous observations.

• 한국방송∙미디어공학회:학술대회논문집
• /
• 한국방송공학회 2009년도 IWAIT
• /
• pp.286-289
• /
• 2009

This paper presents an effective approach to minimize recursive computations for balancing stereo pairs by using disparity vector errors and its directional histogram. A stereo balancing function is computed from the correspondent pixels between two images, and a simple approach is to find the matching blocks of two images. However, this procedure requires recursive operation, and its computation cost is very high. Therefore, in this paper, we propose an efficient balance method using structural similarity index and a partial re-searching scheme to reduce the computation cost considerably. For this purpose, we determine if re-searching for each block is necessary or not by using the errors and the directional histogram of disparity vectors. Experiment results show that the performance of the proposed approach can save the computations significantly with ignorable image quality degradation compared with full re-search approach.

• 한국통계학회:학술대회논문집
• /
• 한국통계학회 2005년도 춘계 학술발표회 논문집
• /
• pp.203-207
• /
• 2005

A loss system where two types of customers arrive in accordance with two independent Poisson processes is considered. An efficient recursive formula is developed for calculating the loss probability when the number of servers is large. Some practical examples regarding the performance evaluation of telecommunications networks are discussed.

• 한국공작기계학회논문집
• /
• 제10권1호
• /
• pp.101-111
• /
• 2001

Recursive formulas have been effective in solving the equations of motion for large scale constratined mechanical sys-tems. However, derivation of the formulas has been limited to individual terms in the equations of motion, such as veloci-ty, acceleration. and generalized forces. The recursive formulas are generalized in this paper. The velocity transformation method is employed to transform the equations of motion from Cartesian to the joint spaces. Computational structure of the equations of motion in the joint space is carefully examined to classify all necessary computational operations into sev-eral categories. The generalized recursive formula for each category is then developed and applied whenever such a cate-gory of computation is encountered. Since the velocity transformation method yields the equations of motion in a compact form and computational efficiency is achieved by generalized recursive formulas, the proposed method is not only easy to implement but is also efficient. A library of generalized recursive formulas is developed to implement a dynamic analysis algorithm using backward difference.

• International Journal of Aeronautical and Space Sciences
• /
• 제17권2호
• /
• pp.184-194
• /
• 2016

In existing identification methods for on-orbit spacecraft, such as eigensystem realization algorithm (ERA) and subspace method identification (SMI), singular value decomposition (SVD) is used frequently to estimate the modal parameters. However, these identification methods are often used to process the linear time-invariant system, and there is a lower computation efficiency using the SVD when the system order of spacecraft is high. In this study, to improve the computational efficiency in identifying time-varying modal parameters of large spacecraft, a faster recursive algorithm called fast approximated power iteration (FAPI) is employed. This approach avoids the SVD and can be provided as an alternative spacecraft identification method, and the latest modal parameters obtained can be applied for updating the controller parameters timely (e.g. the self-adaptive control problem). In numerical simulations, two large flexible spacecraft models, the Engineering Test Satellite-VIII (ETS-VIII) and Soil Moisture Active/Passive (SMAP) satellite, are established. The identification results show that this recursive algorithm can obtain the time-varying modal parameters, and the computation time is reduced significantly.

• 융합신호처리학회논문지
• /
• 제8권2호
• /
• pp.106-112
• /
• 2007

본 논문은 순환 행렬 분해에 의한 DCT와 DFT의 고속 계산을 위한 하이브리드 아키텍쳐 알고리듬을 제안한다. DCT-II와 DFT 변환 행렬의 순환 분해는 알고리듬적으로 구현하기가 유사한 구조를 제공하며 이것은 단순히 스위칭 모드의 제어에 의해 공통 아키텍쳐를 사용할 수 있게 한다. 두 변환간의 연계는 행렬 순환 공식에 기초하여 유도되었다. DCT/DFT 행렬 분해를 위한 하이브리드 구조 설계를 가능하도록 생성 행렬, 삼각함수 항등식 과 관계식을 사용하여 유도되었다. DCT/DFT 하이브리드 아키텍쳐를 수용하는 쿨리-투키 유형의 고속처리 아키텍쳐에 대한 데이터 흐름도를 작성하였다. 이 데이터 흐름도로부터 적절한 크기의 N에 대해 제안한 알고리듬의 계산 복잡도는 기존의 고속 DCT 알고리듬과 비교할만하다. 다른 직교변환 계산에 FFT 구조의 다중 모드 사용 확장을 위해 좀더 확장된 연구가 필요하다.