• 한국전자파학회논문지
• /
• 제30권2호
• /
• pp.169-172
• /
• 2019

FMCW 배열 안테나는 저비용 고해상도라는 장점 때문에 많은 분야에 널리 사용되고 있다. FMCW 배열을 이용하여 표적의 거리와 각도를 추정하기 위해서, 우선 deramped 수신신호로부터 거리-각도 행렬을 구성하고, 그 다음에 거리-각도 행렬에 2D-FFT와 같은 2차원 주파수 추정기법을 적용한다. 하지만, 이러한 주파수 추정기법은 bias 오차를 발생시키게 된다. 그 이유는 거리-각도 행렬의 두 개의 주파수가 서로 독립적이지 않기 때문이다. 따라서 FMCW 배열 안테나를 이용하여 표적의 거리-각도 동시추정을 위한 최대우도 기반 알고리즘을 제안하고, 거리와 각도 추정에 있어서 Cramer-Rao bound에 도달함을 보인다.

• ETRI Journal
• /
• 제43권1호
• /
• pp.120-132
• /
• 2021

A frequency diverse array (FDA) multiple-input multiple-output (MIMO) radar employs a small frequency increment across transmit elements to produce an angle-range-dependent beampattern for target angle and range detection. The joint angle and range estimation problem is a trilinear model. The traditional trilinear alternating least square (TALS) algorithm involves high computational load due to excessive iterations. We propose a fast-convergence trilinear decomposition (FC-TD) algorithm to jointly estimate FDA-MIMO radar target angle and range. We first use a propagator method to obtain coarse angle and range estimates in the data domain. Next, the coarse estimates are used as initialized parameters instead of the traditional TALS algorithm random initialization to reduce iterations and accelerate convergence. Finally, fine angle and range estimates are derived and automatically paired. Compared to the traditional TALS algorithm, the proposed FC-TD algorithm has lower computational complexity with no estimation performance degradation. Moreover, Cramer-Rao bounds are presented and simulation results are provided to validate the proposed FC-TD algorithm effectiveness.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제14권7호
• /
• pp.2879-2890
• /
• 2020

In this paper, we study the estimation of angle, range and polarization parameters of a bistatic polarization sensitive frequency diverse array multiple-input multiple-output (PSFDA-MIMO) radar system. The application of polarization sensitive array in receiver is explored. A signal model of bistatic PSFDA-MIMO radar system is established. In order to utilize the multi-dimensional structure of array signals, the matched filtering radar data can be represented by a third-order tensor model. A joint estimation of the direction-of-departure (DOD), direction-of-arrival (DOA), range and polarization parameters based on parallel factor (PARAFAC) algorithm is proposed. The proposed algorithm does not need to search spectral peaks and singular value decomposition, and can obtain automatic pairing estimation. The method was compared with the existing methods, and the results show that the performance of the method is better. Therefore, the accuracy of the parameter estimation is further improved.

• 대한인간공학회지
• /
• 제21권1호
• /
• pp.81-93
• /
• 2002

This study aims to provide joint angles of comfort for females, based on the psychophysical scaling method. Ten female subjects participated in the experiment for measuring perceived discomfort for varying joint motions. The subjects were instructed to maintain given joint motions for a minute, and to rate their perceived discomfort for the motions during a minute's rest by using the free modulus method of the magnitude estimation. Joint angles of comfort were calculated from the regression equations based on the experimental results, in which levels of joint motions were used as independent variables and perceived discomforts as dependent variables. The results showed that joint angles of comfort for the joint motions investigated were much smaller than full range of motions for corresponding joint motions. The ratios of joint angle of comfort to its range motion for the hip were found to be smallest of all joint motions dealt with in this study, and those for the neck were the largest. In addition, comfortable joint angles for females were much smaller than those for males. It is recommended that when designing or evaluating workplaces ergonomically, different comfortable joint angles should be applied according to workers' or population's gender.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 추계학술대회 논문집
• /
• pp.1114-1119
• /
• 1995

This paper presents the development of estimation model and control method based on the new computer vision. This proposed control method is accomplished using a sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on a model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters,depending on each camers the joint angle of robot is estimated by the iteration method. The method is tested experimentally in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• 한국정밀공학회지
• /
• 제15권11호
• /
• pp.100-107
• /
• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.