• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.8
• /
• pp.682-687
• /
• 2013

Navigation is a crucial capability for all types of manned or unmanned vehicles. However, vehicle navigation in underwater environments still remains a challenging problem since GPS signals for position fixes are not available in the water. Terrain-referenced underwater navigation is an alternative navigation technique that utilizes geometric information of the subsea terrain to correct drift errors due to dead-reckoning or inertial navigation. Terrain-referenced navigation requires the description of an undulating terrain surface as a mathematical function or table, which often leads to a highly nonlinear estimation problem. Recently, PFs (Particle Filters), which do not require any restrictive assumptions about the system dynamics and uncertainty distributions, have been widely used for nonlinear filtering applications. However, PF has considerable computational requirements which used to limit its applicability to problems of relatively low state dimensions. This study proposes the use of a Rao-Blackwellized particle filter that is computationally more efficient than the standard PF for terrain-referenced underwater navigation involving a moderate number of states, and its performance is compared with that of the extended Kalman filter algorithm. The validity and feasibility of the proposed algorithm is demonstrated through numerical simulations.

• Computers and Concrete
• /
• v.8 no.6
• /
• pp.677-692
• /
• 2011

Particle packing on meso-level has a significant influence on workability of fresh concrete and also on the mechanical and durability properties of the matured material. It was demonstrated earlier that shape exerts but a marginal influence on the elastic properties of concrete provided being packed to the same density, which is not necessarily the case with different types of aggregate. Hence, elastic properties of concrete can be treated as approximately structure-insensitive parameters. However, fracture behaviour can be expected structure-sensitive. This is supported by the present study based on discrete element method (DEM) simulated three-phase concrete, namely aggregate, matrix and interfacial transition zones (ITZs). Fracture properties are assessed with the aid of a finite element method (FEM) based on the damage materials model. Effects on tensile strength due to grain shape and packing density are investigated. Shape differences are shown to have only modest influence. Significant effects are exerted by packing density and physical-mechanical properties of the phases, whereby the ITZ takes up a major position.

• The KIPS Transactions:PartB
• /
• v.19B no.1
• /
• pp.27-30
• /
• 2012

One of the most fundamental functions required for an intelligent agent is to estimate its current position based upon uncertain sensor data. In this paper, we explain the implementation of a robot localization system using Particle filters, which are the most effective one of the probabilistic localization methods, and then present the result of experiments for evaluating the performance of our system. Through conducting experiments to compare the effect of the noise-free model with that of the noisy state transition model considering inherent errors of robot actions, we show that it can help improve the performance of the Particle filter localization to apply a state transition model closely approximating the uncertainty of real robot actions.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.2
• /
• pp.298-303
• /
• 2010

robots determine the location of the other robot using wireless sensors. Use it to decide how to move his. And go to any location, will make shape of column and line, circle. In this paper, we discuss problem in circle formation enclosing target which moves. It is method about enclosed invader in circle formation based on mutual localization of swarm robot without infrastructure. Therefore, use trilateration that do not need to know the value of the coordinates of reference points. So, Specify enclosed point for the number of robots base on between the relative position of the robot in the coordinate system. And particle filter is proposed to improve the accuracy of the location.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.13 no.5
• /
• pp.2574-2587
• /
• 2019

Blind Source Separation (BSS) is a technique used to separate supposed independent sources of signals from a given set of observations. In this paper, the High Exploration Particle Swarm Optimization (HEPSO) algorithm, which is an enhancement of the Particle Swarm Optimization (PSO) algorithm, has been used to separate a set of source signals. Compared to PSO algorithm, HEPSO algorithm depends on two additional operators. The first operator is based on the multi-crossover mechanism of the genetic algorithm while the second one relies on the bee colony mechanism. Both operators have been employed to update the velocity and the position of the particles respectively. Thus, they are used to find the optimal separating matrix. The proposed method enhances the overall efficiency of the standard PSO in terms of good exploration and performance. Based on many tests realized on speech and music signals supplied by the BSS demo, experimental results confirm the robustness and the accuracy of the introduced BSS technique.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.4
• /
• pp.274-282
• /
• 2019

Vision-based navigation of unmaned aerial vehicle is a significant technology that can reinforce the vulnerability of the widely used GPS/INS integrated navigation system. However, the existing image matching algorithms are not suitable for matching the aerial image with the database. For the reason, this paper proposes particle filters using Gaussian mixture models to deal with matching between aerial image and database for vision-based navigation. The particle filters estimate the position of the aircraft by comparing the correspondences of aerial image and database under the assumption of Gaussian mixture model. Finally, Monte Carlo simulation is presented to demonstrate performance of the proposed method.

• Journal of the Korea Computer Graphics Society
• /
• v.23 no.1
• /
• pp.25-32
• /
• 2017

This paper proposes a novel acceleration method for particle based large scale fluid simulation. Traditional particle-based fluid simulation has been implemented by interacting with physical quantities of neighbor particles through the Smoothed Particle Hydrodynamics(SPH) technique[1]. SPH method has the characteristic that there is no visible change compared to the computation amount in a part where the particle movement is small, such as a calm surface or inter-fluid. This becomes more prominent as the number of particles increases. Previous work has attempted to reduce the amount of spare computation by adaptively dividing each part of the fluid. In this paper, we propose a technique to calculate the motion of the entire particles by using the physical quantities of the near sampled particles by sampling the particles inside the fluid at regular intervals and using them as reference points of the fluid motion. We propose a technique to adaptively generate a triangle map based on the position of the sampled particles in order to efficiently search for nearby particles, and we have been able to interpolate the physical quantities of particles using the barycentric coordinate system. The proposed acceleration technique does not perform any additional correction for two classes of fluid particles. Our technique shows a large improvement in speed as the number of particles increases. The proposed technique also does not interfere with the fine movement of the fluid surface particles.

• Proceedings of the KIEE Conference
• /
• 2008.10b
• /
• pp.91-92
• /
• 2008

Localization and its applications are very important area of the mobile robot technology. Especially, accurate localization is needed when we move the mobile robot to the goal position. In indoor cases, Global Positioning System(GPS) is not suitable but Radio Frequency Identification(RFID) technology can provide position data to the robot. A proposed algorithm in this paper uses not only odometry data but also RFID data to improve estimation of true position of the robot with the particle filtering.

• Journal of the Korean Society of Visualization
• /
• v.10 no.3
• /
• pp.11-15
• /
• 2012

Inertial migration phenomena of phytoplankton in pipe flows were investigated using a digital holography technique. As the Reynolds number increases, the microorganisms suspended in a pipe flow are focused at a certain radial position which is called equilibrium position or pinch point. In this study, the effects of the size of microorganism and Reynolds number in the range of 1 < Re < 78 on the inertial migration were investigated and the results are compared with those for solid particles under similar experimental conditions. As a result, the equilibrium position for the elastic microorganisms is not so distinct, compared to the solid particles. This results from deformation of elastic body shape caused by shear-gradient of surrounding flow.

• Journal of Sensor Science and Technology
• /
• v.32 no.5
• /
• pp.300-306
• /
• 2023

A hull-cleaning robot sticks to the surface of a vessel and moves for efficient cleaning. Precise path planning and tracking using the current position is crucial. Many robots rely on the INS algorithm, but errors accumulate. To fix this, GPS, sonar, and USBL are used, though with limitations. Selecting suitable sensors for the surface operation and accurate positioning algorithm are vital. In this study, we developed a robot position estimation algorithm using the structure of a ship. Problems that arise when expanding the 2D position estimation algorithm used in existing wall structures to 3D were evaluated and methods for solving them were proposed. In addition, we aimed to improve performance by deriving singularities that exist in the robot path and proposing an error correction algorithm based on the singularities.