• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.619-625
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• 2009

FastSLAM which uses the Rao-Blackwellized particle filter is one of the famous solutions to SLAM (Simultaneous Localization and Mapping) problem that estimates concurrently a robot's pose and surrounding environment. However, the particle depletion problem arises from the loss of the particle diversity in the resampling process of FastSLAM. Then, the performance of FastSLAM degenerates over the time. In this work, DIR (Density Information-based Resampling) technique is proposed to solve the particle depletion problem. First, the cluster is constructed based on the density of each particle, and the density of each cluster is computed. After that, the number of particles to be reserved in each cluster is determined using a linear method based on the distance between the highest density cluster and each cluster. Finally, the resampling process is performed by rejecting the particles which are not selected to be reserved in each cluster. The performance of the DIR proposed to solve the particle depletion problem in FastSLAM was verified in computer simulations, which significantly reduced both the RMS position error and the feature error.

• ETRI Journal
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• 제42권6호
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• pp.932-942
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• 2020

To recover the neural activity from Magnetoencephalography (MEG) and Electroencephalography (EEG) measurements, we need to solve the inverse problem by utilizing the relation between dipole sources and the data generated by dipolar sources. In this study, we propose a new approach based on the implementation of a particle filter (PF) that uses minimum sampling variance resampling methodology to track the neural dipole sources of cerebral activity. We use this approach for the EEG data and demonstrate that it can naturally estimate the sources more precisely than the traditional systematic resampling scheme in PFs.

• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.907-914
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• 2013

A FastSLAM is an algorithm for SLAM (Simultaneous Localization and Mapping) using a Rao-Blackwellized particle filter and its performance is known to degenerate over time due to the loss of particle diversity, mainly caused by the particle depletion problem in the resampling phase. In this paper, the GeSPIR (Geographically Stratified Particle Information-based Resampling) technique is proposed to solve the particle depletion problem. The proposed algorithm consists of the following four steps : the first step involves the grouping of particles divided into K regions, the second obtaining the normal weight of each region, the third specifying the protected areas, and the fourth resampling using regional equalization weight. Simulations show that the proposed algorithm obtains lower RMS errors in both robot and feature positions than the conventional FastSLAM algorithm.

• Industrial Engineering and Management Systems
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• 제16권1호
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• pp.92-102
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• 2017

In this paper, we consider a typical health care system via the help of Wireless Sensor Network (WSN) for wireless patient tracking. The wireless patient tracking module of this system performs localization out of samples of Received Signal Strength (RSS) variations and tracking through a Particle Filter (PF) for WSN assisted by multiple transmit-power information. We propose a modified PF, Kullback-Leibler Distance (KLD)-resampling PF, to ameliorate the effect of RSS variations by generating a sample set near the high-likelihood region for improving the wireless patient tracking. The key idea of this method is to approximate a discrete distribution with an upper bound error on the KLD for reducing both location error and the number of particles used. To determine this bound error, an optimal algorithm is proposed based on the maximum gap error between the proposal and Sampling Important Resampling (SIR) algorithms. By setting up these values, a number of simulations using the health care system's data sets which contains the real RSSI measurements to evaluate the location error in term of various power levels and density nodes for all methods. Finally, we point out the effect of different power levels vs. different density nodes for the wireless patient tracking.

• 한국군사과학기술학회지
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• 제14권3호
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• pp.517-523
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• 2011

The estimation filter in radar systems must track targets' position within low tracking error. In the Multi-Function Radar(MFR), ${\alpha}-{\beta}$ filter and Kalman filter are widely used to track single or multiple targets. However, due to target maneuvering, these filters may not reduce tracking error, therefore, may lost target tracks. In this paper, a target tracking filter based on particle filtering algorithm is proposed for the MFR. The advantage of this method is that it can track targets within low tracking error while targets maneuver and reduce impoverishment of particles by the proposed resampling method. From the simulation results, the improved tracking performance is obtained by the proposed filtering algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권8호
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• pp.3791-3805
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• 2016

The visual attention mechanism includes 2 attention models, the bottom-up (B-U) and the top-down (T-D), the physiology of which have not yet been accurately described. In this paper, the visual attention mechanism is regarded as a Bayesian fusion process, and a visual attention model based on particle filter is proposed. Under certain particular assumed conditions, a calculation formula of Bayesian posterior probability is deduced. The visual attention fusion process based on the particle filter is realized through importance sampling, particle weight updating, and resampling, and visual attention is finally determined by the particle distribution state. The test results of multigroup images show that the calculation result of this model has better subjective and objective effects than that of other models.

• 한국시뮬레이션학회논문지
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• 제28권4호
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• pp.21-32
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• 2019

군집에 대한 사회적 행동 모델에 영감을 받은 군집 최적화 알고리즘은 복잡한 최적화 문제 해결에서부터 인공 신경망의 학습에까지 활용되는 대표적인 메타휴리스틱 최적화 알고리즘 중의 하나이다. 하지만 이 알고리즘은 기본적으로 확률적 노이즈가 존재하지 않는 결정적인 환경에서 개발되었기 때문에, 많은 경우 확률적 노이즈가 존재하는 실제 문제에 적용하기에 어려움이 있었다. 본 논문에서는 이를 개선하기 위하여 불확실 평가 기법이라고 정의되는 통계적 가설 검정 기반의 리샘플링 기법을 적용한다. 이 기법을 통하여 입자 군집 최적화 알고리즘의 성능에 가장 큰 영향을 미치는 입자들의 전역 최적을 정확하게 찾으므로 노이즈 환경에서 입자들이 최적해로 보다 정확하고 빠르게 수렴하도록 한다. 다양한 벤치마크 문제들에 대한 기존 알고리즘들과의 비교 실험 결과는 제안하는 알고리즘의 개선된 성능을 입증하고, 사례 연구의 결과는 본 연구의 필요성을 강조한다. 본 연구 결과가 4차 산업혁명 시대에 디지털 트윈 등을 통한 시뮬레이션 기반 시스템 최적화에 효과적으로 적용될 수 있을 것이라 기대한다.

• Journal of Information Processing Systems
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• 제16권3호
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• pp.530-540
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• 2020

In order to solve the problem of low tracking accuracy caused by complex noise in the fault diagnosis of complex nonlinear system, a fault diagnosis method of high precision cost reference particle filter (CRPF) is proposed. By optimizing the low confidence particles to replace the resampling process, this paper improved the problem of sample impoverishment caused by the sample updating based on risk and cost of CRPF algorithm. This paper attempts to improve the accuracy of state estimation from the essential level of obtaining samples. Then, we study the correlation between the current observation value and the prior state. By adjusting the density variance of state transitions adaptively, the adaptive ability of the algorithm to the complex noises can be enhanced, which is expected to improve the accuracy of fault state tracking. Through the simulation analysis of a fuel unit fault diagnosis, the results show that the accuracy of the algorithm has been improved obviously under the background of complex noise.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.559-564
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• 2003

Recently, particle filters have attracted attentions for nonlinear state estimation. They evaluate a posterior probability distribution of the state variable based on observations in simulation using so-called importance sampling. However, degeneracy phenomena in the importance weights deteriorate the filter performance. A new filter, Evolution Strategies Based Particle Filter, is proposed to circumvent this difficulty and to improve the performance. Numerical simulation results illustrate the applicability of the proposed idea.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.785-791
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• 2008

Ultra-tightly coupled GPS/INS integration has been reported to show better navigation performance than that of other integration methods such as loosely coupled and tightly coupled integration. This paper uses the particle filter for ultra-tightly coupled GPS/INS integration and analyzes the navigation performance according to vehicle trajectory and the number of particles. The navigation performance of particle filter is compared with those of EKF and UKF.