• 로봇학회논문지
• /
• 제4권2호
• /
• pp.97-104
• /
• 2009

Recently, simultaneous localization and mapping (SLAM) approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, due to the usage of the accurate sensors, distinct particles which compensate one another are attenuated as the RBPF-SLAM continues. To avoid this particle depletion, we propose the strategic games to assign the particle's payoff which replaces the importance weight in the current RBPF-SLAM framework. From simulation works, we show that RBPF-SLAM with the strategic games is inconsistent in the pessimistic way, which is different from the existing optimistic RBPF-SLAM. In addition, first, the estimation errors with applying the strategic games are much less than those of the standard RBPF-SLAM, and second, the particle depletion is alleviated.

• 로봇학회논문지
• /
• 제3권4호
• /
• pp.308-314
• /
• 2008

Recently, simultaneous localization and mapping (SLAM) approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze the result representation of SLAM using RBPF (RBPF-SLAM) when particle diversity is preserved. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. Thus, we propose several result representations and provide the analysis of the representations. For the analysis, estimation errors and their variances, and consistency of RBPF-SLAM are dealt in this study. According to the simulation results, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.

• 제어로봇시스템학회논문지
• /
• 제16권1호
• /
• pp.40-47
• /
• 2010

This paper presents a simultaneous localization and mapping (SLAM) of an indoor hallway environment using Rao-Blackwellized particle filter (RBPF) along with a line segment as a landmark. Based on the fact that fluent line features can be extracted around the ceiling and side walls of hallway using vision sensor, a horizontal line segment is extracted from an edge image using Hough transform and is also tracked continuously by an optical flow method. A successive observation of a line segment gives initial state of the line in 3D space. For data association, registered feature and observed feature are matched in image space through a degree of overlap, an orientation of line, and a distance between two lines. Experiments show that a compact environmental map can be constructed with small number of horizontal line features in real-time.

• 한국정보과학회:학술대회논문집
• /
• 한국정보과학회 2006년도 한국컴퓨터종합학술대회 논문집 Vol.33 No.1 (B)
• /
• pp.151-153
• /
• 2006

we present a method of sequential speech enhancement, where we infer clean speech signal using a Rao-Blackwellized particle filter (RBPF), given a noise-contaminated observed signal. In contrast to Kalman filtering-based methods, we consider a non-Gaussian speech generative model that is based on the generalized auto-regressive (GAR) model. Model parameters are learned by a sequential Newton-Raphson expectation maximization (SNEM), incorporating the RBPF. Empirical comparison to Kalman filter, confirms the high performance of the proposed method.

• 동력기계공학회지
• /
• 제9권2호
• /
• pp.45-49
• /
• 2005

Liquefied natural gas takes up six hundredths of the volume of natural gas, which makes storage and transportation much easier. To send out natural gas via a pipeline network across the nation, high-pressure LNG pumps supply highly compressed LNG to high-pressure vaporization facilities. The Number of high-pressure LNG pumps determined the send-out amount in LNG receiving terminal. So it is main equipment at LNG production process and should be maintained on best conditions. In this paper, to find out the cause of high beat vibration at cryogenic pumps, vibration and motor current signal analysis have been performed. High vibration of cryogenic pumps could be reduced due to the modification of motor rotor.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2005년도 춘계학술대회논문집
• /
• pp.776-779
• /
• 2005

Liquefied Natural Gas takes up six hundredths of the volume of natural gas, which makes storage and transportation much easier. To send out natural gas via a pipeline network across the nation, high pressure LNG pumps supply highly compressed LNG to high-pressure vaporization facilities. The Number of high Pressure LNG pumps determined the send out amount in LNG receiving terminal. So it is main equipment at LNG production process and should be maintained on best conditions. In this paper, to find out the cause of high beat vibration at cryogenic pumps, vibration and motor current analysis have been performed. And high beat vibration of cryogenic pumps could be reduced due to the modification of motor rotor.

• 동력기계공학회지
• /
• 제12권4호
• /
• pp.52-56
• /
• 2008

The necessity of diagnosis of the rotating machinery which is widely used in the industry is increasing. Because vibration diagnosis can avoid sudden breakdown of machine and reduce the maintenance costs. In chemical factory, Air-compressor and refrigerator which can affect the performance and capacity of output are important machine. Therefore, in this paper, the vibration of reassembled air-compressor and refrigerator after explosion is measured for checking the machine condition. The result of diagnosis and solution is discussed in this paper.

• Journal of Mechanical Science and Technology
• /
• 제20권7호
• /
• pp.972-980
• /
• 2006

In general, to send out natural gas via a pipeline network across the nation in LNG terminal, high-pressure cryogenic pump supply highly compressed LNG to high-pressure vaporization facilities. The Number of cryogenic pumps determined the send-out amount in LNG receiving terminal. So it is main equipment at LNG production process and should be maintained on best conditions. In this paper, to find out the cause of high vibration at cryogenic pumps-motor system in LNG terminal, vibration spectrum analysis and motor current signature analysis have been performed together. Through the analysis, motor rotor bar problems are estimated by the vibration analysis and confirmed by the current analysis. So, it is demonstrated through the case study in this paper, how performing vibration analysis and current signature analysis together can reliable diagnosis rotor bar problems in pump-motor system.