Search results for: mine navigation

Authors: M. Khaing, A. V. Tkacheva

Abstract:

The work is devoted to solving the problem of temperature stresses, caused by the heating point of the round plate. The plate is made of elastoplastic material, so the Prandtl-Reis model is used. A piecewise-linear condition of the Ishlinsky-Ivlev flow is taken as the loading surface, in which the yield stress depends on the temperature. Piecewise-linear conditions (Treska or Ishlinsky-Ivlev), in contrast to the Mises condition, make it possible to obtain solutions of the equilibrium equation in an analytical form. In the problem under consideration, using the conditions of Tresca, it is impossible to obtain a solution. This is due to the fact that the equation of equilibrium ceases to be satisfied when the two Tresca conditions are fulfilled at once. Using the conditions of plastic flow Ishlinsky-Ivlev allows one to solve the problem. At the same time, there are also no solutions on the edge of the Ishlinsky-Ivlev hexagon in the plane-stressed state. Therefore, the authors of the article propose to jump from the edge to the edge of the mine edge, which gives an opportunity to obtain an analytical solution. At the same time, there is also no solution on the edge of the Ishlinsky-Ivlev hexagon in a plane stressed state; therefore, in this paper, the authors of the article propose to jump from the side to the side of the mine edge, which gives an opportunity to receive an analytical solution. The paper compares solutions of the problem of plate thermal deformation. One of the solutions was obtained under the condition that the elastic moduli (Young's modulus, Poisson's ratio) which depend on temperature. The yield point is assumed to be parabolically temperature dependent. The main results of the comparisons are that the region of irreversible deformation is larger in the calculations obtained for solving the problem with constant elastic moduli. There is no repeated plastic flow in the solution of the problem with elastic moduli depending on temperature. The absolute value of the irreversible deformations is higher for the solution of the problem in which the elastic moduli are constant; there are also insignificant differences in the distribution of the residual stresses.

Keywords: Temperature stresses, elasticity, plasticity, Ishlinsky-Ivlev condition, plate, annular heating, elastic moduli.

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Authors: M. Belén Prendes-Gero, Celestino González-Nicieza, M. Inmaculada Alvarez-Fernández

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Roof collapse is one of the problems with a higher frequency in most of the mines of all countries, even now. There are many reasons that may cause the roof to collapse, namely the mine stress activities in the mining process, the lack of vigilance and carelessness or the complexity of the geological structure and irregular operations. This work is the result of the analysis of one accident produced in the “Mary” coal exploitation located in northern Spain. In this accident, the roof of a crossroad of excavated galleries to exploit the “Morena” Layer, 700 m deep, collapsed. In the paper, the work done by the forensic team to determine the causes of the incident, its conclusions and recommendations are collected. Initially, the available documentation (geology, geotechnics, mining, etc.) and accident area were reviewed. After that, laboratory and on-site tests were carried out to characterize the behaviour of the rock materials and the support used (metal frames and shotcrete). With this information, different hypotheses of failure were simulated to find the one that best fits reality. For this work, the software of finite differences in three dimensions, FLAC 3D, was employed. The results of the study confirmed that the detachment was originated as a consequence of one sliding in the layer wall, due to the large roof span present in the place of the accident, and probably triggered as a consequence of the existence of a protection pillar insufficient. The results allowed to establish some corrective measures avoiding future risks. For example, the dimensions of the protection zones that must be remained unexploited and their interaction with the crossing areas between galleries, or the use of more adequate supports for these conditions, in which the significant deformations may discourage the use of rigid supports such as shotcrete. At last, a grid of seismic control was proposed as a predictive system. Its efficiency was tested along the investigation period employing three control equipment that detected new incidents (although smaller) in other similar areas of the mine. These new incidents show that the use of explosives produces vibrations which are a new risk factor to analyse in a next future.

Keywords: Forensic analysis, hypothesis modelling, roof failure, seismic monitoring.

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Authors: A. Emre Ozturk, Ergun Ercelebi

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Autonomous robotic systems need an equipment like a human eye for their movement. In this study a 3D laser scanner has been designed and implemented for those autonomous robotic systems. In general 3D laser scanners are using 2 dimension laser range finders that are moving on one-axis (1D) to generate the model. In this study, the model has been obtained by a one-dimensional laser range finder that is moving in two –axis (2D) and because of this the laser scanner has been produced cheaper.

Keywords: 3D Laser Scanner, embedded systems.

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Authors: S. Barbosa, M. Pinto, J. A. Almeida, E. Carvalho, C. Diamantino

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The aim of this work was to test a methodology able to generate spatial-temporal maps that can synthesize simultaneously the trends of distinct hydrochemical indicators in an old radium-uranium tailings dam deposit. Multidimensionality reduction derived from principal component analysis and subsequent data aggregation derived from clustering analysis allow to identify distinct hydrochemical behavioral profiles and generate synthetic evolutionary hydrochemical maps.

Keywords: Contamination plume migration, K-means of PCA scores, groundwater and mine water monitoring, spatial-temporal hydrochemical trends.

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Authors: Miloš Šeda, Tomáš Březina

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In this paper, we focus on the use of knowledge bases in two different application areas – control of systems with unknown or strongly nonlinear models (i.e. hardly controllable by the classical methods), and robot motion planning in eight directions. The first one deals with fuzzy logic and the paper presents approaches for setting and aggregating the rules of a knowledge base. Te second one is concentrated on a case-based reasoning strategy for finding the path in a planar scene with obstacles.

Keywords: fuzzy controller, fuzzification, rule base, inference, defuzzification, genetic algorithm, neural network, case-based reasoning

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Authors: Heeae Ko, Jongkeun Kim, Kunjung Sim, Kunho Sim, Yonghwan Lim

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As mobile service's subscriber is increasing; mobile contents services are getting more and more variables. So, mobile contents development needs not only contents design but also guideline for just mobile. And when mobile contents are developed, it is important to pass the limit and restriction of the mobile. The restrictions of mobile are small browser and screen size, limited download size and uncomfortable navigation. So each contents of mobile guideline will be presented for user's usability, easy of development and consistency of rule. This paper will be proposed methodology which is each contents of mobile guideline. Mobile web will be developed by mobile guideline which I proposed.

Keywords: Guideline, interface, mobile, mobile computing, userexperience.

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Authors: W.M.F. Wan Ishak, N. A. Rowson

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The aim of this study is to compare the effect of the ultrasonic pre treatment on the removal of heavy metals (Iron, Zinc and Copper) from Acid Mine Drainage (AMD) by Denver Cell flotation. Synthetic AMD and individual metal solutions are used in the initial experiments to optimise the process conditions for real AMD. Three different process methods, ultrasound treatment followed by Denver flotation cell, Denver flotation cell alone and ultrasonic treatments run simultaneously with the Denver flotation cell were tested for every sample. Precipitation of the metal solutions by using sodium hydroxide (NaOH) and application of the optimum frother dosage followed by flotation significantly reduced the metal content of the AMD.

Keywords: Ultrasound, Denver cell, Flotation, Heavy metals, AMD

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Authors: Zh. Karaulova, D. Baizhigitov

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At the Aktogay deposit, the oxidized ore section has been developed since 2015; by now, the reserves of easily enriched ore are decreasing, and a large number of copper-poor, difficult-to-enrich ores has been accumulated in the dumps of the KAZ Minerals Aktogay deposit, which is unprofitable to mine using the traditional mining methods. Hence, another technology needs to be implemented, which will significantly expand the raw material base of copper production in Kazakhstan and ensure the efficient use of natural resources. Heap and dump bacterial recovery are the most acceptable technologies for processing low-grade secondary copper sulfide ores. Test objects were the copper ores of Aktogay deposit and chemolithotrophic bacteria Leptospirillum ferrooxidans (L.f.), Acidithiobacillus caldus (A.c.), Sulfobacillus acidophilus (S.a.), represent mixed cultures utilized in bacterial oxidation systems. They can stay active in the 20-40 °C temperature range. Biocatalytic acceleration was achieved as a result of bacteria oxidizing iron sulfides to form iron sulfate, which subsequently underwent chemical oxidation to become sulfate oxide. The following results have been achieved at the initial stage: the goal was to grow and maintain the life activity of bacterial cultures under laboratory conditions. These bacteria grew the best within the pH 1,2-1,8 range with light stirring and in an aerated environment. The optimal growth temperature was 30-33 оC. The growth rate decreased by one-half for each 4-5 °C fall in temperature from 30 °C. At best, the number of bacteria doubled every 24 hours. Typically, the maximum concentration of cells that can be grown in ferrous solution is about 107/ml. A further step researched in this case was the adaptation of microorganisms to the environment of certain metals. This was followed by mass production of inoculum and maintenance for their further cultivation on a factory scale. This was done by adding sulfide concentrate, allowing the bacteria to convert the ferrous sulfate as indicated by the Eh (> 600 mV), then diluting to double the volume and adding concentrate to achieve the same metal level. This process was repeated until the desired metal level and volumes were achieved. The final stage of bacterial recovery was the transportation and irrigation of secondary sulfide copper ores of the oxidized ore section. In conclusion, the project was implemented at the Aktogay mine since the bioleaching process was prolonged. Besides, the method of bacterial recovery might compete well with existing non-biological methods of extraction of metals from ores.

Keywords: Bacterial recovery, copper ore, bioleaching, bacterial inoculum.

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Authors: C. Clements, M. Hasenohr, A. Anvar

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A glider is in essence an unpowered vehicle and in this project we designed and built an oceanic glider, designed to operate underwater. This Glider was designed to collect ocean data such as temperature, pressure and (in future measures physical dimensions of the operating environment) and output this data to an external source. Development of the Oceanic Glider required research into various actuation systems that control buoyancy, pitch and yaw and the dynamics of these systems. It also involved the design and manufacture of the Glider and the design and implementation of a controller that enabled the Glider to navigate and move in an appropriate manner.

Keywords: Ocean Glider, Robot, Automation, Command, Control, Navigation.

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Authors: Xin Cheng, Benny Thörnberg, Abdul Waheed Malik, Najeem Lawal

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We present a hardware oriented method for real-time measurements of object-s position in video. The targeted application area is light spots used as references for robotic navigation. Different algorithms for dynamic thresholding are explored in combination with component labeling and Center Of Gravity (COG) for highest possible precision versus Signal-to-Noise Ratio (SNR). This method was developed with a low hardware cost in focus having only one convolution operation required for preprocessing of data.

Keywords: Dynamic thresholding, segmentation, position measurement, sub-pixel precision, center of gravity.

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Authors: Neil Bar, Andrew Heweston

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Probability of failure (PF) often appears alongside factor of safety (FS) in design acceptance criteria for rock slope, underground excavation and open pit mine designs. However, the design acceptance criteria generally provide no guidance relating to how PF should be calculated for homogeneous and heterogeneous rock masses, or what qualifies a ‘reasonable’ PF assessment for a given slope design. Observational and kinematic methods were widely used in the 1990s until advances in computing permitted the routine use of numerical modelling. In the 2000s and early 2010s, PF in numerical models was generally calculated using the point estimate method. More recently, some limit equilibrium analysis software offer statistical parameter inputs along with Monte-Carlo or Latin-Hypercube sampling methods to automatically calculate PF. Factors including rock type and density, weathering and alteration, intact rock strength, rock mass quality and shear strength, the location and orientation of geologic structure, shear strength of geologic structure and groundwater pore pressure influence the stability of rock slopes. Significant engineering and geological judgment, interpretation and data interpolation is usually applied in determining these factors and amalgamating them into a geotechnical model which can then be analysed. Most factors are estimated ‘approximately’ or with allowances for some variability rather than ‘exactly’. When it comes to numerical modelling, some of these factors are then treated deterministically (i.e. as exact values), while others have probabilistic inputs based on the user’s discretion and understanding of the problem being analysed. This paper discusses the importance of understanding the key aspects of slope design for homogeneous and heterogeneous rock masses and how they can be translated into reasonable PF assessments where the data permits. A case study from a large open pit gold mine in a complex geological setting in Western Australia is presented to illustrate how PF can be calculated using different methods and obtain markedly different results. Ultimately sound engineering judgement and logic is often required to decipher the true meaning and significance (if any) of some PF results.

Keywords: Probability of failure, point estimate method, Monte-Carlo simulations, sensitivity analysis, slope stability.

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Authors: Kazuki Sonoda, Masahiro Hori

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When designing information systems that deal with large amount of domain knowledge, system designers need to consider ambiguities of labeling termsin domain vocabulary for navigating users in the information space. The goal of this study is to develop a methodology for system designers to label navigation items, taking account of ambiguities stems from synonyms or polysemes of labeling terms. In this paper, we propose a method for concept labeling based on mappings between domain ontology andthesaurus, and report results of an empirical evaluation.

Keywords: Concept Labeling, Ontology, Thesaurus, VocabularyProblem

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Authors: Jai Raj, Jito Vanualailai, Bibhya Sharma, Shonal Singh

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This paper proposes a solution to the motion planning and control problem of car-like mobile robots which is required to move safely to a designated target in a priori known workspace cluttered with swarm of boids exhibiting collective emergent behaviors. A generalized algorithm for target convergence and swarm avoidance is proposed that will work for any number of swarms. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws are demonstrated via computer simulations of an emergent behavior.

Keywords: Swarm, practical stability, motion planning, emergent.

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Authors: Armando Calabrese, Guendalina Capece, Michele Corbò, Nathan Levialdi Ghiron, Matteo M. Marucchi

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People from different cultures favor web pages characterized by the values of their culture and, therefore, tend to prefer different characteristics of a website according to their cultural values in terms of navigation, security, product information, customer service, shopping and design tools. For a company aiming to globalize its market it is useful to implement country specific cultural interfaces and different web sites for countries with different cultures. This paper, following the conclusions proposed by two models of Hall and Hofstede, and the studies of Marcus and Gould, defines, through an empirical analysis, the guidelines of web design for both the Scandinavian countries and Malaysia.

Keywords: Cultural dimensions, cultural markers, Hofstede, web design, web marketing.

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Authors: Ghaffar Tari

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The aim of this paper is to investigate the effect of mean size of industry on survival of new firms in East-Azarbaijan province through 1981-2006 using hazard function. So the effect of two variables including mean employment of industry and mean capital of industry are investigated on firm's survival. The Industry & Mine Ministry database has used for data gathering and the data are analyzed using the semi-parametric cox regression model. The results of this study shows that there is a meaningful negative relationship between mean capital of industry and firm's survival, but the mean employment of industry has no meaningful effect on survival of new firms.

Keywords: Firm's Survival, Hazard Function, Mean Capital of Industry, Mean Employment of Industry.

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Authors: Ashish Pathak, Dong-Jin Kim, Byoung-Gon Kim

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Biological processes based on oxidation of sulfur compounds by chemolithotrophic microorganisms are emerging as an efficient and eco-friendly technique for removal of sulfur from the coal. In the present article, study was carried out to investigate the potential of biodesulfurization process in removing the sulfur from lignite coal sample collected from a Mongolian coal mine. The batch biodesulfurization experiments were conducted in 2.5 L borosilicate baffle type reactors at 35 ºC using Acidithiobacillus ferrooxidans. The effect of pulp density on efficiency of biodesulfurization was investigated at different solids concentration (1-10%) of coal. The results of the present study suggested that the rate of desulfurization was retarded at higher coal pulp density. The optimum pulp density found 5% at which about 48% of the total sulfur was removed from the coal.

Keywords: Biodesulfurization, bioreactor, coal, pyrite.

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Authors: Kouamana Bousson, Paulo Machado

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The optimization and control problem for 4D trajectories is a subject rarely addressed in literature. In the 4D navigation problem we define waypoints, for each mission, where the arrival time is specified in each of them. One way to design trajectories for achieving this kind of mission is to use the trajectory optimization concepts. To solve a trajectory optimization problem we can use the indirect or direct methods. The indirect methods are based on maximum principle of Pontryagin, on the other hand, in the direct methods it is necessary to transform into a nonlinear programming problem. We propose an approach based on direct methods with a pseudospectral integration scheme built on Chebyshev polynomials.

Keywords: Pseudospectral Methods, Trajectory Optimization, 4DTrajectories

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Authors: Jafreezal Jaafar, Hasiah Mohamed, Hazida Razali

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This paper focuses on the 3D reconstruction of the architectural design of Darul Ridzuan Museum. It has concentrated on designing exterior part of the building according to colored digital photo of the real museum. Besides viewing the architecture, walkthroughs are generated for the user to control it in an easier way. User can travel through the museum to get the feel of the environment and to explore the design of the museum as a whole; both exterior and interior. The result has shown positive result in terms of realism, navigation, collision detection, suitability, usability and user-s acceptance. In brief, the 3D virtual museum has provided an alternative to present a real museum.

Keywords: Virtual Heritage, 3D Modelling, Virtual Museum, Usability Evaluation

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Authors: Younes Djaghloul, Zizette Boufaida

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This paper addresses the problem of building a unified structure to describe a peer-to-peer system. Our approach uses the well-known notations in the P2P area, and provides a global architecture that puts a separation between the platform specific characteristics and the logical ones. In order to enable the navigation of the peer across platforms, a roaming layer is added. The latter provides a capability to define a unique identification of peer and assures the mapping between this identification and those used in each platform. The mapping task is assured by special wrapper. In addition, ontology is proposed to give a clear presentation of the structure of the P2P system without interesting in the content and the resource managed by the peer. The ontology is created according to the web semantic paradigm and using OWL language; so, the structure of the system is considered as a web resource.

Keywords: Peer to peer, ontology, owl.

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Authors: Yoon Koo Kang, Jung wan Park, Hyun Seok Yang

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This paper determines most common model of in-pipe robots to derive its degree of freedom in order to compare with the necessary degree of freedom required for a system to move inside pipelines freely in order to derive analytical reason for losing control of in-pipe robots at branched pipe. DOF of most common mechanism in in-pipe robots can be calculated by considering the robot as a parallel manipulator. A new design based on previously researched in-pipe robot PAROYS has been suggested, and its possibility to overcome branched section has been simulated.

Keywords: Branched pipe, Degree of freedom, In-pipe robot, Parallel manipulator.

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Authors: C. Rattanakawin, S. Vasailor

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Acid leaching of flotation concentrate of oxide copper ore containing mainly of malachite was performed in a standard agitation tank with various parameters. The effects of solid to liquid ratio, sulfuric acid concentration, agitation speed, leaching temperature and time were examined to get proper conditions. The best conditions are 1:8 solid to liquid ratio, 10% concentration by weight, 250 rev/min, 30 ^oC and 5-min leaching time in respect. About 20% Cu grade assayed by atomic absorption technique with 98% copper recovery was obtained from these combined optimum conditions. Dissolution kinetics of the concentrate was approximated as a logarithmic function. As a result, the first-order reaction rate is suggested from this leaching study.

Keywords: Agitation leaching, dissolution kinetics, flotation concentrate, oxide copper ore, sulfuric acid.

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Authors: A. Ali, V. Strezov, P. Davies, I. Wright, T. Kan

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The environmental impacts arising from mining activities affect the air, water, and soil quality. Impacts may result in unexpected and adverse environmental outcomes. This study reports on the impact of coal production on sediment in Sydney region of Australia. The sediment samples upstream and downstream from the discharge points from three mines were taken, and 80 parameters were tested. The results were assessed against sediment quality based on presence of metals. The study revealed the increment of metal content in the sediment downstream of the reference locations. In many cases, the sediment was above the Australia and New Zealand Environment Conservation Council and international sediment quality guidelines value (SQGV). The major outliers to the guidelines were nickel (Ni) and zinc (Zn).

Keywords: Coal mine, environmental impact, produced water, sediment quality guidelines value.

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Authors: Peter Andráš, Adam Lichý, Jana Rusková, Lenka Matúšková

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The heavy metal contamination of the technogenous sediments and soils at the investigated dump-field show irregular planar distribution. Also the heavy metal content in the surface water, drainage water and in the groundwater was studied both in the dry as well as during the rainy periods. The cementation process causes substitution of iron by copper. Natural installation and development of plant species was observed at the old mine waste dumps, specific to the local chemical conditions such as low content of essential nutrients and high content of heavy metals. The individual parts of the plant tissues (roots, branches/stems, leaves/needles, flowers/ fruits) are contaminated by heavy metals and tissues are damaged differently, respectively.

Keywords: Contamination, dump-field, heavy metals, plants, sediment, water.

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Authors: Nidhi Sharma, V. K. Banga

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Nowadays, driving support systems, such as car navigation systems, are getting common, and they support drivers in several aspects. It is important for driving support systems to detect status of driver's consciousness. Particularly, detecting driver's drowsiness could prevent drivers from collisions caused by drowsy driving. In this paper, we discuss the various artificial detection methods for detecting driver's drowsiness processing technique. This system is based on facial images analysis for warning the driver of drowsiness or in attention to prevent traffic accidents.

Keywords: Neuro-Fuzzy Model, Halstead Model, Walston-FelixModel, Bailey-Basili Model, Doty Model, GA Based Model, GeneticAlgorithm.

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Authors: Naoki Kanatani, Masaki Ito, Takao Kawamura, Kazunori Sugahara

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Route bus system is the fundamental public transportation system and has an important role in every province. To improve the usability of it greatly, we develop an AR application for "Bus- Net". The Bus-Net system is the shortest path planning system. Bus-Net supports bus users to make a plan to change buses by providing them with information about the direction. However, with Bus-Net, these information are provided in text-base. It is difficult to understand them for the person who does not know the place. We developed the AR application for Bus-Net. It supports the action of a bus user in an innovative way by putting information on a camera picture and leading the way to a bus stop. The application also inform the user the correct bus to get, the direction the bus takes and the fare, which ease many anxieties and worries people tend to feel when they take buses.

Keywords: AR, navigation, Bus-Net, transport

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Authors: Widod Budiharto, Muhsin Shodiq, Bayu Kanigoro, Jurike V. Moniaga Hutomo

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We present a BeeBot, Binus Multi-client Intelligent Telepresence Robot, a custom-build robot system specifically designed for teleconference with multiple person using omni directional actuator. The robot is controlled using a computer networks, so the manager/supervisor can direct the robot to the intended person to start a discussion/inspection. People tracking and autonomous navigation are intelligent features of this robot. We build a web application for controlling the multi-client telepresence robot and open-source teleconference system used. Experimental result presented and we evaluated its performance.

Keywords: Telepresence robot, robot vision, intelligent robot.

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Authors: Norazah Mohd Suki, Norbayah Mohd Suki

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Descriptive statistics was performed with the aim to achieve research objective of to investigate lecturers- usage of the mobile technology for teaching. A representative sample of 20 lecturers from the Faculty of Industrial Art & Design Technology of Universiti Industri Selangor (UNISEL), Malaysia was selected as the respondents. The result attested that lecturers fully accept the concept of mobility in learning and game play is appealing concept to support classroom learning. Subsequently, analogous experience on small size of keypad, screen resolution, and navigation could be the major problematic factors to students and affect their mobile learning process. Recommendation for future research is also presented.

Keywords: Academics, Mobile e-learning, Mobile technology, Readiness.

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Authors: D. Oshinubi, M. Rocznik, K. Dostert

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The need for micromechanical inertial sensors is increasing in future electronic stability control (ESC) and other positioning, navigation and guidance systems. Due to the rising density of sensors in automotive and consumer devices the goal is not only to get high performance, robustness and smaller package sizes, but also to optimize the energy management of the overall sensor system. This paper presents an evaluation concept for a surface micromachined yaw rate sensor. Within this evaluation concept an energy-efficient operation of the drive mode of the yaw rate sensor is enabled. The presented system concept can be realized within a power management subsystem.

Keywords: inertial sensors, micromachined gyros, gyro sensing concepts, power management, FPGA

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Authors: M. Tang, S. M. Wen, D. W. Liu

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This paper presents the influences on the entrainment of serpentines by grinding and reagents during copper–nickel sulfide flotation. The previous bench flotation tests were performed to extract the metallic values from the ore in Yunnan Mine, China and the relatively satisfied results with recoveries of 86.92% Cu, 54.92% Ni, and 74.73% Pt+Pd in the concentrate were harvested at their grades of 4.02%, 3.24% and 76.61 g/t, respectively. However, the content of MgO in the concentrate was still more than 19%. Micro-flotation tests were conducted with the objective of figuring out the influences on the entrainment of serpentines into the concentrate by particle size, flocculants or depressants and collectors, as well as visual observations in suspension by OLYMPUS camera. All the tests results pointed to the presences of both “entrapped-in” serpentines and its coating on the hydrophobic flocs resulted from strong collectors (combination of butyl xanthate, butyl ammonium dithophosphate, even after adding carboxymethyl cellulose as effective depressant. And fine grinding may escalate the entrainment of serpentines in the concentrate.

Keywords: Serpentine, copper and nickel sulfides, flotation, entrainment.

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Authors: ML. Benmessaoud, A. Lamrani, K. Nemra, AK. Souici

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This paper presents an Extended Kaman Filter implementation of a single-camera Visual Simultaneous Localization and Mapping algorithm, a novel algorithm for simultaneous localization and mapping problem widely studied in mobile robotics field. The algorithm is vision and odometry-based, The odometry data is incremental, and therefore it will accumulate error over time, since the robot may slip or may be lifted, consequently if the odometry is used alone we can not accurately estimate the robot position, in this paper we show that a combination of odometry and visual landmark via the extended Kalman filter can improve the robot position estimate. We use a Pioneer II robot and motorized pan tilt camera models to implement the algorithm.

Keywords: Mobile Robot, Navigation, vSLAM, EKF, monocular.

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