• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.469-474
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• 2011

This paper presents the intelligent tracking method for maneuvering target using the positional error compensation of the maneuvering target. The difference between measured point and predict point is separated into acceleration and noise. K-means clustering and TS fuzzy system are used to get the optimal acceleration value. The membership function is determined for acceleration and noise which are divided by K-means clustering and the characteristics of the maneuvering target is figured out. Divided acceleration and noise are used in the tracking algorithm to compensate computational error. While calculating expected value, the non-linearity of the maneuvering target is recognized as linear one by dividing acceleration and the capability of Kalman filter is kept in the filtering process. The error for the non-linearity is compensated by approximated acceleration. The proposed system improves the adaptiveness and the robustness by adjusting the parameters in the membership function of fuzzy system. Procedures of the proposed algorithm can be implemented as an on-line system. Finally, some examples are provided to show the effectiveness of the proposed algorithm.

• Journal of the Korea Society of Computer and Information
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• v.26 no.12
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• pp.11-18
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• 2021

This paper shows the applicability of deep learning algorithm in predicting target position and getting correction value of impact point in order to improve the accuracy of naval gun firing. Predicting target position, the proposed model using LSTM model and RN structure is expected to be more accurate than existing method using kalman filter. Getting correction value of impact point, the another proposed model suggests a reinforcement model that manages factors which is related in ballistic calculation as data set, and learns using the data set. The model is expected to reduce error of naval gun firing. Combining two models, a ballistic calculation model for improving accuracy of naval gun firing based on deep learning algorithm was designed.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.141-147
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• 2014

This paper proposes a robust localization algorithm and optimal number of receivers considering the detection range of underwater targets. The accuracies of the source position, receiver position and sound velocity are improved using the known positions of underwater objects. The accuracies of these parameters influences the performance of the target localization error. Although the source and receiver positions are obtained by the global positioning system (GPS), there are still positional errors due to GPS and variations in sea temperature. First, the influence of those errors are analyzed mathematically and an algorithm is improved to improve the accuracies of source position, receiver position and sound velocity by using geographic points. The performance of the proposed scheme is evaluated in comparison with the conventional algorithm by computer simulations.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.12
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• pp.1207-1215
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• 2013

This paper proposes the location estimation techniques of distributed targets with the multi-sensor data perceived through IR sensors of the military robots in consideration of obstacles. In order to match up targets with measured azimuths, to add to the depth-first search (DFS) algorithms in free-obstacle environment, we suggest the expanded DFS (EDS) algorithm including bypass path search, partial path search, middle level ending, and the supplementation of decision metric. After matching up targets with azimuths, we estimate the coordinate of each target by obtaining the intersection point of the azimuths with the least square error (LSE) algorithm. The experimental results show the error rate of estimated location, mean number of calculating nodes, and mean distance between real coordinates and estimated coordinates of the proposed algorithms.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.3
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• pp.82-89
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• 2012

This paper presents the intelligent tracking algorithm for maneuvering target using the positional error compensation of the maneuvering target. The difference between measured point and predict point is separated into acceleration and noise. Fuzzy c-mean clustering and predicted impact point are used to get the optimal acceleration value. The membership function is determined for acceleration and noise which are divided by fuzzy c-means clustering and the characteristics of the maneuvering target is figured out. Divided acceleration and noise are used in the tracking algorithm to compensate computational error. The filtering process in a series of the algorithm which estimates the target value recognize the nonlinear maneuvering target as linear one because the filter recognize only remained noise by extracting acceleration from the positional error. After filtering process, we get the estimates target by compensating extracted acceleration. The proposed system improves the adaptiveness and the robustness by adjusting the parameters in the membership function of fuzzy system. To maximize the effectiveness of the proposed system, we construct the multiple model structure. Procedures of the proposed algorithm can be implemented as an on-line system. Finally, some examples are provided to show the effectiveness of the proposed algorithm.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.4
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• pp.63-73
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• 2021

The radar operated to detect/track aircraft targets is divided into a search radar that operates while the antenna rotating device rotates for the purpose of detecting the target according to the mission characteristics, and a tracking radar that periodically steers and tracks a beam to the predicted position of the target. The tracking radar has a shorter target information acquisition preiod than the search radar. Due to this characteristic, the tracking accuracy is better than that of the search radar, but as the prediction error increases due to the speed error at the beginning of the tracking, there are many cases in which tracking fails at the beginning of tracking due to failure to perform beam steering normally. In this paper, in order to solve the above-mentioned problems, we propose an algorithm for improving the accuracy of track initiation using radial velocity measurements in addition to the position of the measured, and confirm the performance of the proposed algorithm by comparing with the two point differential algorithm

• Journal of the Korea Society of Computer and Information
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• v.18 no.10
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• pp.109-119
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• 2013

An unmanned ground vehicle(UGV) today plays a significant role in both civilian and military areas. Predominantly these systems are used to replace humans in hazardous situations. To take unmanned ground vehicles systems to the next level and increase their capabilities and the range of missions they are able to perform in the combat field, new technologies are needed in the area of command and control. For this reason, we present war field simulator based on information fusion technology to efficiently control UGV. In this paper, we present the war field simulator which is made of critical components, that is, simulation controller, virtual image viewer, and remote control device to efficiently control UGV in the future combat fields. In our information fusion technology, improved methods of target detection, recognition, and location are proposed. In addition, time reduction method of target detection is also proposed. In the consequence of the operation test, we expect that our war field simulator based on information fusion technology plays an important role in the future military operation significantly.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2003.09a
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• pp.60-60
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• 2003

목적 : 감마나이프 치료계획용 소프트웨어인 감마플렌에서 처방선량을 계산하는 단위와 실제 시간을 설정하는 하드웨어인 조정판의 시간설정 단위의 차이에 의한 실제 처방선량에 끼치는 영향을 계산하였다. 대상 및 방법 : 감마나이프는 주어진 4 개의 헬멧을 가지고 최소 한번 또는 최대 20 번 이상의 방사선 조합으로 한번에 많은 방사선을 목표물에 조사한다. 감마나이프 방사선 수술을 위한 치료계획용 소프트웨어인 감마플렌 5.32에서는 처방선량에 대한 치료시간을 최대 지점 또는 지정하는 지점에 규격화하여 소숫점 두 자리 즉 0.6 초까지 계산한다. 그러나 실제 치료를 위한 조정판의 시간설정은 모델 B 에서는 소숫점 한자리까지 가능하게 되어있다. 그러므로 모델 B를 사용하는 기관의 치료계획 컴퓨터인 감마플렌에서는 소숫점 한자리로 만들기 위해 반올림과 내림을 하게 되며 이것을 프린트하여 사용하게 된다. 실제 임상에서 멀티삿에 대한 반올림과 내림에 대한 효과를 선량으로 환산하여 처방선량에 끼치는 영향을 연구하였다. 치료 계획에 서 처방선량을 입력한 후 계산된 각 조사에 대한 소숫점 두자리 시간을 화면에 표시한 후 스냅tit으로 스크린 캡쳐하여 프린트하였으며, 소숫점 한자리로 된 최종 치료계획을 프린트하여 서로 비교 계산하였다. 결과 : 20 여명의 환자에 대한 치료 결과에 대한 분석은 조사의 수나 처방선량에 관계하지 않고 우연히 올림이 많으냐 내림이 많으냐에 의존하였다. 최대지점에 대하여 분석한 결과는 -0.48부터 +0.47로 -2%부터 +1.9%의 정도로 영향을 끼쳤다. 결론 : 반올림과 내림의 결과는 처방선량을 줄일 수도 있고 늘일 수도 있었다. 그러나 이 연구는 최대선량 지점에 대해 비교를 하였으나 실제로는 각 조사의 위치가 서로 다르므로 영향은 이보다 훨씬 적을 것으로 생각되어 소숫점 한자리로 치료하여도 무방할 것으로 보인다.mm, AP 방향에서는 2.1$\pm$0.82 mm이었다. 그리고 복부의 later의 방향에서는 7.0$\pm$2.1 mm, AP 방향에서는 6.5$\pm$2.2 mm 이었다. 또한 표적 위치측정을 위해서 환자의 피부에 임의의 가상표적을 부착하고 CT 촬영한 영상결과, 프레임으로 가상표 적에 대한 위치를 정확히 파악할 수 있었다. 결론 : 제작된 프레임을 적용하여 방사선투과율 측정실험, 환자 외부자세에 대한 오차 측정실험, 가상표적 위치측정 실험 등을 수행하였다. 환자 외부자세에 대한 오차 측정실험 경우, 더 많은 Volunteer를 적용하여 보다 정확한 오차 측정실험이 수행되어야 할 것이며 정확한 표적 위치 측정실험을 위해서 내부 마커를 삽입한 환자를 적용한 임상실험이 수행되어야 할 것이다. 또한 위치결정에서 획득한 좌표값의 정확성을 알아보기 위해서 팬톰을 이용한 방사선조사 실험이 추후에 실행되어져야 할 것이다. 그리고 제작된 프레임에 Rotating X선 시스템과 내부 장기의 움직임을 계량화하고 PTV에서의 최적 여유폭을 설정함으로써 정위 방사선수술 및 3 차원 업체 방사선치료에 대한 병소 위치측정과 환자의 자세에 대한 setup 오차측정 결정에 도움이 될 수 있을 것이라고 사료된다. 상대적으로 우수한 것으로 나타났으며, 혼합충전재는 암모니아의 경우 코코넛과 펄라이트의 비율이 7：3인 혼합 재료 3번과 소나무수피와 펄라이트의 비율이 7：3인 혼합 재료 6번에서 다른 혼합 재료에 비하여 우수한 것으로 나타났다. 4. 코코넛과 소나무수피의 경우 암모니아 가스에 대한 흡착 능력은 거의 비슷한 것으로 사료되며, 코코넛의 경우 전량을 수입에 의존하고 있다는 점에서 국내 조달이 용이하며, 구입 비용도 적게 소요되는 소나무수피를 사용하는 것이 경제적이라고 사료된다. 5. 마지막으로

• The Journal of the Acoustical Society of Korea
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• v.25 no.4
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• pp.184-190
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• 2006

Recently, Lee et al. have proposed an algorithm utilizing the signals from different paths by using bottom mounted simple linear array to estimate 3-D location of oceanic target. But this algorithm assumes that sound velocity is constant along depth of sea. Consequently, serious performance loss is appeared in real oceanic environment that sound speed is changed variously. In this paper, we present a 3-D near field localization algorithm for inhomogeneous sound speed. The proposed algorithm adopt localization function that utilize ray propagation model for multipath environment with linear sound speed profile(SSP), after that, the proposed algorithm searches for the instantaneous azimuth angle, range and depth from the localization cost function. Several simulations using linear SSP and non linear SSP similar to that of real oceans are used to demonstrate the performance of the proposed algorithm. The estimation error in range and depth is decreased by 100m and 50m respectively.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.12
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• pp.1826-1834
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• 2021

In this paper, we check the possibility of continuous tracking when photographing unknown space objects in a short period of time in an optical observation system on the ground. Simulated observation data were generated for target limited to low-orbit areas. The performance index of the prediction error was set in consideration of the property of targets. Kalman Filter was applied to predict the next location of the target. A constant velocity/acceleration dynamic model was applied to the two axes of the azimuth/elevation of the unknown space object respectively. As a result of performing the Monte Carlo simulation, the maximum error ratio of the maximum nonlinear section was less than 2%, which could be determined to ensure continuous tracking. The CA model had little change in the prediction error value for each case, making it more suitable for tracking unknown space objects. This analysis could provide a foundation for determining the orbit of unknown space objects using optical observation.