• The Journal of the Acoustical Society of Korea
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• v.43 no.3
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• pp.314-323
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• 2024

Recently, a score-penalty method has been used for the acoustic passive tracking of marine mammals. The interesting aspect of this technique lies in the loss function, which has a penalty term representing the mismatch between the measured signal and the modeled signal, while the traditional time-domain matched-field processing is positively considering the match between them. In this study, we apply the score-penalty method into the depth estimation of a passive target with a known source waveform. Assuming deep ocean environments with uncertainties in the sound speed profile, we evaluate the score-penalty method, comparing it with the time-domain matched field processing method. We shows that the score-penalty method is more accurate than the time-domain matched field processing method in the ocean environment with weak mismatch of sound speed profile, and has better efficiency. However, in the ocean enviroment with strong mismatch of the sound speed profile, the score-penalty method also fails in the depth estimation of a target, similar to the time-domain matched-field processing method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.9
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• pp.782-791
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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 order to match up targets with measured azimuths, we apply the maximum likelihood (ML), depth-first, and breadth-first tree search algorithms, in which we use the measured azimuths and the number of pixels on IR screen for pruning branches and selecting candidates. 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 probability of missing target, mean of the number of calculating nodes, and mean error of the estimated coordinates of the proposed algorithms.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1122-1124
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• 1996

Depth between the robot and the target is an essential information in the robot control. However, in case of eye-in-hand robot with one camera, it is not easy to get an accurate depth information in real-time. In this paper, the techniques of depth-from-motion and depth-from-focus are combined to accomplish the real-time requirement. Integration of the two approaches are accomplished by appropriate use of confidence factors which are evaluated by fuzzy rules. Also a fuzzy logic based calibration technique is proposed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.3
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• pp.267-274
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• 2009

Recently, UAVs (Unmanned Aerial Vehicles) are expected much as the Unmanned Systems for various missions. These missions are often based on the Vision System. Especially, missions such as surveillance and pursuit have a process which is carried on through the transmitted vision data from the UAV. In case of small UAVs, monocular vision is often used to consider weights and expenses. Research of missions performance using the monocular vision is continued but, actually, ground and target model have difference in distance from the UAV. So, 3D distance measurement is still incorrect. In this study, Mean-Shift Algorithm, Optical Flow and Subspace Method are posed to estimate the relative depth. Mean-Shift Algorithm is used for target tracking and determining Region of Interest (ROI). Optical Flow includes image motion information using pixel intensity. After that, Subspace Method computes the translation and rotation of image and estimates the relative depth. Finally, we present the results of this study using images obtained from the UAV experiments.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.53 no.3
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• pp.219-227
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• 2017

In pelagic longline, deploying the gear such that the depth of the hook is the same as that of the target fish is important to improve the fishing performance and selectivity. In this study, the depth of the tuna longline hook was estimated using the mass-spring model, catenary curve method, and secretariat of the pacific commission Pythagorean method in order to improve the performance of the longline gear in Fiji. The former two methods were estimated to be relatively accurate, and the latter showed a large error. Further, the mass-spring model accounted for the influence of tidal current in the ocean, which was found to be appropriate for use in field trials.

• 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.

• Computers and Concrete
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• v.33 no.5
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• pp.535-544
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• 2024

In the rapidly advancing landscape of computer vision (CV) technology, there is a burgeoning interest in its integration with the construction industry. Camera calibration is the process of deriving intrinsic and extrinsic parameters that affect when the coordinates of the 3D real world are projected onto the 2D plane, where the intrinsic parameters are internal factors of the camera, and extrinsic parameters are external factors such as the position and rotation of the camera. Camera pose estimation or extrinsic calibration, which estimates extrinsic parameters, is essential information for CV application at construction since it can be used for indoor navigation of construction robots and field monitoring by restoring depth information. Traditionally, camera pose estimation methods for cameras relied on target objects such as markers or patterns. However, these methods, which are marker- or pattern-based, are often time-consuming due to the requirement of installing a target object for estimation. As a solution to this challenge, this study introduces a novel framework that facilitates camera pose estimation using standardized materials found commonly in construction sites, such as concrete forms. The proposed framework obtains 3D real-world coordinates by referring to construction materials with certain specifications, extracts the 2D coordinates of the corresponding image plane through keypoint detection, and derives the camera's coordinate through the perspective-n-point (PnP) method which derives the extrinsic parameters by matching 3D and 2D coordinate pairs. This framework presents a substantial advancement as it streamlines the extrinsic calibration process, thereby potentially enhancing the efficiency of CV technology application and data collection at construction sites. This approach holds promise for expediting and optimizing various construction-related tasks by automating and simplifying the calibration procedure.

• Journal of Mechanical Science and Technology
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• v.20 no.12
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• pp.2124-2135
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• 2006

In this paper, the reliability estimation of pipelines is performed by employing the probabilistic method, which accounts for the uncertainties in the load and resistance parameters of the limit state function. The FORM (first order reliability method) and the SORM (second order reliability method) are carried out to estimate the failure probability of pipeline utilizing the FAD (failure assessment diagram). And the reliability of pipeline is assessed by using this failure probability and analyzed in accordance with a target safety level. Furthermore, the MCS (Monte Carlo Simulation) is used to verify the results of the FORM and the SORM. It is noted that the failure probability increases with the increase of dent depth, gouge depth, operating pressure, outside radius, and the decrease of wall thickness. It is found that the FORM utilizing the FAD is a useful and is an efficient method to estimate the failure probability in the reliability assessment of a pipeline. Furthermore, the pipeline safety assessment technique with the deterministic procedure utilizing the FAD only is turned out more conservative than those obtained by using the probability theory together with the FAD. The probabilistic method such as the FORM, the SORM and the MCS can be used by most plant designers regarding the operating condition and design parameters.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.32 no.3
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• pp.266-272
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• 1996

The distribution and abundance of fish in the Cheju southeastern area was studied by the combined hydroacoustic and bottom trawl surveys in April 1994 and in July 1995, respectively. The main purpose of these investigations was to provide the basic data for this management and the biomass estimation of commercially important demersal fish stocks in this area. The hydroacoustic surveys were performed by using a 50 kHz scientific echo sounder system with a microcomputer-based echo integrator. Acoustical measurements of fish abundance and distribution were conducted along the cruise tracks of research vessel and during all trawl hauls by continuous echo sounding. The average weight-normalized target strength for demersal fish aggregations was derived from the relationship between the mean volume backscattering strength for the depth strata of trawl hauls and the weight per cubic meter of trawl catches. The geographical distribution of fish stocks in the 1994 survey area was investigated in relation to oceanographic conditions. The results obtained can be summarized as follows: 1. From the 1994 and 1995 survey data, the relationship between the mean volume backscattering strength (, dB) for the depth strata of trawl hauls and the weight (W, kg/$m^3$) per cubic meter of trawl catches was expressed by the following equation = - 32.8+ lOlog(W) The average weighted-target strength value at 50 kHz derived from this equation was .. 32.8 dB/kg. 2. In 1994 and 1995, both surveys showed a trend of decreasing fish abundance toward the southern area of the Cheju Island with high densities offish along the west coast ofth.e Tsushima Island. The highest demersal concentrations in the southern area of the CheJu Island appeared in bottom waters colder than $12^{\circ}C.$. . 3. From the results of combined bottom trawl and hydroacoustic surveys, the estunated fish densities in the southeastern area of the Cheju Island were 1.5488 x $10^-4$kg/$m^3$ in the 1994 surveyand 1.9498 x $10^-4$kg/$m^3$ in the 1995 survey, respectively.

• Asian-Australasian Journal of Animal Sciences
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• v.33 no.2
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• pp.360-372
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• 2020

Objective: Specific genomic sites can be recognized and permanently modified by genome editing. The discovery of endonucleases has advanced genome editing in pigs, attenuating xenograft rejection and cross-species disease transmission. However, off-target mutagenesis caused by these nucleases is a major barrier to putative clinical applications. Furthermore, off-target mutagenesis by genome editing has not yet been addressed in pigs. Methods: Here, we generated genetically inheritable α-1,3-galactosyltransferase (GGTA1) knockout Yucatan miniature pigs by combining transcription activator-like effector nuclease (TALEN) and nuclear transfer. For precise estimation of genomic mutations induced by TALEN in GGTA1 knockout pigs, we obtained the whole-genome sequence of the donor cells for use as an internal control genome. Results: In-depth whole-genome sequencing analysis demonstrated that TALEN-mediated GGTA1 knockout pigs had a comparable mutation rate to homologous recombination-treated pigs and wild-type strain controls. RNA sequencing analysis associated with genomic mutations revealed that TALEN-induced off-target mutations had no discernable effect on RNA transcript abundance. Conclusion: Therefore, TALEN appears to be a precise and safe tool for generating genomeedited pigs, and the TALEN-mediated GGTA1 knockout Yucatan miniature pigs produced in this study can serve as a safe and effective organ and tissue resource for clinical applications.