• 제어로봇시스템학회논문지
• /
• 제10권8호
• /
• pp.673-679
• /
• 2004

In this paper, we develop the displacement measurement system of multiple moving objects based on image processing techniques. The image processing method adopts inertia moment theory for obtaining the centroid measurement of the targets and basic processing algorithm of gray, binary, closing, labeling and so on. To get precise displacement measurement in spite of multiple moving targets, a CGD camera with zoom is used and the position of camera is changed by a pan/tilt system. The fiducial marks on the fixed positions are used as the sensing points for the image processing to recognize the position errors in direction of XY-coordinates. The precise alignment device is pan/tilt of XY-type and the pan/tilt is controlled by DC servomotors which are driven by a microprocessor. Morover, the centers of fiducial marks are obtainted by an inertia moment method. By applying the developed precise position control system for multiple targets, the displacement of multiple moving targets are detected automatically and are also stored in the database system in a real time. By using database system and internet, the displacement datum can be confirmed at a great distance and analyzed. Finally, the effectiveness of developed system is shown in experimental results and realized the precision about 0.12[mm] in the position control of XY-coordinates.

• Journal of Information Processing Systems
• /
• 제13권4호
• /
• pp.677-688
• /
• 2017

In order to solve the undetected probability of multiple targets in ultra-wideband (UWB) through-the-wall radar imaging (TWRI), a time-delay and amplitude modified back projection (BP) algorithm is proposed. The refraction point is found by Fermat's principle in the presence of a wall, and the time-delay is correctly compensated. On this basis, transmission loss of the electromagnetic wave, the absorption loss of the refraction wave, and the diffusion loss of the spherical wave are analyzed in detail. Amplitude compensation is deduced and tested on a model with a single-layer wall. The simulating results by finite difference time domain (FDTD) show that it is effective in increasing the scattering intensity of the targets behind the wall. Compensation for the diffusion loss in the spherical wave also plays a main role. Additionally, the two-layer wall model is simulated. Then, the calculating time and the imaging quality are compared between a single-layer wall model and a two-layer wall model. The results illustrate the performance of the time-delay and amplitude-modified BP algorithm with multiple targets and multiple-layer walls of UWB TWRI.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1738-1741
• /
• 1997

This paper addresses the issue fo target classification and localization with a SONAR for mobiler robot indoor navigation. In particular, multiple refetions of SONAR sound are used actively and interntionally. As for the SONAR sensor, the multiple reflection has been generally considered as one of the noisy phenomena, which is inevitable in the indoor environments. However, these multiple reflections can be a clue for classifying and localizing targets in the indoor environment if those can be controlled and used well. This paper develops a new SONAR sensor module with a reflection plane which can actively create the multiple refection. This paper also intends to suggest a new target classification emthod which uses the multiple refectiions. We approximate the world as being two dimensional and assume that the targets consisting of the indoor environment are pland, corner, and edge. Multiple reflection paths of an acoustic bean by a SONAR are analyzed, by simulations and the patterns of the TOPs (Time Of Flight) and angles of multiple reflections from each target are also analyzed. In addition, a new algorithm for target classification and localization is proposed.

• 한국국방경영분석학회지
• /
• 제18권1호
• /
• pp.61-73
• /
• 1992

Up to the present, the operating time has been studied on only a single aircraft attacking a single target or multiple targets under enemy threats. This study is to determine optimal operating time and appropriate size of aircrafts attacking multiple targets. Measures of mission effectiveness is defined through derivation of the probability of the various events associated with operating. By using these measures, the expected benefit of operating and the expected cost of operating are generated as a function of time. To formulate operating time determination model, the expected gain of operating is defined as the difference between the expected benefit of operating and the expected cost of operating. The model can be used to determine optimal operating time which maximizes the expected gain of operating, and can be used as the basis for determining the appropriate size of aircrafts.

• 한국음향학회지
• /
• 제24권5호
• /
• pp.294-300
• /
• 2005

지금까지 근거리 다중 표적에 대한 위치 추적은 2차원 MUSIC (MUltiple Signal Classification) 기법 등으로 표적 의 위치를 추정하여 JPDA (Joint Probabilistic Data Association) 필터 등의 순차적 상태 추정 알고리즘을 적용해 왔다. 그러나 이러한 방법은 데이터 연관 과정을 해결해야할 뿐 아니라 샘플 기간마다 표적의 위치를 추정하기 위해 많은 격자를 탐색해야 하므로 연산량 부하가 가중된다 또한 다수의 표적이 근접하여 위치할 경우 각 표적에 대한 위치 추정 오차가 크게 되어 위치 추적 성능이 저하되는 단점이 있다. 본 논문에서는 근거 리 음장 (near field)에서의 선배열 센서 출력 신호 공분산 행렬로부터 위치 변위를 추정하여 근거리 다중 표적에 대한 위치 추적이 가능한 알고리즘을 제안하였으며, 근접 및 교차 표적에 대한 모의실험을 수행하여 그 성능의 우수함을 확인하였다.

• Genomics & Informatics
• /
• 제3권3호
• /
• pp.53-62
• /
• 2005

MicroRNAs play an important role in regulating gene expression, but their target identification is a difficult task due to their short length and imperfect complementarity. Burge and coworkers developed a program called TargetScan that allowed imperfect complementarity and established a procedure favoring targets with multiple binding sites conserved in multiple organisms. We improved their algorithm in two major aspects - (i) using well-defined UTR (untranslated region) database, (ii) examining the extent of conservation inside the 3' UTR specifically. Average length in our UTR database, based on the ECgene annotation, is more than twice longer than the Ensembl. Then, TargetScan was used to identify putative binding sites. The extent of conservation varies significantly inside the 3' UTR. We used the 'tight' tracks in the UCSC genome browser to select the conserved binding sites in multiple species. By combining the longer 3' UTR data, TargetScan, and tightly conserved blocks of genomic DNA, we identified 107 putative target genes with multiple binding sites conserved in multiple species, of which 85 putative targets are novel.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.68-73
• /
• 2005

Various techniques have been proposed for detection and tracking of targets in order to develop a real-world computer vision system, e.g., visual surveillance systems, intelligent transport systems (ITSs), and so forth. Especially, the idea of distributed vision system is required to realize these techniques in a wide-spread area. In this paper, we develop a ubiquitous vision system for location-awareness of multiple targets. Here, each vision sensor that the system is composed of can perform exact segmentation for a target by color and motion information, and visual tracking for multiple targets in real-time. We construct the ubiquitous vision system as the multiagent system by regarding each vision sensor as the agent (the vision agent). Therefore, we solve matching problem for the identity of a target as handover by protocol-based approach. We propose the identified contract net (ICN) protocol for the approach. The ICN protocol not only is independent of the number of vision agents but also doesn't need calibration between vision agents. Therefore, the ICN protocol raises speed, scalability, and modularity of the system. We adapt the ICN protocol in our ubiquitous vision system that we construct in order to make an experiment. Our ubiquitous vision system shows us reliable results and the ICN protocol is successfully operated through several experiments.

• 한국군사과학기술학회지
• /
• 제7권4호
• /
• pp.5-12
• /
• 2004

The tracking algorithm based on the interacting multiple model(IMM) requires a considerable number of sub-models for the various maneuvering targets in order to have a good performance. But it is not feasible to use the nm algorithm in the real system because of the computational burden. Therefore, we need an algorithm which requires less computing resources while maintaining a good performance. In this paper, we propose a fuzzy interacting multiple model algorithm(FIMMA) for the tracking of maneuvering targets, which uses a minimal number of sub-models by considering the maneuvering properties and adjusts the mode transition probabilities by using the mode probability as a fuzzy input. In order to verify the performance of FIMMA, the developed algorithm is applied to the tracking of i borne targets. Simulation results show that the FIMMA is very effective in the tracking of maneuvering targets.

• 대한조선학회논문집
• /
• 제42권5호
• /
• pp.528-533
• /
• 2005

A mono-static high frequency acoustic target strength analysis scheme was developed for underwater targets, based on the far-field Kirchhoff approximation. Au adaptive triangular beam method and a concept of virtual surface were adopted for considering the effect of hidden surfaces and multiple reflections of an underwater target, respectively. A test of a simple target showed that the suggested hidden surface removal scheme is valid. Then some numerical analyses, for several underwater targets, were carried out; (1) for several simple underwater targets, like sphere, square plate, cylinder, trihedral corner reflector, and (2) for a generic submarine model, The former was exactly coincident with the theoretical results including beam patterns versus azimuth angles, and the latter suggested that multiple reflections have to be considered to estimate more accurate target strength of underwater targets.

• 한국경영과학회지
• /
• 제40권2호
• /
• pp.31-42
• /
• 2015

The purpose of airborne radars is to detect and identify approaching targets as early as possible. If the targets are identified as enemies, detection systems must provide defense systems with information of the targets to counter. Though many previous studies based on the detection theory of the target have shown various ways to derive detection probability of each radar, optimal arrangement of radars for effective detection, and determination of the search pattern, they did not reflect the fact that most military radar sites run multiple radars in order to increase the accuracy of identifications by radars. In this paper, we propose a model to analyze the probability of identification generated by the multiple radars using non-homogeneous absorbing markov chains. Our results are expected to help the military commanders counter the enemy targets effectively by using radars in a way to maximize the identification rate of targets.