• Title/Summary/Keyword: Target Location Error

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Vision Aided Inertial Sensor Bias Compensation for Firing Lane Alignment (사격 차선 정렬을 위한 영상 기반의 관성 센서 편차 보상)

  • Arshad, Awais;Park, Junwoo;Bang, Hyochoong;Kim, Yun-young;Kim, Heesu;Lee, Yongseon;Choi, Sungho
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.50 no.9
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    • pp.617-625
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    • 2022
  • This study investigates the use of movable calibration target for gyroscopic and accelerometer bias compensation of inertial measurement units for firing lane alignment. Calibration source is detected with the help of vision sensor and its information in fused with other sensors on launcher for error correction. An algorithm is proposed and tested in simulation. It has been shown that it is possible to compensate sensor biases in firing launcher in few seconds by accurately estimating the location of calibration target in inertial frame of reference.

RF Power Detector for Location Sensing

  • Kim, Myung-Sik;Kubo, Takashi;Chong, Nak-Young
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.1771-1774
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    • 2005
  • Recently, RFID has become popular in the field of remote sensing applications. Location awareness is one of the most important keys to deploying RFID for advanced object tracking. Generally, multiple reference RF stations or additional sensors are used for the location sensing with RFID, but, particularly in indoor environments, spatial layout and cost problems limit the applicability of those approaches. In this paper, we propose a novel method for location sensing with active RFID systems not requiring the need for reference stations or additional sensors. The system triangulates the position of RF signal source using the signal pattern of the loop antenna connected to the power detector. The power detector consists of a signal strength detector and a signal analysis unit. The signal analysis unit indicates the signal strength and serial number using the signal from the strength detector, and provides the direction of the signal to the application target. We designed three different signal analysis units depending on the threshold type. The developed system can sense the direction to the transponder located over 10 m away within the maximum error of $5^{\circ}$. It falls within a reasonable range in our normal office environment.

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Camera Calibration and Pose Estimation for Tasks of a Mobile Manipulator (모바일 머니퓰레이터의 작업을 위한 카메라 보정 및 포즈 추정)

  • Choi, Ji-Hoon;Kim, Hae-Chang;Song, Jae-Bok
    • The Journal of Korea Robotics Society
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    • v.15 no.4
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    • pp.350-356
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    • 2020
  • Workers have been replaced by mobile manipulators for factory automation in recent years. One of the typical tasks for automation is that a mobile manipulator moves to a target location and picks and places an object on the worktable. However, due to the pose estimation error of the mobile platform, the robot cannot reach the exact target position, which prevents the manipulator from being able to accurately pick and place the object on the worktable. In this study, we developed an automatic alignment system using a low-cost camera mounted on the end-effector of a collaborative robot. Camera calibration and pose estimation methods were also proposed for the automatic alignment system. This algorithm uses a markerboard composed of markers to calibrate the camera and then precisely estimate the camera pose. Experimental results demonstrate that the mobile manipulator can perform successful pick and place tasks on various conditions.

DIRECT INVERSE ROBOT CALIBRATION USING CMLAN (CEREBELLAR MODEL LINEAR ASSOCIATOR NET)

  • Choi, D.Y.;Hwang, H.
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10b
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    • pp.1173-1177
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    • 1990
  • Cerebellar Model Linear Associator Net(CMLAN), a kind of neuro-net based adaptive control function generator, was applied to the problem of direct inverse calibration of three and six d.o.f. POMA 560 robot. Since CMLAN autonomously maps and generalizes a desired system function via learning on the sampled input/output pair nodes, CMLAN allows no knowledge in system modeling and other error sources. The CMLAN based direct inverse calibration avoids the complex procedure of identifying various system parameters such as geometric(kinematic) or nongeometric(dynamic) ones and generates the corresponding desired compensated joint commands directly to each joint for given target commands in the world coordinate. The generated net outputs automatically handles the effect of unknown system parameters and dynamic error sources. On-line sequential learning on the prespecified sampled nodes requires only the measurement of the corresponding tool tip locations for three d.o.f. manipulator but location and orientation for six d.o.f. manipulator. The proposed calibration procedure can be applied to any robot.

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An accuracy analysis of Cyberknife tumor tracking radiotherapy according to unpredictable change of respiration (예측 불가능한 호흡 변화에 따른 사이버나이프 종양 추적 방사선 치료의 정확도 분석)

  • Seo, jung min;Lee, chang yeol;Huh, hyun do;Kim, wan sun
    • The Journal of Korean Society for Radiation Therapy
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    • v.27 no.2
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    • pp.157-166
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    • 2015
  • Purpose : Cyber-Knife tumor tracking system, based on the correlation relationship between the position of a tumor which moves in response to the real time respiratory cycle signal and respiration was obtained by the LED marker attached to the outside of the patient, the location of the tumor to predict in advance, the movement of the tumor in synchronization with the therapeutic device to track real-time tumor, is a system for treating. The purpose of this study, in the cyber knife tumor tracking radiation therapy, trying to evaluate the accuracy of tumor tracking radiation therapy system due to the change in the form of unpredictable sudden breathing due to cough and sleep. Materials and Methods : Breathing Log files that were used in the study, based on the Respiratory gating radiotherapy and Cyber-knife tracking radiosurgery breathing Log files of patients who received herein, measured using the Log files in the form of a Sinusoidal pattern and Sudden change pattern. it has been reconstituted as possible. Enter the reconstructed respiratory Log file cyber knife dynamic chest Phantom, so that it is possible to implement a motion due to respiration, add manufacturing the driving apparatus of the existing dynamic chest Phantom, Phantom the form of respiration we have developed a program that can be applied to. Movement of the phantom inside the target (Ball cube target) was driven by the displacement of three sizes of according to the size of the respiratory vertical (Superior-Inferior) direction to the 5 mm, 10 mm, 20 mm. Insert crosses two EBT3 films in phantom inside the target in response to changes in the target movement, the End-to-End (E2E) test provided in Cyber-Knife manufacturer depending on the form of the breathing five times each. It was determined by carrying. Accuracy of tumor tracking system is indicated by the target error by analyzing the inserted film, additional E2E test is analyzed by measuring the correlation error while being advanced. Results : If the target error is a sine curve breathing form, the size of the target of the movement is in response to the 5 mm, 10 mm, 20 mm, respectively, of the average $1.14{\pm}0.13mm$, $1.05{\pm}0.20mm$, with $2.37{\pm}0.17mm$, suddenly for it is variations in breathing, respective average $1.87{\pm}0.19mm$, $2.15{\pm}0.21mm$, and analyzed with $2.44{\pm}0.26mm$. If the correlation error can be defined by the length of the displacement vector in the target track is a sinusoidal breathing mode, the size of the target of the movement in response to 5 mm, 10 mm, 20 mm, respective average $0.84{\pm}0.01mm$, $0.70{\pm}0.13mm$, with $1.63{\pm}0.10mm$, if it is a variant of sudden breathing respective average $0.97{\pm}0.06mm$, $1.44{\pm}0.11mm$, and analyzed with $1.98{\pm}0.10mm$. The larger the correlation error values in both the both the respiratory form, the target error value is large. If the motion size of the target of the sine curve breathing form is greater than or equal to 20 mm, was measured at 1.5 mm or more is a recommendation value of both cyber knife manufacturer of both error value. Conclusion : There is a tendency that the correlation error value between about target error value magnitude of the target motion is large is increased, the error value becomes large in variation of rapid respiration than breathing the form of a sine curve. The more the shape of the breathing large movements regular shape of sine curves target accuracy of the tumor tracking system can be judged to be reduced. Using the algorithm of Cyber-Knife tumor tracking system, when there is a change in the sudden unpredictable respiratory due patient coughing during treatment enforcement is to stop the treatment, it is assumed to carry out the internal target validation process again, it is necessary to readjust the form of respiration. Patients under treatment is determined to be able to improve the treatment of accuracy to induce the observed form of regular breathing and put like to see the goggles monitor capable of the respiratory form of the person.

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Adaptive Multi-target Estimation Algorithm in an IR-UWB Radar Environment (IR-UWB 레이더 환경에서 적응형 다중 목표물 추정 알고리즘)

  • Yeo, Bong-Gu;Lee, Byung-Jin;Kim, Sueng-Woo;Youm, Mun-Jin;Kim, Kyung-Seok
    • Journal of Satellite, Information and Communications
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    • v.11 no.4
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    • pp.81-88
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    • 2016
  • In this paper, we propose an adaptive multi-target estimation algorithm using the characteristics of signals in the IR-UWB(Impulse-Radio Ultra Wideband) radar system, which is attracting attention because it has good transparency, robustness to the indoor environment, and high precision positioning of tens of centimeters. We proposed an algorithm that estimates multiple peaks with the characteristic that the signal reflected by the target has a peak. To verify the performance of these algorithms, multiple targets were placed in front of the radar and the existing technique and the multi - target estimation algorithm were compared. The location of the targets is estimated in real time with one transmitting antenna and one receiving antenna. The number of estimates can be increased compared with the existing peak signal derivation method, and multiple targets can be derived. The conventional technique estimates only one target, which results in a mean square error of 1 while a multi - target estimation algorithm yields a result of about 0.05. The proposed method is expected to be able to apply multiple targets to the estimation and application in one IR-UWB module environment.

A Study on Radar Video Fusion Systems for Pedestrian and Vehicle Detection (보행자 및 차량 검지를 위한 레이더 영상 융복합 시스템 연구)

  • Sung-Youn Cho;Yeo-Hwan Yoon
    • The Journal of the Institute of Internet, Broadcasting and Communication
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    • v.24 no.1
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    • pp.197-205
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    • 2024
  • Development of AI and big data-based algorithms to advance and optimize the recognition and detection performance of various static/dynamic vehicles in front and around the vehicle at a time when securing driving safety is the most important point in the development and commercialization of autonomous vehicles. etc. are being studied. However, there are many research cases for recognizing the same vehicle by using the unique advantages of radar and camera, but deep learning image processing technology is not used, or only a short distance is detected as the same target due to radar performance problems. Therefore, there is a need for a convergence-based vehicle recognition method that configures a dataset that can be collected from radar equipment and camera equipment, calculates the error of the dataset, and recognizes it as the same target. In this paper, we aim to develop a technology that can link location information according to the installation location because data errors occur because it is judged as the same object depending on the installation location of the radar and CCTV (video).

Study of the Bomb Hit Indication of Moving Target Using Weapon Data Link Message (무장데이터링크 메시지를 이용한 기동표적 타격평가 연구)

  • Baek, Inhye;Woo, Sang Hyo;Kim, Ki Bum
    • Journal of the Korea Institute of Military Science and Technology
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    • v.24 no.2
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    • pp.187-196
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    • 2021
  • The Network-Centric warfare over weapon data link networks has been developed for the recent decade. Since the US navy had begun to develop tactical digital information chain, it has gradually transformed into weapon data link technology. As data link network system and its protocol have been advanced into high-technology, focusing and targeting on moving targets become possible in net-enabled environments. However, it is difficult to identify the primary information from numerous battlefields and understanding approaches to damage a target in a timely manner. In this paper, to better understand the targeting assessment, we suggest a specific solution: Bomb Hit Indication(BHI) using information in weapon data link messages. In order to prove our suggestion, we implement the BHI solution and apply it into the weapon data link integrating system.

Error analysis and performance test of the volumetric interferometer for three dimensional coordinate measurements (삼차원 좌표 측정을 위한 부피 간섭계의 오차분석 및 성능평가)

  • 이혁교;주지영;김승우
    • Korean Journal of Optics and Photonics
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    • v.13 no.6
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    • pp.521-529
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    • 2002
  • We have recently proposed the new concept of a phase-measuring volumetric interferometer that enables us to accurately measure the xyz-coordinates of the probe without metrology frames. The interferometer is composed of a movable target and a fixed photo-detector array. The target is made of point diffraction sources to emit two spherical wavefronts, whose interference is monitored by an array of photo-detectors. Phase shifting is applied to obtain the precise phase values of the photo-detectors. Then the measured phases are fitted to a geometric model of multilateration so as to determine the xyz-location of the target by minimizing least square errors. The proposed interferometer has been designed and built with a volumetric uncertainty of less than 1.0 $\mu\textrm{m}$ within a cubic working volume of side 120 mm. Here, in this paper, we also present error sources, an evaluated uncertainty, and test results from the prototype system. The self-calibration of two-dimensional precision metrology stages is applied to test the performance of the interferometer.

An Advanced RFID Localization Algorithm Based on Region Division and Error Compensation

  • Li, Junhuai;Zhang, Guomou;Yu, Lei;Wang, Zhixiao;Zhang, Jing
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.7 no.4
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    • pp.670-691
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    • 2013
  • In RSSI-based RFID(Radio Frequency IDentification) indoor localization system, the signal path loss model of each sub-region is different from others in the whole localization area due to the influence of the multi-path phenomenon and other environmental factors. Therefore, this paper divides the localization area into many sub-regions and constructs separately the signal path loss model of each sub-region. Then an improved LANDMARC method is proposed. Firstly, the deployment principle of RFID readers and tags is presented for constructing localization sub-region. Secondly, the virtual reference tags are introduced to create a virtual signal strength space with RFID readers and real reference tags in every sub-region. Lastly, k nearest neighbor (KNN) algorithm is used to locate the target object and an error compensating algorithm is proposed for correcting localization result. The results in real application show that the new method enhances the positioning accuracy to 18.2% and reduces the time cost to 30% of the original LANDMARC method without additional tags and readers.