• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.994-1001
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• 2009

CSS (Chirp Spread Spectrum) specified in IEEE 802.15.4a can be used for ranging applications. In this paper, we apply the CSS to estimate the coordinates of a mobile robot. Four anchor nodes are installed at known positions and a tag node is attached to the target mobile robot. By CSS ranging, we measure the distances between each anchor and the tag node. Based on the measured distances, the coordinates of the mobile robot can be calculated by the method of trilateration. However the calculated coordinates are not accurate because of the errors of the measured distances. Therefore we propose an algorithm for reducing the effect of the errors. The proposed algorithm is executed with the extended Kalman filter. Through localization experiments, we show the performance of the proposed algorithm and the accuracy of the estimated position.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1061-1062
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• 2008

Rodents demonstrate an outstanding capability for tactile perceptions using their whiskers. The mechanoreceptors in the whisker follicles are responsive to the deflections or vibrations of the whisker beams. It is believed that the sensor processing can determine the location of an object in touch, that is, the angular position and direction of the object. We designed artificial whiskers modelling the real whiskers and tested tactile localization. The robotic system needs to adjust its position against an object to help the shape recognition. We show a robotic adjustment of position based on tactile localization. The behaviour uses deflection curves of the whisker sensors for every sweep of whiskers and estimates the location of a target object.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.694-699
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• 2011

A closed-form technique is presented for estimating a single source location from a set of noisy time delay measurements between distributed sensors. The localization formula is derived from nonlinear least squares minimization over the unknowns of target range and bearing in polar coordinates. Computer simulation results are provided for the purpose of performance analysis. Constrained least squares minimization method with prior source location information is also discussed.

• Proceedings of the IEEK Conference
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• 2002.07c
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• pp.1650-1653
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• 2002

In this paper, we propose the initial optimized structure of the Radial Basis function Networks that is simple in the part of the structure and fast converges more than neural networks with the analysis method using Time- Frequency Localization. We construct the hidden node with the Radial Basis functions their localization are similar with approximation target function in the plane of the Time and Frequency. We finally make a good decision of the initial structure for function approximation using genetic algorithm

• The Journal of the Acoustical Society of Korea
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• v.39 no.3
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• pp.163-169
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• 2020

The asynchronous bistatic sonar needs to estimate direct blast arrival time at a receiver to localize targets, and therefore the direct blast arrival time estimation error could be added to target localization error in comparison with synchronous system. Direct blast especially appears as several peaks at the matched filter output by multipath, thus we compared the first peak detection technique and the maximum peak detection technique of those peaks for direct blast arrival time estimation through sea trial data. The test was performed in a shallow sea with bistatic sonar made up of spatially separated source and line array sensors. Line array sensors obtained the target signal which is generated from the echo repeater. As a result, the first peak detection technique is superior to maximum peak detection technique in direct blast arrival time estimation error. The result of this analysis will be used for further research of target tracking in the asynchronous bistatic sonar.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2005.04a
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• pp.68-70
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• 2005

To precisely localize target in prostate cancer, image-guided radiotherapy was performed using the $ExacTrac^{\circledR}$ x-ray system (Brainlab, Germany) with implanted markers. For three prostate cancer patients, three gold markers were implanted into prostate. Orthogonal portal images were acquired every treatment and CT scans were repeated 3～5 times during the course of treatment. After correcting setup errors calculated by the system, the position of the implanted markers and the distance between them were detected in daily portal images and in CT images, and analyzed retrospectively. Deviation of the relative position of the implanted markers and the distance between them were less than 1 mm in lateral, longitudinal, and vertical direction for three patients, both in portal images and CT images. This study reveals that image-guided radiotherapy using the $ExacTrac^{\circledR}$ system is useful to verify positioning errors and localize prostate target with implanted markers, reducing the planning target volume (PTV) margin as well as irradiation to rectum and bladder.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.3
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• pp.445-450
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• 2015

In the moving target problem, the velocity information of the moving target is very important as well as the high accuracy position information. To solve this problem, active researches are being conducted recently with combine the Time Difference of Arrival (TDOA) and Frequency Delay of Arrival(FDOA) measurements. However, since the FDOA measurement is utilizing the Doppler effect due to the relative velocity between the target source and the receiver sensor, it may be difficult to use the FDOA measurement if the moving target speed is not sufficiently fast. In this paper, we propose a method for estimating the position and the velocities of the target by using only the TDOA measurements for the low speed moving target in the indoor environment with sensor network. First, the target position and heading angle are obtained from the estimated positions of two attached transmitters on the target. Then, the target angular and linear velocities are also estimated. In addtion, we apply the Instrumental Variable (IV) technique to compensate the estimation error of the estimated target velocity. In simulation, the performance of the proposed algorithm is verified.

• The Plant Pathology Journal
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• v.33 no.1
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• pp.53-65
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• 2017

Barley yellow dwarf virus (BYDV) belongs to Luteovirus and is limited only at phloem related tissues. An open reading frame (ORF) 4 of BYDV codes for the movement protein (MP) of BYDV gating plasmodesmata (PD) to facilitate virus movement. Like other Luteoviruses, ORF 4 of BYDV is embedded in the ORF3 but expressed from the different reading frame in leaky scanning manner. Although MP is a very important protein for systemic infection of BYDV, there was a little information. In this study, MP was characterized in terms of subcellular localization and programmed cell death (PCD). Gene of MP or its mutant (ΔMP) was expressed by Agroinfiltration method. MP was clearly localized at the nucleus and the PD, but ΔMP which was deleted distal N-terminus of MP showed no localization to PD exhibited the different target with original MP. In addition to PD localization, MP appeared associated with small granules in cytoplasm whereas ΔMP did not. MP associated with PD and small granules induced PCD, but ΔMP showed no association with PD and small granules did not exhibit PCD. Based on this study, the distal N-terminal region within MP is seemingly responsible for the localization of PD and the induction small granules and PCD induction. These results suggest that subcellular localization of BYDV MP may modulate the PCD in Nicotiana benthamiana.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.6
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• pp.1964-1981
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• 2014

An improved Mean-Shift (MS) tracker called joint CB-LBWH, which uses a combined weighted-histogram scheme of CBWH (Corrected Background-Weighted Histogram) and LBWH (likelihood-based Background-Weighted Histogram), is presented. Joint CB-LBWH is based on the notion that target representation employs both feature saliency and confidence to form a compound weighted histogram criterion. As the more prominent and confident features mean more significant for tracking the target, the tuned histogram by joint CB-LBWH can reduce the interference of background in target localization effectively. Comparative experimental results show that the proposed joint CB-LBWH scheme can significantly improve the efficiency and robustness of MS tracker when heavy occlusions and complex scenes exist.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.831-833
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• 2004

In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.