• Title/Summary/Keyword: stable recognition distance

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A Framework of Recognition and Tracking for Underwater Objects based on Sonar Images : Part 2. Design and Implementation of Realtime Framework using Probabilistic Candidate Selection (소나 영상 기반의 수중 물체 인식과 추종을 위한 구조 : Part 2. 확률적 후보 선택을 통한 실시간 프레임워크의 설계 및 구현)

  • Lee, Yeongjun;Kim, Tae Gyun;Lee, Jihong;Choi, Hyun-Taek
    • Journal of the Institute of Electronics and Information Engineers
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    • v.51 no.3
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    • pp.164-173
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    • 2014
  • In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.

A Real Time Lane Detection Algorithm Using LRF for Autonomous Navigation of a Mobile Robot (LRF 를 이용한 이동로봇의 실시간 차선 인식 및 자율주행)

  • Kim, Hyun Woo;Hawng, Yo-Seup;Kim, Yun-Ki;Lee, Dong-Hyuk;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.11
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    • pp.1029-1035
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    • 2013
  • This paper proposes a real time lane detection algorithm using LRF (Laser Range Finder) for autonomous navigation of a mobile robot. There are many technologies for safety of the vehicles such as airbags, ABS, EPS etc. The real time lane detection is a fundamental requirement for an automobile system that utilizes outside information of automobiles. Representative methods of lane recognition are vision-based and LRF-based systems. By the vision-based system, recognition of environment for three dimensional space becomes excellent only in good conditions for capturing images. However there are so many unexpected barriers such as bad illumination, occlusions, and vibrations that the vision cannot be used for satisfying the fundamental requirement. In this paper, we introduce a three dimensional lane detection algorithm using LRF, which is very robust against the illumination. For the three dimensional lane detections, the laser reflection difference between the asphalt and lane according to the color and distance has been utilized with the extraction of feature points. Also a stable tracking algorithm is introduced empirically in this research. The performance of the proposed algorithm of lane detection and tracking has been verified through the real experiments.

Simulation analysis and evaluation of decontamination effect of different abrasive jet process parameters on radioactively contaminated metal

  • Lin Zhong;Jian Deng;Zhe-wen Zuo;Can-yu Huang;Bo Chen;Lin Lei;Ze-yong Lei;Jie-heng Lei;Mu Zhao;Yun-fei Hua
    • Nuclear Engineering and Technology
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    • v.55 no.11
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    • pp.3940-3955
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    • 2023
  • A new method of numerical simulating prediction and decontamination effect evaluation for abrasive jet decontamination to radioactively contaminated metal is proposed. Based on the Computational Fluid Dynamics and Discrete Element Model (CFD-DEM) coupled simulation model, the motion patterns and distribution of abrasives can be predicted, and the decontamination effect can be evaluated by image processing and recognition technology. The impact of three key parameters (impact distance, inlet pressure, abrasive mass flow rate) on the decontamination effect is revealed. Moreover, here are experiments of reliability verification to decontamination effect and numerical simulation methods that has been conducted. The results show that: 60Co and other homogeneous solid solution radioactive pollutants can be removed by abrasive jet, and the average removal rate of Co exceeds 80%. It is reliable for the proposed numerical simulation and evaluation method because of the well goodness of fit between predicted value and actual values: The predicted values and actual values of the abrasive distribution diameter are Ф57 and Ф55; the total coverage rate is 26.42% and 23.50%; the average impact velocity is 81.73 m/s and 78.00 m/s. Further analysis shows that the impact distance has a significant impact on the distribution of abrasive particles on the target surface, the coverage rate of the core area increases at first, and then decreases with the increase of the impact distance of the nozzle, which reach a maximum of 14.44% at 300 mm. It is recommended to set the impact distance around 300 mm, because at this time the core area coverage of the abrasive is the largest and the impact velocity is stable at the highest speed of 81.94 m/s. The impact of the nozzle inlet pressure on the decontamination effect mainly affects the impact kinetic energy of the abrasive and has little impact on the distribution. The greater the inlet pressure, the greater the impact kinetic energy, and the stronger the decontamination ability of the abrasive. But in return, the energy consumption is higher, too. For the decontamination of radioactively contaminated metals, it is recommended to set the inlet pressure of the nozzle at around 0.6 MPa. Because most of the Co elements can be removed under this pressure. Increasing the mass and flow of abrasives appropriately can enhance the decontamination effectiveness. The total mass of abrasives per unit decontamination area is suggested to be 50 g because the core area coverage rate of the abrasive is relatively large under this condition; and the nozzle wear extent is acceptable.

A Study on the quantitative measurement methods of MRTD and prediction of detection distance for Infrared surveillance equipments in military (군용 열영상장비 최소분해가능온도차의 정량적 측정 방법 및 탐지거리 예측에 관한 연구)

  • Jung, Yeong-Tak;Lim, Jae-Seong;Lee, Ji-Hyeok
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.18 no.5
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    • pp.557-564
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    • 2017
  • The purpose of the thermal imaging observation device mounted on the K's tank in the Republic of Korea military is to convert infrared rays into visual information to provide information about the environment under conditions of restricted visibility. Among the various performance indicators of thermal observation devices, such as the view, magnification, resolution, MTF, NETD, and Minimum Resolvable Temperature Difference (MRTD), the MRTD is the most important, because it can indicate both the spatial frequency and temperature resolvable. However, the standard method of measuring the MRTD in NATO contains many subjective factors. As the measurement result can vary depending on subjective factors such as the human eye, metal condition and measurement conditions, the MRTD obtained is not stable. In this study, these qualitative MRTD measurement systems are converted into quantitative indicators based on a gray scale using imaging processing. By converting the average of the gray scale differences of the black and white images into the MRTD, the mean values can be used to determine whether the performance requirements required by the defense specification are met. The (mean) value can also be used to discriminate between detection, recognition and identification and the detectable distance of the thermal equipment can be analyzed under various environmental conditions, such as altostratus, heavy rain and fog.

Relationship between the spatial distribution of coastal sand dune plants and edaphic factors in a coastal sand dune system in Korea

  • Hwang, Jeong-sook;Choi, Deok-gyun;Choi, Sung-chul;Park, Han-san;Park, Yong-mok;Bae, Jeong-jin;Choo, Yeon-sik
    • Journal of Ecology and Environment
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    • v.39 no.1
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    • pp.17-29
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    • 2016
  • We conducted the study on the relationship between the distribution of coastal sand dune plants and edaphic factors from the shoreline to inland in sand dune ecosystem. The application of TWINSPAN classification based on 10 species, led to the recognition of three vegetative groups (A-C), which associated with their habitats (foredune, hummuck in semistable zone and stable zone). The associations were separated along soil gradient far from the seashore. The relationships between species composition and environmental gradients were explained by canonical correspondence analysis (CCA). Distance from the shoreline was an important indicator to determine soil properties (pH, total ion contents, sand particle sizes, organic matters and nitrogen contents) from the seaward area to inland area and distribution pattern of coastal sand dune plants. Group A is foredune zone, characterized by Calystegia soldanella; group included typical foredune species such as Elymus mollis, Carex kobomugi, Ixeris repens, C. soldanella and Glehnia littoralis. Group B on semi-stabilized zone was characterized by Vitex rotundifolia, a perennial woody shrub. This group was associated the proportion of fine sand size (100 to 250 μm). The results on the proportion of soil particle size showed a transition in sand composition, particularly with respect to the proportion of fine sand size that occurred from the foredune ridge at 32.5 m to the Vitex rotundifolia community at 57.5 m from the shoreline. Group C on stabilized zone was characterized by Zoysia macrostachya, Lathyrus japonicus and Cynodon dactylon and were associated soil organic matter and nitrogen contents. The spatial distribution of plants in the Goraebul coastal sand dune system may result from the interactions between the plant species and environmental heterogeneity.

Design and Implementation of Geographical Handoff System Using GPS Information (GPS정보를 이용한 위치기반 핸드오프 시스템의 설계 및 구현)

  • Han, Seung-Ho;Yang, Seung-Chur;Kim, Jong-Deok
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.35 no.1A
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    • pp.33-43
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    • 2010
  • Recently, users want to use real-time multimedia services, such as internet, VoIP, etc., using their IEEE 802.11 wireless lan mobile stations. In order to provide such services, a handoff among access points is essential to support the mobility of a node, in such an wide area. However, the legacy handoff methods of IEEE 802.11 technology are easy to lose connections. Also, the recognition of a disconnection and channel re-searching time make the major delay of the next AP to connect. In addition, because IEEE 802.11 decides the selection of an AP depending only on received signal strength, regardless of a node direction, position, etc., it cannot guarantee a stable bandwidth for communication. Therefore, in order to provide a real-time multimedia service, a node must reduce the disconnection time and needs an appropriate algorithm to support a sufficient communication bandwidth. In this paper, we suggest an algorithm which predicts a handoff point of a moving node by using GPS location information, and guarantees a high transmission bandwidth according to the signal strength and the distance. We implemented the suggested algorithm, and confirmed the superiority of our algorithm by reducing around 3.7ms of the layer-2 disconnection time, and guaranteed 24.8% of the communication bandwidth.

A Store Recommendation Procedure in Ubiquitous Market for User Privacy (U-마켓에서의 사용자 정보보호를 위한 매장 추천방법)

  • Kim, Jae-Kyeong;Chae, Kyung-Hee;Gu, Ja-Chul
    • Asia pacific journal of information systems
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    • v.18 no.3
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    • pp.123-145
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    • 2008
  • Recently, as the information communication technology develops, the discussion regarding the ubiquitous environment is occurring in diverse perspectives. Ubiquitous environment is an environment that could transfer data through networks regardless of the physical space, virtual space, time or location. In order to realize the ubiquitous environment, the Pervasive Sensing technology that enables the recognition of users' data without the border between physical and virtual space is required. In addition, the latest and diversified technologies such as Context-Awareness technology are necessary to construct the context around the user by sharing the data accessed through the Pervasive Sensing technology and linkage technology that is to prevent information loss through the wired, wireless networking and database. Especially, Pervasive Sensing technology is taken as an essential technology that enables user oriented services by recognizing the needs of the users even before the users inquire. There are lots of characteristics of ubiquitous environment through the technologies mentioned above such as ubiquity, abundance of data, mutuality, high information density, individualization and customization. Among them, information density directs the accessible amount and quality of the information and it is stored in bulk with ensured quality through Pervasive Sensing technology. Using this, in the companies, the personalized contents(or information) providing became possible for a target customer. Most of all, there are an increasing number of researches with respect to recommender systems that provide what customers need even when the customers do not explicitly ask something for their needs. Recommender systems are well renowned for its affirmative effect that enlarges the selling opportunities and reduces the searching cost of customers since it finds and provides information according to the customers' traits and preference in advance, in a commerce environment. Recommender systems have proved its usability through several methodologies and experiments conducted upon many different fields from the mid-1990s. Most of the researches related with the recommender systems until now take the products or information of internet or mobile context as its object, but there is not enough research concerned with recommending adequate store to customers in a ubiquitous environment. It is possible to track customers' behaviors in a ubiquitous environment, the same way it is implemented in an online market space even when customers are purchasing in an offline marketplace. Unlike existing internet space, in ubiquitous environment, the interest toward the stores is increasing that provides information according to the traffic line of the customers. In other words, the same product can be purchased in several different stores and the preferred store can be different from the customers by personal preference such as traffic line between stores, location, atmosphere, quality, and price. Krulwich(1997) has developed Lifestyle Finder which recommends a product and a store by using the demographical information and purchasing information generated in the internet commerce. Also, Fano(1998) has created a Shopper's Eye which is an information proving system. The information regarding the closest store from the customers' present location is shown when the customer has sent a to-buy list, Sadeh(2003) developed MyCampus that recommends appropriate information and a store in accordance with the schedule saved in a customers' mobile. Moreover, Keegan and O'Hare(2004) came up with EasiShop that provides the suitable tore information including price, after service, and accessibility after analyzing the to-buy list and the current location of customers. However, Krulwich(1997) does not indicate the characteristics of physical space based on the online commerce context and Keegan and O'Hare(2004) only provides information about store related to a product, while Fano(1998) does not fully consider the relationship between the preference toward the stores and the store itself. The most recent research by Sedah(2003), experimented on campus by suggesting recommender systems that reflect situation and preference information besides the characteristics of the physical space. Yet, there is a potential problem since the researches are based on location and preference information of customers which is connected to the invasion of privacy. The primary beginning point of controversy is an invasion of privacy and individual information in a ubiquitous environment according to researches conducted by Al-Muhtadi(2002), Beresford and Stajano(2003), and Ren(2006). Additionally, individuals want to be left anonymous to protect their own personal information, mentioned in Srivastava(2000). Therefore, in this paper, we suggest a methodology to recommend stores in U-market on the basis of ubiquitous environment not using personal information in order to protect individual information and privacy. The main idea behind our suggested methodology is based on Feature Matrices model (FM model, Shahabi and Banaei-Kashani, 2003) that uses clusters of customers' similar transaction data, which is similar to the Collaborative Filtering. However unlike Collaborative Filtering, this methodology overcomes the problems of personal information and privacy since it is not aware of the customer, exactly who they are, The methodology is compared with single trait model(vector model) such as visitor logs, while looking at the actual improvements of the recommendation when the context information is used. It is not easy to find real U-market data, so we experimented with factual data from a real department store with context information. The recommendation procedure of U-market proposed in this paper is divided into four major phases. First phase is collecting and preprocessing data for analysis of shopping patterns of customers. The traits of shopping patterns are expressed as feature matrices of N dimension. On second phase, the similar shopping patterns are grouped into clusters and the representative pattern of each cluster is derived. The distance between shopping patterns is calculated by Projected Pure Euclidean Distance (Shahabi and Banaei-Kashani, 2003). Third phase finds a representative pattern that is similar to a target customer, and at the same time, the shopping information of the customer is traced and saved dynamically. Fourth, the next store is recommended based on the physical distance between stores of representative patterns and the present location of target customer. In this research, we have evaluated the accuracy of recommendation method based on a factual data derived from a department store. There are technological difficulties of tracking on a real-time basis so we extracted purchasing related information and we added on context information on each transaction. As a result, recommendation based on FM model that applies purchasing and context information is more stable and accurate compared to that of vector model. Additionally, we could find more precise recommendation result as more shopping information is accumulated. Realistically, because of the limitation of ubiquitous environment realization, we were not able to reflect on all different kinds of context but more explicit analysis is expected to be attainable in the future after practical system is embodied.