Target Motion Research Articles

How a co-actor's (Un-) reliability modulates goal selection in a novel joint goal-setting paradigm.

Sociomotor theory - an extension of ideomotor theory - suggests that actions can also be represented in terms of the effects they elicit from others. But what if those others violate one's action effect anticipations? Here, we introduce a novel joint goal-setting paradigm to investigate effects of co-actors' occasional and overall unreliability on an individual's goal selection. In a first step, the participant moved a target halfway from the bottom center to the top left or right corner of the computer screen. In the second step, the co-actor moved the target to its final left or right position. In a learning block, the co-actor always continued the participant's target movements. In the test block(s), the co-actor produced congruent action effects in 50% (unreliable) vs. 80% (reliable co-actor) of the trials. Experiment 1 consisted of one (between-participants), Experiment 2 and 3 of two (within-participants) test blocks; in Experiment 3, the co-actor changed between blocks. Results of Experiments 1 and 3 reveal that participants repeated their corner choice more often after incongruent trials, but only when the co-actor was generally reliable. Implications in terms of sociomotor action control and joint action are discussed.

Evaluation of dose distributions and respiratory motion tolerance for layer-stacking conformal carbon-ion radiotherapy.

While layer-stacking irradiation provides a conformal dose distribution, it is vulnerable to respiratory motion. Considering that the motion tolerance has not yet been demonstrated, this study aimed to determine the tolerance level for the amount of target motion. Dose distributions considering motion were simulated for a numerical water phantom using in-house software. Comparisons with measured and simulated physical dose distributions confirmed the validity of the simulation, with gamma analysis showing almost 90% or greater agreement under all conditions with a criterion of 3%/3mm. The variation in physical dose from static conditions followed a similar trend. Based on the evaluation of the simulated clinical dose uniformity, motion tolerance was derived. The acceptable motion amounts in the lateral direction were 11mm in respiratory-ungated condition and at least 20mm with 30% lateral gating at 4Gy (RBE). In the longitudinal (beam upstream) direction, the acceptable target motion amounts were 3mm without gating and 6mm with gating. These results employed worst-case scenarios considering multiple respiratory cycles. In both lateral and longitudinal directions, the motion amounts of 3mm for non-gating and 5mm for gating were acceptable. The acceptable target motion amounts improved by 1-9mm with gating and increased prescribed doses. The dose uniformity and motion tolerance under multiple conditions, although based on a simple system, may be useful for treatment involving target motion in layer-stacking irradiation.

An Enhanced Feature Learning CNN Using Auto-encoder for Partially Occluded Target Recognition in SAR Imagery

Deep learning algorithms have found extensive utility in Automatic Target Recognition (ATR) using Synthetic Aperture Radar (SAR). Despite this, conventional deep learning-based ATR models often lack in their performance when subjected to Extended Operating Conditions (EOCs). Significant variations in depression, noise interference, limited training data, and partial occlusion are primary factors in EOCs. In this paper, we proposed a deep neural network-based technique to recognize SAR targets for Standard Operating Conditions (SOC) and Extended Operating Conditions (EOC). The proposed approach comprises an encoder and decoder network. The encoder network integrates multiple dilated convolutions to address noise-induced recognition challenges for extracting multi-scale features. Furthermore, a feature refinement module is integrated within the multi-scale channels to enhance the extraction of discriminative and resilient features. Feature refinement selectively emphasizes informative features while suppressing irrelevant ones. Additionally, a salient attention block and a spatial feature learning module are introduced for feature selection. Selected features are then utilized in the top-level network layer of the encoder network to preserve spatial relationships among diverse features. This spatial feature learning module aids in recognition performance, particularly when training data is scarce. The decoder network consists of stacked transposed convolution layers, facilitating the encoder network's acquisition of discriminative image features. Experimental evaluations were conducted on the Moving and Stationary Target Acquisition and Recognition (MSTAR) dataset to validate the efficacy of the proposed methodology.

Three-Dimensional CKANs: UUV Noncooperative Target State Estimation Approach Based on 3D Convolutional Kolmogorov–Arnold Networks

Accurate and stable estimation of the position and trajectory of noncooperative targets is crucial for the safe navigation and operation of sonar-equipped underwater unmanned vehicles (UUVs). However, the uncertainty associated with sonar observations and the unpredictability of noncooperative target movements often undermine the stability of traditional Bayesian methods. This paper presents an innovative approach for noncooperative target state estimation utilizing 3D Convolutional Kolmogorov–Arnold Networks (3DCKANs). By establishing a non-Markovian model that characterizes state estimation of UUV noncooperative targets under uncertain observations, we leverage historical data to construct 3D Convolutional Kolmogorov–Arnold Networks. This network learns the patterns of sonar observations and target state transitions from a substantial offline dataset, allowing it to approximate the posterior probability distribution derived from past observations effectively. Additionally, a sliding window technique is integrated into the convolutional neural network to enhance the estimator’s fault tolerance with respect to observation data in both temporal and spatial dimensions, particularly when posterior probabilities are unknown. The incorporation of the Kolmogorov–Arnold representation within the convolutional layers enhances the network’s capacity for nonlinear expression and adaptability in processing spatial information. Finally, we present statistical experiments and simulation cases to validate the accuracy and stability of the proposed method.

The Development of Volumetric Quantitative Evaluation Software for Assessing Respiratory-Induced Target Motion

The Development of Volumetric Quantitative Evaluation Software for Assessing Respiratory-Induced Target Motion

Moving Target Detection in Clutter Environment Based on Track Posture Hypothesis Testing

ABSTRACTMoving target detection in a heavy clutter area is a challenging problem in the field of radar automatic target detection. Within the framework of track posture hypothesis testing, the radar‐blips‐oriented target detection algorithms named ErgSad and RanSaD are proposed for single target and formation targets detection, respectively in this paper. With the assumption that target motion is a linear Gaussian process in a short time, the algorithms use dual blips in different scans to generate the track hypothesis and test the hypothesis with residual blips in other scans to determine the existence of moving targets. To reduce time consumption and minimize the error of model estimation, the sampling rules and the supporting domain related to timestamps of track hypothesis models were designed. Simulation data experiments show that the proposed algorithms have more superior performance to detect targets than the state‐of‐the‐art algorithms in the serious clutter environment.

A Novel Method for the Estimation of Sea Surface Wind Speed from SAR Imagery

Wind is one of the important environmental factors influencing marine target detection as it is the source of sea clutter and also affects target motion and drift. The accurate estimation of wind speed is crucial for developing an efficient machine learning (ML) model for target detection. For example, high wind speeds make it more likely to mistakenly detect clutter as a marine target. This paper presents a novel approach for the estimation of sea surface wind speed (SSWS) and direction utilizing satellite imagery through innovative ML algorithms. Unlike existing methods, our proposed technique does not require wind direction information and normalized radar cross-section (NRCS) values and therefore can be used for a wide range of satellite images when the initial calibrated data are not available. In the proposed method, we extract features from co-polarized (HH) and cross-polarized (HV) satellite images and then fuse advanced regression techniques with SSWS estimation. The comparison between the proposed model and three well-known C-band models (CMODs)—CMOD-IFR2, CMOD5N, and CMOD7—further indicates the superior performance of the proposed model. The proposed model achieved the lowest Root Mean Squared Error (RMSE) and Mean Absolute Error (MAE), with values of 0.97 m/s and 0.62 m/s for calibrated images, and 1.37 and 0.97 for uncalibrated images, respectively, on the RCM dataset.

Enhancing underwater target detection: Fusion of spatio‐temporal incompletely‐aligned AIS and sonar information via DTW and multi‐head attention mechanism

AbstractIn the field of underwater target detection, the passive sonar is an important means of long‐distance target detection. The sonar detection information typically includes both surface and underwater targets, whereas it is a great challenge on effectively distinguishing between surface and underwater targets solely based on sonar information. Effective fusion of sonar and AIS (Automatic Identification System) data can leverage their complementary nature to compensate for the limitation of sonar information. However, the sonar information and AIS information are acquired based on different detection principles and systems, which are essentially multi‐source heterogeneous information with obvious spatio‐temporal misalignment in nature. Existing fusion methods normally struggle to effectively align sonar and AIS data in both time and space subject to the complexity of the problem. In this study, the Dynamic Time Warping (DTW) algorithm is applied to align sonar and AIS data in the time domain. In addition, a deep learning algorithm with multi‐head attention mechanism is proposed to achieve the spatial alignment of sonar and AIS data, where the matching between the surface targets in AIS data and the same surface targets in sonar data can also be successfully achieved. It provides a priori knowledge to enhance the underwater target detection of the passive sonar by eliminating the interference of the surface targets. Based on the attention mechanism, the abstract features extracted from the intermediate‐layer of the neural networks are found to be effective to represent the typical features of the target motion trajectories, which also demonstrates the effectiveness of the attention mechanism. The experiment results show that the proposed method can successfully achieve a MatchingSucccessRate of over 95% between the AIS targets and sonar detection targets.

Target detection and obstacle avoidance for UAV based on dynamic vision sensor

Aiming at the problem of UAV sensing dynamic targets and avoiding high-speed dynamic obstacles in dynamic environments, a target detection and obstacle avoidance algorithm based on dynamic vision sensor is designed. A filtering method and motion compensation algorithm are designed to filter out background noise and hot spot noise in the event stream as well as redundant events caused by the camera's own motion. A dynamic target fusion detection algorithm that fuses event images and RGB images is designed to ensure the reliability of detection. The target motion trajectory is estimated based on the detection results, and the speed obstacle method is improved to avoid dynamic obstacles by combining the obstacle motion characteristics and UAV dynamic constraints. A large number of simulation tests, handheld tests and flight tests verify the feasibility of the proposed algorithm.

Occluded vehicle tracking by integrating full-scale features and trajectory correction

In order to improve the tracking drift and identity switching (IDs) problems caused by occlusion in vehicle tracking, a method for tracking occluded vehicles that integrates full-scale features and trajectory correction is proposed based on the Deep SORT algorithm. Firstly, a full-scale feature extraction network is introduced to extract the features of different scales of the target and realize adaptive dynamic fusion to enhance the target appearance characteristics. Then, a trajectory correction algorithm is proposed to repair the tracking trajectory during occlusion, and the Kalman filter parameters are updated to reduce the accumulated linear error during occlusion and optimize the target motion characteristics. Finally, the occluded vehicle is tracked by combining appearance features and motion features. The feasibility of the proposed method is verified by ablation experiments and visualization analysis. The experimental results on the KITTI dataset show that compared with the existing typical methods, the proposed method achieves the highest comprehensive score of 78.13 and the lowest number of IDs of 192, which effectively improves the IDs problem in occluded vehicle tracking and improves the robustness of vehicle tracking.

Optimising PTV margins in oesophageal cancer radiotherapy: Amodern radiotherapy planning, treatment delivery and verification approach - A single institutional analysis.

Radiotherapy plays a key role in the multidisciplinary management of oesophageal cancers across neoadjuvant, definitive and palliative settings. Improved precision in radiotherapy planning and delivery techniques have allowed treating disease with tighter margins reducing toxicity. In this study, we examine the appropriateness of current practice in defining the planning target volume (PTV). This is a single institutional retrospective study of patients who received radiotherapy for oesophageal cancers using volumetric modulated arc therapy (VMAT) during 2020. All cone-beam computerised tomography (CBCT) scans were reviewed to assess whether PTV expansions appropriately accounted for tumour motion and interfractional variation. Of the 27 patients, 2 (7%), 5 (19%) and 20 (74%) had cervical, thoracic and distal/gastro-oesophageal junction (GOJ) disease, respectively. 16 (59%) had adenocarcinoma and 9 (33%) had squamous cell carcinoma. 9 of 20 distal/GOJ patients were planned and treated according to the institutional stomach filling protocol. 521/528 (98.7%) CBCTs demonstrated adequate target coverage. Cervical, thoracic and GOJ regions demonstrated adequate target coverage in 57/58, 96/97 and 368/373 CBCTs with median PTV expansions of 5, 7 and 7 mm, respectively. In four patients with GOJ disease, CBCT review identified five episodes where the target volume was insufficiently covered during the treatment course. In this single institutional retrospective study, for the vast majority of patients, our institutional practice of defining PTV margins achieved satisfactory target treatment. The interfractional variations observed in patients with GOJ tumours due to target motion and variable gastric volume, highlights the role of further refinements to motion management techniques in this cohort.

Clinical implementation and patient-specific quality assurance solutions for real-time target tracking and dynamic delivery in Radixact synchrony.

The installation and testing of the first Radixact with Synchrony system in Colombia marked a significant milestone in Latin America's medical landscape. There was a need to devise a robust quality assurance protocol to comprehensively evaluate both dose delivery and motion tracking accuracy. However, testing experiences under clinical conditions have not been extensively reported. Additionally, there are limited recommended measuring devices for Synchrony evaluation. To validate and implement an alternative setup for dynamic-PSQA while testing Synchrony's functionality under clinical scenarios, including real-patient motion traces, and to provide guidance to new centers undergoing clinical implementation of Helical Synchrony. This approach involves using the Iba miniPhantomR with strategically placed fiducial markers for configuring Gafchromic-films and array-based setups. When paired with the CIRS Dynamic Platform, this enables an innovative dynamic setup with trackable features for Synchrony delivery testing. Assessment scenarios, including compensation (M1S1) and no-motion compensation (M1S0), were evaluated using 2D-gamma pass rate analysis with multiple clinical gamma criteria. The Synchrony-Simulation feature was used to assess pre-treatment performance and capture the patient's target motion pattern. Synchrony for common clinical cases with patient's motion-traces was validated. The results for M1S0 and M1S1 demonstrated consistency with previous studies evaluating Synchrony functionality. Analysis using different gamma criteria unveiled dosimetric differences and impacts across various motion ranges. The application of effective kV-dose subtraction for array-based methods is of upmost importance when evaluating dynamic-PSQA with stringent gamma-criteria. However, no significant kV-dose impact on EBT3-Film was detectable. Two implemented configurations for dynamic-PSQA setups were validated and successfully integrated into our clinic. We addressed both the benefits and limitations of array-based and film-based methods. The functionality and limitations of Synchrony were evaluated using the proposed setups. The potential utility of Synchrony-Simulation, along with the proposed patient-case classification table, can offer valuable support for new users during the clinical implementation of Synchrony treatments.

EKF-based parameter estimation method for radar maneuvering target with unknown time information

Moving target detection (MTD) is a research hotspot in radar signal processing. Generally, the time information of non-cooperative moving targets entering and leaving a radar coverage area is unknown, which would lead to severe performance loss for target parameter estimation, detection, and imaging. Unlike our previous research work, this paper addresses the motion parameters estimation and refocusing problem for a radar maneuvering target with unknown entry and departure time. A computationally efficient method that utilizes extended Kalman filtering (EKF) for phase tracking is proposed to estimate the entry and departure times. The proposed method first performs range cell migration correction (RCMC) on the pulse compression echo signal. Then, the maneuvering target signal is modeled as a polynomial phase signal (PPS) and utilizes the EKF to construct a binary state-space equation for polynomial phase tracking. Finally, by comparing the phase tracking results of the noise cell and the signal cell, one can derive estimates for the entry/departure time and motion parameters. Compared with existing methods, the proposed method avoids multi-dimension searching on the parameter space, so it has a prominent advantage in computational complexity. Moreover, the core of the proposed method lies in tracking the polynomial phase, which is not constrained by the order of target motion, and has wider applicability in practice. Both simulated and public radar data are used to validate the effectiveness of the proposed method.

Research on Target Position and Motion Parameters Based on Azimuth Wave Number of Echo Signal

Abstract The circular synthetic aperture radar (CSAR) system by a small rotor unmanned aerial vehicle, being capable of three-dimensional target imaging, is one of the research hotspots in SAR imaging. In this paper, for the frequency modulated continuous wave CSAR system, the geometric structure and wavenumber spectrum are derived, and then the relationship between the azimuth wavenumber and system parameters as well as flight motion conditions is analyzed. Through simulation analysis, it is verified that the azimuth wavenumber of the echo signal is affected by the position and motion parameters of the imaging target, laying a theoretical foundation for the development and application of the wavenumber domain imaging algorithm of CSAR.

Search region updating with hierarchical feature fusion for accurate thermal infrared tracking

Due to their resilience against lighting variations, thermal infrared (TIR) images demonstrate robust adaptability in diverse environments, enabling effective object tracking even in intricate scenarios. Nevertheless, TIR target tracking encounters challenges such as fast target motion and interference from visually similar objects, substantially compromising the tracking precision of TIR trackers. To surmount these challenges, we propose a method grounded in the strategy of search region updating and hierarchical feature fusion, tailored for the precise TIR target-tracking task. Specifically, to address the issue of fast motion causing the target to depart from the search region, we propose to update the current search region by leveraging historical frame information. Additionally, we employ a hierarchical feature fusion strategy to contend with interference from visually similar objects in the tracking scenario. This strategy enhances the ability to model and represent the target more accurately, thereby elevating the tracker’s capacity to discriminate between the target and similar objects. Furthermore, to tackle the challenge of inaccurate estimation of target bounding boxes, we introduce an enhanced Intersection over Union (IoU) loss function, which improvement facilitates a more precise prediction of target bounding boxes, resulting in superior target localization. Extensive experiments substantiate that our tracker exhibits a commendable level of competitiveness when compared to other trackers.

A Target Collision Algorithm of Autonomous Mobile Robot for Two-player Competition

Abstract A variety of robot competitions are held to train and attract students everywhere. This paper studies the algorithm of autonomous robot with two-player competition. The autonomous robots in a two-player competition takes the scoring form of collision and wins first. The impact object is the enemy target. The key algorithms in a two-player competition are target detection, target path decision, and collision target motion control. First, the vehicle target data set was established and enhanced, the lightweight detection algorithm model was screened and trained, the model pruning optimization experiment and the model deployment optimization experiment were carried out, and then the TensorRT framework was used for inter-layer fusion and data quantification processing. After hitting the target path decision algorithm after detecting the target target, it finally integrates the decision in simple and complex situations. The collision target motion control is the scheme of more intelligent and self-adjustable parameters of fuzzy Radial Basis Function (RBF) network Proportional Integral Derivative (PID) controller. Finally, the collision target implementation algorithm is tested in a real environment, and the results show that the task requirements can be met.

A Multi Moving Target Localization in Agricultural Farmlands by Employing Optimized Cooperative Unmanned Aerial Vehicle Swarm

The paper proposes an original method for employing optimised cooperative swarms of Unmanned Aerial Vehicles (UAVs) to localise multiple moving objects in agricultural farmlands. Crop Monitoring (CM), targeted fertilizer distribution, and Livestock Management (LM) are some of the Smart Farming (SF) applications of UAVs. However, the ever-changing nature of agricultural settings makes it challenging to set up UAV swarms. Detecting multiple evolving objectives in dynamic environments is complicated, and conventional methods are regularly optimized for single objectives, such as area or reduced Energy Consumption (EC), which is unsuitable. This research recommends a Multi-Objective Evolutionary Algorithm (MOEA) as a model for UAV swarms to balance task service, communication, and EC during the investigation. The approach paves the method for innovation in the agricultural sector by optimizing tasks in real-time, addressing unpredictable targets, boosting productivity, and reducing costs. The study’s findings present optimism for smart farm management and accurate SF by improving UAV systems’ response time and scalability.

A Multiple Targets ISAR Imaging Method with Removal of Micro-Motion Connection Based on Joint Constraints

Combining multiple data sources, Digital Earth is an integrated observation platform based on air–space–ground–sea monitoring systems. Among these data sources, the Inverse Synthetic Aperture Radar (ISAR) is a crucial observation method. ISAR is typically utilized to monitor both military and civilian ships due to its all-day and all-weather superiority. However, in complex scenarios, multiple targets may exist within the same radar antenna beam, resulting in severe defocusing due to different motion conditions. Therefore, this paper proposes a multiple-target ISAR imaging method with the removal of micro-motion connections based on the integration of joint constraints. The fully motion-compensated targets exhibit low rank and local similarity in the high-resolution range profile (HRRP) domain, while the micro-motion components possess sparsity. Additionally, targets display sparsity in the image domain. Inspired by this, we formulate a novel optimization by promoting the low-rank, the Laplacian, and the sparsity constraints of targets and the sparsity constraints of the micro-motion components. This optimization problem is solved by the linearized alternative direction method with adaptive penalty (LADMAP). Furthermore, the different motions of various targets degrade their inherent characteristics. Therefore, we integrate motion compensation transformation into the optimization, accordingly achieving the separation of rigid bodies and the micro-motion components of different targets. Experiments based on simulated data demonstrate the effectiveness of the proposed method.

Optimizing the Effectiveness of Moving Target Defense in a Probabilistic Attack Graph: A Deep Reinforcement Learning Approach

Moving target defense (MTD) technology baffles potential attacks by dynamically changing the software in use and/or its configuration while maintaining the application’s running states. But it incurs a deployment cost and various performance overheads, degrading performance. An attack graph is capable of evaluating the balance between the effectiveness and cost of an MTD deployment. In this study, we consider a network scenario in which each node in the attack graph can deploy MTD technology. We aim to achieve MTD deployment effectiveness optimization (MTD-DO) in terms of minimizing the network security loss under a limited budget. The existing related works either considered only a single node for deploying an MTD or they ignored the deployment cost. We first establish a non-linear MTD-DO formulation. Then, two deep reinforcement learning-based algorithms are developed, namely, deep Q-learning (DQN) and proximal policy optimization (PPO). Moreover, two metrics are defined in order to effectively evaluate MTD-DO algorithms with varying network scales and budgets. The experimental results indicate that both PPO- and DQN-based algorithms perform better than Q-learning-based and random algorithms. The DQN-based algorithm converges more quickly and performs, in terms of reward, marginally better than the PPO-based algorithm.

Unveiling the power of Haar frequency domain: Advancing small target motion detection in dim light

Visual small target motion detection finds successful applications in varied scenarios. However, dim-light conditions, such as the tunnel scenes and nighttime environments, present significant challenges to existing detection methods which mainly operate within the spatiotemporal domain. This is because the transmission of small target motion information suffers from the inevitable interference of image noise caused by dim light in the spatiotemporal domain, resulting in the detriment of extracting essential spatiotemporal features of the target motion. Given the significant obstacles posed by dim-light imaging to small target motion detection within the spatiotemporal domain, the exploration of an alternative observation domain for small target motion, alongside the development of a corresponding detection method, emerges as a viable solution. To address this, in this paper, we discovered the remarkable potential of the Haar frequency domain in characterizing the small target motion in dim light. To investigate the advantages of integrating Haar frequency processing in small target motion detection, we introduce a Haar-windowed summation mechanism into an existing bio-inspired small target motion detection model. The proposed mechanism integrates visual information in spatiotemporal windows regulated by frequency parameters of Haar wavelets and effectively discriminates the small target motion from the disturbance of random noise caused by dim light. Theoretical analysis and numerical experiments confirm the superior performance of integrating the Haar frequency processing. This study provides a new vision of small target motion detection through the lens of the frequency domain and extends the limits of existing bio-inspired models for practical applications in dim light.