Coordinates Of Object Research Articles

Development of Apple Detection System and Reinforcement Learning for Apple Manipulator

Modern deep learning systems make it possible to develop increasingly intelligent solutions in various fields of science and technology. The electronics of single board computers facilitate the control of various robotic solutions. At the same time, the implementation of such tasks does not require a large amount of resources. However, deep learning models still require a high level of computing power. Thus, the effective control of an intelligent robot manipulator is possible when a computationally complex deep learning model on GPU graphics devices and a mechanics control unit on a single-board computer work together. In this regard, the study is devoted to the development of a computer vision model for estimation of the coordinates of objects of interest, as well as the subsequent recalculation of coordinates relative to the control of the manipulator to form a control action. In addition, in the simulation environment, a reinforcement learning model was developed to determine the optimal path for picking apples from 2D images. The detection efficiency on the test images was 92%, and in the laboratory it was possible to achieve 100% detection of apples. In addition, an algorithm has been trained that provides adequate guidance to apples located at a distance of 1 m along the Z axis. Thus, the original neural network used to recognize apples was trained using a big image dataset, algorithms for estimating the coordinates of apples were developed and investigated, and the use of reinforcement learning was suggested to optimize the picking policy.

AUTOMATIC EXTRACTION OF CONTROL POINTS FROM 3D LIDAR MOBILE MAPPING AND UAV IMAGERY FOR AERIAL TRIANGULATION

Abstract. Installing targets and measuring them as ground control points (GCPs) are time consuming and cost inefficient tasks in a UAV photogrammetry project. This research aims to automatically extract GCPs from 3D LiDAR mobile mapping system (L-MMS) measurements and UAV imagery to perform aerial triangulation in a UAV photogrammetric network. The L-MMS allows to acquire 3D point clouds of an urban environment including floors and facades of buildings with an accuracy of a few centimetres. Integration of UAV imagery, as complementary information enables to reduce the acquisition time of measurement as well as increasing the automation level in a production line. Therefore, a higher quality measurements and more diverse products are obtained. This research hypothesises that the spatial accuracy of the L-MMS is higher than that of the UAV photogrammetric point clouds. The tie points are extracted from the UAV imagery based on the well-known SIFT method, and then matched. The structure from motion (SfM) algorithm is applied to estimate the 3D object coordinates of the matched tie points. Rigid registration is carried out between the point clouds obtained from the L-MMS and the SfM. For each tie point extracted from the SfM point clouds, their corresponding neighbouring points are selected from the L-MMS point clouds, and then a plane is fitted and then a tie point was projected on the plane, and this is how the LiDAR-based control points (LCPs) are calculated. The re-projection error of the analyses carried out on a test data sets of the Glian area in Iran show a half pixel size accuracy standing for a few centimetres range accuracy. Finally, a significant increasing of speed up in survey operations besides improving the spatial accuracy of the extracted LCPs are achieved.

Targets Spatial Coordinates Calculation in Angle-Difference Rangefinder Passive Location Complexes by Numerical Iterative Methods

This paper presents the analysis results of the iterative numerical algorithms use for roots calculating of nonlinear equations systems ( Levenberg-Marquardt , Newton’s algorithm , modified Newton’s algorithm , sequential iterations and gradient descent ) describing the process of spatial rectangular coordinates calculating of radio emission sources in the angle-difference-rangefinder passive location complexes with different configurations ( containing from 2 to 4 receivers ). The main objectives of the work include determining optimal number of receiving points and choosing the most effective way to transform the coordinates of the observed parameters vector (a set of range differences and angular coordinates estimates of objects emitting radio signals in relation to the receiver spatial location of the system ) into a measured parameters vector ( spatial rectangular coordinates of the observation object ). The criteria for further comparison of the using analyzed algorithms results were determined by the following characteristics : working area of the passive location complex ( the part of the space within which the targets coordinates estimates deviation from their true values does not exceed the maximum allowable values ); average error of calculating the target spatial coordinates in the working area ; number of coordinate calculating stages of radio sources in the s tudied part of the space . The results of a comparative analysis of the obtained numerical values by the selected criteria allowed us to conclude that the optimal implementation is the implementation of the angle-difference-rangefinder passive location complexes consisting of four receiving points and the use of the Levenberg-Marquardt algorithm for calculating the spatial coordinates of radio emission sources .

ROBUST NONLINEAR FILTERING OF NAVIGATION SATELLITE MEASUREMENTS

A novel approach to processing satellite navigation measurements with high-precision positioning of mobile objects is considered. For its implementation, at the first stage, stochastic nonlinear differential equations of spatial coordinates of a mobile object were obtained from Doppler satellite measurements and their observer's equations were obtained from pseudo-range measurements. The form of the obtained equations allows one to use the methods of the theory of nonlinear and, in particular, robust filtering to estimate the coordinate vector of an object. As a rule, the nature of the type of interference distributions of Doppler and code measurements is uncertain. Therefore, a dynamic robust algorithm was developed to estimate the spatial coordinates of an object. This algorithm is optimal in terms of the minimum criterion of a nonlinear positive determined function from measurement inconsistency determined by the class of interference distributions of Doppler measurements and pseudo-range measurements. The comparative effectiveness of this algorithm with the conventional approach is illustrated by a numerical example.

Object Recognition and Localization for Pick-and-Place Task using Difference-based Dynamic Movement Primitives

In this paper, a framework is developed for three dimensional (3D) object recognition, localization, and anthropomorphic manipulation using YOLOv5, two low-cost webcams, and a Franka Emika (FE) Panda manipulator. Autonomous pick-and-place tasks are executed in a human-like manner using impedance control and novel difference-based Dynamic Movement Primitives (DMP) trajectory planning. The high accuracy vision system is developed with two webcams by using triangular relation to determine the object's position. The difference-based DMP algorithm and task execution plan are used to learn unique trajectories for different objects based on human demonstration and the object's coordinates. By integrating these components together, experimental studies on pick-and-place tasks are successfully performed for two different objects.

Analysis of the use of automatic control systems for the destruction of weeds in the conditions of organic cultivation of vegetable and row crops

Puprose. To analyze the state of development of MTU automatic control systems in the world and Ukraine and determine the rational direction for the development of new systems. Reducing the cost of manual labor for the destruction of weeds when growing environmentally friendly vegetable and row crops. Reduction of protective zones during the destruction of weeds in row-spacings and rows of vegetable and tilled crops. Methods. Monographic, analytical, abstract-logical, structural modeling, design and manufacture of alternative MTU automatic control systems for the implementation of effective methods of weed control in the organic farming system. Results. The analysis of technological solutions was carried out using specialized technical means equipped with automated control systems of the MTU. A technical and economic analysis of the use of technical means for the automated control of the MTU was carried out. The structural and functional scheme of the system for automatically bringing the working bodies of the row cultivator to the row of cultivated plants is substantiated. Conclusions. According to the results of the analysis, it was found that for automatic driving of the MTU in aggregation with agricultural technical means, it is most relevant to use GNSS tools, which are a satellite navigation system created for the purpose of positioning (determining the location in space – that is, coordinates) of objects. The automatic control system developed at the IMA AIP NAAS will allow to increase the productivity and quality of weeding operations by mechanical cultivators when working with minimal protective zones (2–3 cm) or weeding in a row of agricultural crops (corn, sunflower, tomato seedlings, garlic) with polyurethane finger-star discs. Keywords: automatic control system, control system, artificial intelligence, video vision camera, technical means, machine and tractor units, weed control, organic cultivation.

Тhe method for determining the coordinates of ground objects by an unmanned aerial vehicle using a laser rangefinder

Тhe method for determining the coordinates of ground objects by an unmanned aerial vehicle using a laser rangefinder

Разработка имитационной модели определения координат воздушных объектов по отраженному от воздушного объекта и принятому на антенну навигационного приемника навигационному сигналу ГНСС

This article is devoted to the development of a simulation model for determining the coordinates of air objects based on the GNSS navigation signal reflected from the air object and received on the antenna of the navigation receiver. To solve the problem of radar of aerial objects using bistatic location based on the use of GNSS satellites, it was necessary to pre-evaluate the energy or energy potential of the satellite navigation signal reflected from the aerial object, which then comes to the receiving antenna of the navigation equipment of consumers. The results obtained in the form of the developed computational schemes will form the basis of the algorithmic and software of the passive radar system and will allow determining the requirements for its technical support carried out within the framework of the grant project of the Ministry of Education and Science of the Republic of Kazakhstan No. AP09260581. In this paper, simulation modeling is understood as such an approach to modeling complex systems, which allows us to develop a single meta-model that combines into an integral set of models of objects and processes of their interaction based on a single information and event space in a single discrete time scale, and implement the resulting meta-model in an electronically equivalent form on an electronic computer. One of the main tasks of the study of complex radio engineering systems by modeling is the choice of modeling principles that should allow the construction of the simulated system in accordance with the goals and objectives of the study in such a way that the model adequately reflects the processes and patterns of behavior of the system under study with the necessary degree of reliability and detail. One of the most productive methods of developing a software and hardware complex of simulation modeling is object-oriented modeling.

Scientific principles of learning spherical geometry in institutions of higher education

The article provides historical information about the emergence and development of spherical geometry, considers the basic concepts of spherical geometry, reveals and improves the scientific principles of teaching spherical geometry in institutions of higher education. The interdisciplinary connections of spherical geometry with geography, astronomy, navigation, cosmology, and others are described. The determined potential of spherical geometry in the field of astronomy, where determining the coordinates of objects on the celestial sphere is important for understanding cosmic phenomena. Since spherical geometry is an important tool for the analysis and modeling of real phenomena in three-dimensional space, its application in modern GPS technologies and geospatial information systems emphasizes the relevance of this area of research.

Comparative analysis of interference protection of "Friend-Foe" radar identification systems

The paper examines the existing systems of radar identification based on the "friend-foe" feature from the point of view of immunity evaluation. Currently, there are two systems of the radar identification based on the characteristic of "friend-foe", namely, the "Password" and MkXIIA. They are the radar identification systems based on the "home-foreign" feature. The former of the specified systems operates in a frequency range that differs from the frequency range of secondary radar systems, while the second one operates in the frequency range of secondary radar. These systems are ones of the main information resources of the airspace control system and are built on the principles of a one-channel or two-channel information transmission system. It allows the interested party, both an unauthorized use of this information resource for remote determination of the coordinates of aerial objects, on the one hand, and twisting the information of these information resources, on the other hand, which leads to unpredictable results. The purpose of the work is to assess the immunity of existing radar identification systems based on the "friend-foe" feature. The analysis of the interference protection of existing systems for the object radar identification based on the "friend-foe" feature, built on the principles of interrogative and non-interrogative information systems presented in this work, showed that the use of rectangular radio signals with time-pulse modulation as request and response signals emitting by air objects, has low immunity and excludes the energy stealthiest of the respondents of aerial objects. And, as a result, it allows for unauthorized calculation of the coordinates of air objects by the interested party based on the emitted identification signals on the basis of "friend-foe".

INCREASING CHARACTERISTICS OF BSNR 9С32 DURING IMPLEMENTATION IN ITS ANTENNA SYSTEM OF THE ELEMENTS ON A MODERN ELEMENT BASE

The military conflicts of the last decade are characterized by the wide use of air assets including small - sized and (or) unmanned ones by the warring parties. In modern conditions one of the effective measures to combat them is to increase the accuracy of coordinate information provided to combat (or fire) means. Increasing the accuracy of coordinate information determines: the possibility of non-searching detection and (or) capture of aerial targets by fire means, increasing the survivability of air defense systems due to the reduction of working time (including the time for "radiation") and rapid change of their positions after completing the assigned task.
 The modern development of science and technology makes it possible to create effective means of air defense to combat existing and promising means of air attack but their development and commissioning requires large costs. In this regard, the issue of improving the characteristics of existing complexes without significant capital investments is gaining relevance.
 One of the important characteristics of the detection means and tracking of a multi-channel air assets anti- aircraft missile complex is the resolution and accuracy of measuring the angular coordinates of objects. This is due to the fact that modern air defence anti-aircraft missile complex uses information about the angular velocities of the missile-target line and the missile velocity vector when aiming anti-aircraft guided missiles using the proportional approximation method. Therefore, the accuracy of their measurement depends on the features of the missile’s flight trajectory when firing at the target and as a result the probability of its damage. The resolution and accuracy of angular coordinate measurement depends significantly on the characteristics of the antenna system.
 It is proposed to use their analogues on a modern element base instead of standard multi-channel missile guidance station 9C32 antenna elements in the work . Estimates of the characteristics of the phased antenna array when introducing promising pass-through ferrite phase shifters (in particular the increase in the accuracy of measuring angular coordinates and the range of aerial targets detection) were obtained using mathematical modeling and calculation methods. Obtained ratios allow for an appropriate assessment.
 The obtained results can be used in the development of proposals for the introduction of modern antenna elements (ferrite phase shifters) into the antenna systems of multi-channel radio equipment of anti-aircraft missile systems.The last decade is characterized by a number of military conflicts, in most episodes of which the achievement of the goal (reconnaissance and (or) defeat of certain targets) by the warring parties is mostly achieved through the use of aircraft, including small and (or) unmanned. The main difference is to obtain the desired results without a direct collision with the enemy ground component of troops (forces).
 Most of the recommended measures to combat aircraft in modern conditions can be reduced to: the rational construction of battle order (using the air defense separation), the widespread use of covert communications, radio reconnaissance and electronic warfare, the creation of erroneous and camouflage combat (reserve) air defence means positions, automation of transmission and processing of information about the air situation with the use of modern technologies and increase the accuracy of coordinate information provided to combat (or fire) means.
 Improving the accuracy of coordinate information causes: the possibility of searchless detection and (or) capture of air targets by fire, increasing the survivability of air defense systems by reducing working hours (including time for “radiation”) and rapid change of their positions after the task. Modern algorithms for processing coordinate information provided by air defense systems take into account the errors of primary coordinates measurement by radio engineering, the delay time of information in communication channels and its possible distortion. At the same time, they do not explicitly take into account the influence of topographic errors and orientation errors of radio equipment.
 In the work with the use of mathematical modelling methods, an assessment of the characteristics of the phased antenna array was carried out with the introduction of a promising pass-through ferrite phase shifter (in particular, an increase in the accuracy of measuring angular coordinates and the range of detection of aerial targets). The obtained ratios allow to make an appropriate assessment.
 The obtained results can be used when introducing modern ferrite phase shifters to the antenna system of the multi-channel missile guidance station 9С32.

Friend-or-Foe Recognition Algorithm Development for the Corresponding Software Building

The year 2022 showed an urgent need to improve the existing systems for recognizing objects in the aerial space, which is caused by the significant increase in the number of technical means (especially unmanned aerial vehicles) on the battlefield. Such a sharp increase in the number of objects that simultaneously take part in combat operations in the air requires the improvement of military object recognition systems, both qualitatively and quantitatively. This requires the development of appropriate new generation Friend-or-Foe algorithms for the objects’ recognition. The main requirements for recognition systems of aerial objects of civil application were determined. They includes: maximum com- patibility; support for a large number of objects; outdated recognition complexes support; support for alternative ways of recognition; support for alternative data entry methods; determining the coordinates of aerial objects in an emergency situation. Friend-or-foe recognition systems for military applications are also considered. In contrast to civilian systems, the following basic requirements have been identified for them: 1) Maximum speed of the recognition process. 2) Protection against false positives. 3) Protection against legitimate aerial object imitation. 4) Support for a large number of objects. 5) Protection against cases of loss of a legitimate aerial object. 6) Rotation of the secret part. 7) Protection against false-negative results to prevent friendly fire. 8) Protection against man-in-the-middle attacks. 9) Flexible integration with the NATO block recognition system. 10) Availability of opportunities for purely domestic production and support of the object recognition system. 11) Protection against electronic warfare means. 12) Support for several recognition modes. 13) Automatic blocking of the launch of ground-to-air and air-to-air weapons against objects that confirm their legitimacy by a correct response to a request. 14) Determining the coordinates of aerial objects in an emergency. Based on the formulated requirements, a new friend-or-foe algorithm for the state identification system for military use is proposed, built based on the state standards, and taking into account the features of its software implementation in order to increase speed. Its implementation will ensure sufficient scalability, stability, reliability, and multi-level recognition.

СПОСОБЫ ПОЛУЧЕНИЯ ИНФОРМАЦИИ ТРЕХМЕРНОЙ СЦЕНЫ ОБЪЕКТА ДЛЯ ОПРЕДЕЛЕНИЯ ПРОСТРАНСТВЕННОГО ПОЛОЖЕНИЯ

In this paper the basic methods of determining the coordinates of cylindrical objects to controlthe geometric parameters of an object with a regular structure are considered. Predominantlythe considered methods are used in determining the parameters of fuel rods (installations) of fuelassemblies at a nuclear power plant. The purpose of this work is to analyze the existing methodsfor determining the geometric parameters of objects with regular structure. To achieve this goal, itis necessary to solve the following problem - to compare and conduct a study of existing methodsfor determining the geometric position of objects with a regular structure and to identify their measurement based on a particular method. Comparative analysis included a description of existingcontact and non-contact methods (measurements of linear dimensions of three-dimensionalobjects, measurements of geometric parameters of an object in space and a device for its implementationand three different methods of controlling linear dimensions of three-dimensional objectsby three Cartesian coordinates). The following tool was used for the determination - the objectunder study was photographed by one video camera on a radiation-resistant CCD from twodefined points in space. The image points of the object were identified on the obtained images.Then, using the data on atomic rector dimensions and video camera parameters, we calculated thespatial coordinates of the object points in the object coordinate system and the elements of externalorientation of the images. The approximate values of the unknowns needed to solve the problemwere determined in advance, using the methods known in photogrammetry. The analysisshowed that the most effective are non-contact methods based on processing images of the sceneformed by video cameras based on mosaic photodetectors. Thus, measuring systems based ontelevision sensors (video cameras) are the most expedient for measuring the height difference ofan ordered sequence of cylindrical objects. The considered mathematical model has allowed todefine a methodical error of measurement of geometrical parameters by reconstruction of a threedimensionalscene on a series of images in conditions of the non-contact definition, caused byimperfection of the defined measuring method or the simplifications admitted at measurements.On the basis of the obtained data, it is possible to determine the center of gravity of the fuel assemblyhead, for which the methodological error is minimal, and, accordingly, to take it as a basis,relative to which to calculate the height difference of all steel heads of fuel assembly.

ВПЛИВ НА ВАРТІСТЬ ЗЕМЕЛЬНИХ ДІЛЯНОК ПОХИБОК ПОЛОЖЕННЯ МЕЖ ОТРИМАНИХ ІЗ ВИКОРИСТАННЯМ БЕЗПІЛОТНИХ ЛІТАЛЬНИХ АПАРАТІВ

Purpose. The study of the effect of errors in the position of landmarks obtained using unmanned aerial vehicles, on the value of real estate. Aerospace for several decades is an effective tool for conducting geodetic works, geophysical studies and conducting various types of monitoring, but such methods are not used to assess the real estate. Modern technologies for the creation of topographical and cadastral plans are based precisely on the use of digital aerosol materials. However, the cost of using airplanes and helicopters for local large-scale take-off is on an order of magnitude higher and therefore an alternative solution is the use of UAVs. Methodology. Unmanned aerial vehicles (UAVs) are most often used as a cheap alternative to conventional airplanes from airplanes, helicopters, telescopes and satellite (satellite) takeoffs. In addition to significant cost-effectiveness (cheaper by ten times), UAVs have additional privileges, namely: low altitude, point-and-shoot, mobility, environmental cleanliness of flights. Land management works are mostly carried out unsystematically and without reliable control, and therefore the application of usual geodetic methods and measurement results does not allow obtaining the required precision of the coordinates of the points, boundaries and the film basis. All this leads to the problems of combining the boundaries of adjoining areas due to the use of poor-quality cadastral information in databases that were formed over a significant period of time by the regional centers of the SLC. Results. The use of UAVs proves the importance of them to perform valuation works, which will increase the accuracy of the determination of the coordinates of the boundaries of real estate and significantly accelerate the evaluation procedure. It is established that for large settlements, the accuracy of the determination of the coordinates should be significantly increased, since the cost of real estate in these settlements is quite large and, accordingly, the errors in determining the coordinates of real estate objects lead to errors in the cost of real estate objects of the settlement, which is legally unacceptable and therefore For very large cities it is expedient to create shots at low altitudes and gradually increase the accuracy of photographing the terrain. Scientific novelty and practical significance. The importance of using UAVs for assessing the value of real estate objects has been proved, as the resulting calculations result in average square errors in the value of 1 sq. M of real estate, amounting to less than 0.3% of its total value. The practical significance of the use of UAVs lies in the existence of additional advantages over traditional shooting methods, namely the possibility of obtaining a super-distinction (one and ten centimeters) in the terrain; the detailed removal of small objects and small areas where it is completely unprofitable or technically impossible to do in other ways, for example, in urban development.

Coordinated Compliance Control Method of Five-Axis Redundant Industrial Manipulator Based on Monocular Vision

In order to improve the accuracy of the five-axis redundant industrial robot arm in grasping static objects and shorten the grasping time, a coordinated compliance control method based on a monocular vision for the five-axis redundant industrial robot arm is proposed in this paper. Using the monocular vision ranging method, the three-dimensional coordinates of the target object in a base coordinate system of the five-axis redundant industrial robotic arm are calculated and object target positioning is achieved. According to the acquired object target position, the traditional Euler angle is used to calculate the actuator posture impedance at the end of the robotic arm, thereby realizing the coordinated compliant control of the five-axis redundant industrial manipulator. The simulation experiment results show that the proposed coordinated compliance control method for a five-axis redundant industrial manipulator based on monocular vision can successfully grasp the target object in the shortest time and has high practical value.

A Study on Object Detection Performance of YOLOv4 for Autonomous Driving of Tram.

Recently, autonomous driving technology has been in the spotlight. However, autonomous driving is still in its infancy in the railway industry. In the case of railways, there are fewer control elements than autonomous driving of cars due to the characteristics of running on railways, but there is a disadvantage in that evasive maneuvers cannot be made in the event of a dangerous situation. In addition, when braking, it cannot be decelerated quickly for the weight of the body and the safety of the passengers. In the case of a tram, one of the railway systems, research has already been conducted on how to generate a profile that plans braking and acceleration as a base technology for autonomous driving, and to find the location coordinates of surrounding objects through object recognition. In pilot research about the tram's automated driving, YOLOv3 was used for object detection to find object coordinates. YOLOv3 is an artificial intelligence model that finds coordinates, sizes, and classes of objects in an image. YOLOv3 is the third upgrade of YOLO, which is one of the most famous object detection technologies based on CNN. YOLO's object detection performance is characterized by ordinary accuracy and fast speed. For this paper, we conducted a study to find out whether the object detection performance required for autonomous trams can be sufficiently implemented with the already developed object detection model. For this experiment, we used the YOLOv4 which is the fourth upgrade of YOLO.

ANALYSIS OF RELIGIOUS TOURISM OBJECTS IN JOMBANG REGENCY USING COG METHOD

Jombang Regency is a religious tourism area where many national scholars are buried here so that Jombang becomes a tourist spot for tourists in various regions in Indonesia, with these objects tourists need a map to make it easier when visiting Jombang Regency. The purpose of this study was to analyze the distribution of thematic maps and to observe the supporting facilities for religious tourism infrastructure including (Tomb of KH. Abdur Rahman Wahid, tomb of KH. Bisri Syansuri, tomb of KH. Wahab Hasbullah, tomb of KH.Mustain Romlly and Tomb of Syayid Sulaiman) . This study uses digitized coordinates that produce a map of the distribution of religious tourism objects, for the application of a Geographic Information System (GIS) and questionnaires distributed to six religious tourism objects, using the Center Of Gravity (COG) method to determine the intended route. The results of the study obtained six coordinates of religious tourism objects and resulted in a distributed questionnaire declared valid and reliable with Cronbach's alpha value of 0.809 for the Geographic Information System indicator and 0.933 for the Center of Gravity indicator.

Detecting Maritime Obstacles Using Camera Images

Aqua farms will be the most frequently encountered obstacle when autonomous ships sail along the coastal area of Korea. We used YOLOv5 to create a model that detects aquaculture buoys. The distances between the buoys and the camera were calculated based on monocular and stereo vision using the detected image coordinates and compared with those from a laser distance sensor and radar. A dataset containing 2700 images of aquaculture buoys was divided between training and testing data in the ratio of 8:2. The trained model had precision, recall, and mAP of 0.936%, 0.903%, and 94.3%, respectively. Monocular vision calculates the distance based on camera position estimation and water surface coordinates of maritime objects, while stereo vision calculates the distance by finding corresponding points using SSD, NCC, and ORB and then calculating the disparity. The stereo vision had small error rates of −3.16% and −14.81% for short (NCC) and long distances (ORB); however, large errors were detected for objects located at a far distance. Monocular vision had error rates of 2.86% and −4.00% for short and long distances, respectively. Monocular vision is more effective than stereo vision for detecting maritime obstacles and can be employed as auxiliary sailing equipment along with radar.

Measuring the superblock based on a hierarchy matrix of geometry, configuration, network, and area: The case of Nanjing

A superblock is a core unit of the built form of an old city in China, in which various morphological elements are organized and related through a hierarchical structure. Existing quantitative studies are generally limited to a single perspective or object and do not support the classification of morphological types through comprehensive analysis methods. In this study, a new cognitive framework, the hierarchy matrix, is presented to bridge this knowledge gap. It consists of four dimensions: configuration of network, geometry of network, configuration of area, and geometry of area. These dimensions are formed by the intersection of the two coordinates of perspective and object. Based on their measurement, the overall characteristics of the superblocks are represented and compared through matrix diagrams. Subsequently, the validity and adaptability of this quantitative approach are verified through an empirical analysis of Nanjing’s old city superblocks. The results reveal the morphological type of superblocks, and their causes are analyzed through the correlation with the urban environmental background. hierarchy matrix is potentially a useful method for studying the complex emerging built form of rapidly changing cities, especially in developing countries, such as China. The hierarchical matrix method is not only an analysis tool but also has the potential to develop an evaluation method to provide scientific support for the practice of urban renewal.

Processing of information from networks of airspace surveillance radar systems

The presented paper examines the principles and methods for processing of information from airspace surveillance radar networks. Information technologies allow implementing automatic collection, processing, storage, transmission and issuance of radar information to users. In this work, the synthesis and analysis of the optimal structure of the interstage processing of signal data and radar information of primary processing in the network of airspace surveillance radar systems is carried out. The quality of information from radar networks of airspace surveillance systems affects almost all indicators of the quality of the radar systems network functioning. The stages of radar information processing in radar systems networks are analyzed. The importance of specifying the above stages for creating a complete picture of the air situation in the area of responsibility is shown. To improve the quality of information support for consumers, a network of radar systems requires information processing at all stages. At each stage of information processing, information processing quality indicators were analyzed. This made it possible to show that the staged implementation of information processing, on the one hand, simplified the optimization of processing within each processing stage, but on the other hand, it made it difficult to carry out compatible optimization of both the detection of an aerial object and the measurement of the coordinates of an aerial object. The synthesized structure of processing radar information of the network of radar systems of airspace surveillance, which in its turn made it possible to carry out interstage optimization of processing of both signal data and primary processing information. Calculations have shown that the method of information processing, in which the combination of information is carried out at the level of decision-making on the detection of airborne objects in each signal data processing channel, has some advantages in the quality of information processing of the network of radar systems compared to the one currently used. time option combination information at the stage of signal processing. At the same time, for the method of combining information at the level of decision-making about the detection of aerial objects, the flow of transmitted information to the joint processing point is significantly reduced. All this allows improving the quality of information processing in the airspace control system.