A

Seminar Report

On

Tracking Bees with High Tx Rx Isolation Radar

Submitted in the partial fulfillment of the requirement of the Degree of Bachelor of

Technology in Electronics & Communication Engineering

By

Prachi Rai ( 1408231065 )

Under the guidance of

Seminar Guide Seminar Coordinator

Ms. RitikaTandon Ms. Deepti Shinghal

Asst.Professor (ECE) Asst. Professor (ECE)

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGG.

MORADABAD INSTITUTE OF TECHNOLOGY

Ram GangaVihar , Phase 2, Moradabad-244001(U.P.)

SESSION: 2016-2017

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 MORADABAD INSTITUTE OF TECHNOLOGY,
MORADABAD

CERTIFICATE

This is to certify that the seminar entitled Tracking bees with high tx- rx isolation radar
submitted byPrachirai(1408231065) in partial fulfillment of the requirement of the degree
ofB.Tech in Electronics & Communication Engineering embodies the work done by her
under my guidance.

Signature of the Seminar Guide Signature of the Seminar Coordinator

Name: Ms. RitikaTandon Name: Mrs. DeeptiSinghal

Designation: Assistant Prof.(ECE) Designation: Assistant. Professor(ECE)

Date: Date:

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 MORADABAD INSTITUTE OF TECHNOLOGY
Department of Electronics & communication Engineering

Tracking bees with high tx-rx isolation radar

Name of Students: PrachiRai Roll no: 1408231065

Name of Guide: Ms. RitikaTandon

Semester : 6 th Session: 2016-2017

Branch: Electronics and Communication Engineering

Synopsis:
This presents an innovative radar architecture to improve the isolation of harmonic radar
between transmitter and receiver . The proposed radar transmit to closely located frequencies
to the transponder, and the transponder transmits a response signal at a mix frequency
.Becuase the frequency of response signal is different from those of the clutter and leakage
signal , the isolation is significantly improved. For a traditional harmonic radar , the leakage
signals should be suppressed to a sensitivity lower than -106 dbm to avoid interference .

The proposed radar requires only attenuation of leakage signal to a level lower than -8dbm to
avoid low noise amplifier saturation . Harmonic radar transponder are compatible with the
proposed radar system without addition design . This also proposes a new method for
maintaining the co-relation of transmitter and receiver phase noise .Field test reserve
demonistrate that leakage signal interference in the proposed radar is far lower than in the
harmonic radar. The significant use improvement in isolation reveals the advantage of
applying the frequency mixing concept in the proposed radar.

Signature of student Signature of

Seminar Guide

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Signature of Seminar Coordinator Signature
of H.O.D

ACKNOWLEDGEMENT

We express my deepest sense of gratitude towards my guide Ms. RitikaTandonAssistant

Professor , Department of Electronics & Communication Engineering , Moradabad Institute
of Technology , Moradabad for her patience, guidance, constant encouragement , moral
support , keen interest , and valuable suggestions during prepration of this seminar report.

Our heartfelt gratitude goes to all faculty members of Electronics & Communication
Engineering Deptt. who with their encouraging and caring words and most valuable
suggestions have contributed, directly or indirectly in a significant way towards completion
of this seminar report.

We have a debt of gratitude to our father and mother for their consistent support
,sacrifice,candid views ,and meaningful suggestion given to us at different stages of this
work.

Last but not the least we are thankful to the Almighty who gave us the strength and health for
completing our report.

Prachi Rai
1408231065

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 List of Contents
Contents Page no.
List of Figures 6

List of Tables 7

Chapter 1 Tracking bees with high tx-rx isolation radar 8

1.1 Tracking bees 8

1.2 RF Signals 9

Chapter2 Radar history 12

2.1 Radar 12

2.2 Transponder 13

Chapter 3 Radar design 15

3.1 Harmonic radar 15

3.2 Isolation radar 16

3.2.1 Sensitivity 18

3.2.2 Antenna 18

Chapter 4 Applications and future scope 21

4.1 tracking movements of individual anoplophoraglabripennis

4.2 A 3- d outdoor small object environment 23

4.3 Future scope 25

Chapter 5 Conclusion 26

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 References 28

List of Figures

Fig. No Name of Figure

1.1 Tracking bee

2.1 Block diagram of radar

2.2 Block diagram of receiver

3.1 Diagram of harmonic radar

3.2 Diagram of isolation radar

3.2.2.1 Antenna

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 List of Table

Table.No Name of Table

1.1 Table of spectrum

1.2 Nominal frequency range

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 Chapter 1
Introduction

This paper presents an innovative radar architecture to improve the isolation of the
harmonic radar between the transmitter and the receiver. The proposed radar transmits two
closely located frequencies to the transponder, and the transponder transmits a response
signal at a mixed frequency. Because the frequency of the response signal is different from
those of the clutter and leakage signals, the isolation is significantly improved. For a
traditional harmonic radar, the leakage signals should be suppressed to a sensitivity lower
than 106 dBm to avoid interference. The proposed radar requires only attenuation sof
leakage signals to a level lower than 8 dBm to avoid low-noise amplifier saturation.
Harmonic radar transponders are compatible with the proposed radar system without
additional design. This paper also proposes a new method for maintaining the correlation of
transmitter and receiver phase noise. Field test results demonstrate that leakage signal
interference in the proposed radar is far lower than that in the harmonic radar. The significant
improvement in isolation reveals the advantages of applying the frequency mixing concept in
the proposed.

1.1Tracking bees
Bees are the only insect in the world that make food that people can eat. Honey
contains all of the substances needed to sustain life, including enzyme, water, minerals and
vitamins. Eating honey can help you smarter! It is the only food to contain pinocembrin that
is an antioxidant that improves brain function. One bee will only make 1/12 of a teaspoon on
honey in its entire life. Many plants rely on insects like bees in order to be pollinated; which
is why they provide nectar to say thanks. A colony of bees can contain between 20,000 and
60,000 bees, but only one queen bee. A bees wings beat 190 times a second, thats 11,400
times a minute!.Worker bees, who are all female, are the only ones who will attack you, and
only if they feel threatened. It has been estimated that it would take 1,100 bee stings to
produce enough venom to be fatal. Each colony smells different to bees, this is so they can
tell where they live. It would take 1,100 bees to make 1kg of honey and they would have to
visit 4 million flowers. There are 900 cells in a bees brain. The queen bee will lay around

8
1,500 eggs a day. Bees have two separate stomachs; one for food and another just for nectar.
Honey has natural preservatives so that it wont go bad. A third of all the plants we eat have
been pollinated by bees. Bees have been around for more than 30 million years. Bees
communicate by smells called pheromones and by performing special dance. Bee keepers
only take the honey that the bees do not need, but this can be as much as 45kg from one hive.
There are lots of different types of honey which taste different depending on the flowers used

to make it Bee numbers have been falling dramatically in recent years. The number of bees
that have been seen has fallen by 10-15% in the United Kingdom alone and experts are
worried this trend might continue. To help stop this why not plant some flowers in your
garden that bees like.

Fig. 1.1 Tracking bee

1.2 R.F.Signals
Radio frequency (RF) is a rate of oscillation in the range of around 3KHz to 300 GHz ,which
corresponds to the frequency of radio waves,and the alternating currents which carry radio
signals.

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 Table 1.1 Radio Spectrum

Band Frequency range Wavelength

Extremely low frequency < 3 KHz >100 Km

Very low frequency 3 30 Hz 10 100 Km

Low frequency 30 300 KHz 1 10 Km

Medium frequency 300 KHz 3 MHz 100 m 1 km

High frequency 3 30 MHz 10 - 100 m

Very high frequency 30 300 MHz 1 10 m

Ultra high frequency 300 MHz 3 GHz 10 cm 1 m

Super high frequency 3 30 GHz 1 10 cm

Extremely high frequency 30 300 GHz 1 mm -1 cm

The energy in an RF current can radiate off a conductor into space as electromagnetic
waves (radio waves),this is the basis of radio technology.

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 Table1.2 Nominal frequency range

Band Nominal frequency range

L 1000 2000 MHz

S 2000 4000 GHz

C 4000 -8000 MHz

X 8000 12000 MHz

Ku 12 18 GHz

K 18 27 GHz

Ka 27 40 GHz

In the development of radar, a latter code such as L,S,X was employed to designate radar
frequency bands . Although its original purpose was to guard military secrecy as well as the
need for some convenient short nomenclature.

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 Chapter 2
Background
2.1Radar
Radar system or technique for detecting the position, movement, and nature of a
remote object by means of radio waves reflected from its surface. Although most radar units
use microwave frequencies, the principle of radar is not confined to any particular frequency
range. There are some radar units that operate on frequencies well below 100 megahertz and
others that operate in the infrared range and above. The term radar an acronym for radio
detection and ranging , is also used to denote the apparatus for implementing the technique.

Fig.2.1 Block diagram of Radar

The transmitter may be an oscillator such as magnetron which is pulsed by the

modulator to generate a repetitive train of pulses of the kind. The waveform generated by the
transmitter travels along a transmission line to the antenna, which is generally used for both
transmitting and receiving. The duplexer consists of two device, one known as TR( transmit-
receive) and the other as ATR( anti-transmit-receive).the first stage of the receiver is a low
noise RF(radio frequency) amplifier. The mixer and the local oscillator convert the RF signal
to an IF(intermediate frequency) signal. This signal is passed through an IF amplifier which
is designed to maximize the signal to noise ratio at its output .the pulse modulation of the
echo signal is extracted by the detector and amplified by the video amplifier to a level at
which the signal can be properly displayed on a CRT(cathode ray tube). Timing signals are
also supplied for range reference. The most common form of the CRT display is the plan
position indicator(PPI).the electronic principle on which radar operates is very similar to the
principle of sound wave reflection. If you shout in the direction of sound reflecting object ,
you will hear an echo. If you know the speed of sound in air , you can then estimate the
distance and general direction of object. Radar uses electromagnetic energy pulse in much the

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same way. The radar frequency is transmitted and reflected from the object .a small portion of
reflected energy returns to the radar set, this returned energy is called an echo.

2.2Transponder
In telecommunication a transponder is one of two types of devices. In air navigation
or radio frequency identification, a flight transponder is an automated trans receiver in an
aircraft that emits a coded identifying signal in response to an interrogating received signal.
In a communications satellite, a satellite transponder receives signals over a range of uplink
frequencies usually from a satellite ground station amplifies them and re-transmits them on a
different set of downlink frequencies to receivers on earth ,often without changing the content
of the received signal.

In electronics a transmitter is an electronic device which generates a radio frequency

alternating current .when a connected antenna is excited by this alternating current the
antenna emits radio waves. transmitter are necessary part of many electronic devices that
communicate by radio such as cell phones, wireless computer .the term transmitter is usually
limited to equipment that generates radio waves for communication .microwaves ovens are
not usually called transmitters even they have similar circuits.

In radio communications, a radio receiver is an electronic device that receives radio

waves and converts the information carried by them to a usable form. it is used with an
antenna. the antenna intercepts radio waves and converts them to tiny alternating currents
which are applied to the receiver and the receiver extracts the desired information. the
receiver uses electronic filter to separate the desired radio frequency signals from all the other
signals picked up by the antenna , an electronic amplifier to increase the power of the signal
for further processing and finally recovers the desired information through demodulation.

The information produced by the receiver may be in the form of sound,images .a radio
receiver may be a separate piece of electronic equipment or an electronic circuit within
another device. Devices that contain radio receivers include television sets, radar equipment
two ways radios, cell phones, wireless computer networks devices satellite dishes, radio
telescopes.

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 In consumer electronics, the term radio and radio receiver are often used specifically
for receivers designed to reproduce the audio signals transmitted by radio broadcasting
station ,the first mass market commercial radio applications.

Fig.2.2 Receiver

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 Chapter 3.
Description

3.1Harmonic Radar
The operating principle of a harmonic radars to use a transponder to double the
fundamental frequency of the transmitting signal from the transceiver and use it as the
receiving signal of the transceiver. The transponders can be detected without the inuence of
environmental reection because the unwanted reection signals from these objects are
included in the fundamental frequency and can be ltered . Radar techniques make it possible
to determine the distances and the directions of the transponders. Therefore, the positions of
targets can be obtained.

Several radar techniques can be used to determine the distance of a harmonic radar
transponder. the distances were obtained from the power ratio of the transmitting and
receiving signals. Although these systems are simple, they are sensitive to the environment or
system loss and have low range accuracy. The approaches in and measure the time delays
between the envelopes of the transmitted and received pulsed signals. Although time delays
are not related to the signal power level, the shortest detection distances are limited by the
pulsed widths. a biased transponder reduced the transmission power of the high accuracy
FMCW radar technique. However, this type of a high-power CW source is not easy to obtain.
In summary, accuracy and detection ranges remain challenges for harmonic radars. Accuracy
is important because the targets are small. Thus, high accuracy can achieve more accurate

15
positioning. Because the conversion rate of the passive transponders low, the output power or
sensitivity must be increased to improve the detection range.

We propose a new harmonic radar using the pseudorandomcode (PRN code)

positioning technique, which is one of a spread spectrum technique to achieve high accuracy
and high sensitivity simultaneously . Using the correlation of PRN codes, the distances of the
bees can be obtained with high range accuracy. Changing the continuous PRN code signal to
the pulsed continuous PRN code signal reduces the average power according to the duty
cycle of the signal. The processing gain from the correlation of PRN codes improves the
sensitivity with the chip number. A new method to cancel the local leakage is also proposed
so as not to degrade the sensitivity of the radar. To put the transponder on a bee, a small and
lightweight transponder was designed to minimize the effect on the body of the bee. The
proposed 9.4/18.8-GHz harmonic radar achieves transceiver sensitivity of 120 dB, which is
27 dBlower than the 93-dBm noise level. Field testing shows that the detection range is 60 m
with a 1.75-W transmit power. The sensitivity is 106 DB, which is 13 dB lower than the noise
level of 93 dBm. This improvement in sensitivity achieves a150% improvement in the
detection range, which is expected to be 900 m when the output power is 3 kW. Therefore,
the PRNcode positioning technique signicantly improves the accuracy and detection range.

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 Fig. 3.1 harmonic radar

3.2 Isolation radar

Echoes from natural environment such as land , sea , and weather are called clutter.
They are called clutter because they will clutter the radar display. Isolation between
transmitter and receiver are the isolation required depends on transmitter power, transmitter
noise and sensitivity of the receiver.

Large distance CW radar introduces more transmitter noise. Transmitter clutter:

transmitter noise that enters the radar receiver via back scatter from the clutter. False targets:
transmitter signals are not a pure CW. The associated side bands may mask the desired signal
or generated false targets. Transmitter generates continuous sinusoidal oscillations of
frequency.it is radiated by the antenna. CW radar receives the echo signal while it transmits.
In some single pass dual pass aperture system energy can leak between receiver channels.
Repeat pass single aperture system do not suffer from channel isolation problems. Multipath
from other platform scattering sources appears as phase modulation at a frequency
propotional to the scatterer antenna separation.

Fig.3.2 Isolation Radar

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 If the lack of isolation is there between transmitter and receiver , receiver burn out and
masking of wanted signals by transmitter noise .Introduction to flicker noise due to
homodyne. There is lack of matched filter in the receiver. Without isolation unable to
identifying whether the target is approaching or receding .increased clutter compared to
pulsed radar. With the help of isolation radar , measurement of range is not possible .pulsed
radar is more useful than CW radar.

Here the transmitter transmits a train of narrow rectangular shaped pulse modulating
a sine wave carrier. The range to the target is determined by measuring the time taken by the
pulse to travel to the target and returned to the radar stations. Isolation of transmitter and
receiver reducing the leakage of the transmitter signal from the receiver can be achieved by
the two antennas, one for receive and one for transmit. They are physically separated so as to
minimize their mutual coupling. Absorbing material between two antennas further prevent the
transmitter signal from entering the receiver. A small sample of the transmitting signal can be
detected to the receiver to cancel the portion of the transmitter signal. Even if there were
perfect isolation between transmitter and receiver, the transmitter signal can enter the receiver
via scattering from nearby clutter or other obstructions.

3.2.1 Sensitivity
Sensitivity in a receiver is normally defined as the minimum input signal required to
produce a specified signal-to-noise S/N ratio at the output port of the receiver and is defined
as the mean noise power at the input port of the receiver times the minimum required signal-
to-noise ratio at the output of the receiver:

The sensitivity of an electronic device, such as a communications system receiver or

detection device such as a pin diode is the minimum magnitude of the input signal required to
produce a specified output signal having a specified signal to noise ratio or other specified
criteria.

3.2.2 Antenna
An Antenna is a specialized transducer that converts radio frequency field into
alternating current.

1.ReceivingAntenna
2. Transmitting Antenna

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 Radar is an object detection system which uses radio waves to determine the range,
altitude, direction, or speed of objects. It can be used to detect aircraft, ships, spacecraft,
guided missiles, motor vehicles, weather formations, and terrain. The radar dish or antenna
transmits pulses of radio waves or microwaves which bounce off any object in their path.
Antennas fall into two general classes, omni directional and directional.

In the Context Of Radars -: Radar is an object detection system which uses radio
waves to determine the range, altitude, direction, or speed of objects. It can be used to detect
aircraft, ships, spacecraft, guided missiles, motor vehicles, weather formations, and terrain.
The radar dish or antenna transmits pulses of radio waves or microwaves which bounce off
any object in their path. The object returns a tiny part of the wave's energy to a dish or
antenna which is usually located at the same site as the transmitter. Radar was secretly
developed by several nations before and during World War II. For radar applications you
want an antenna that is highly directive, narrow main beam, low side lobes, and the ability to
scan quickly.

Fig.3.2.2.1 Antenna

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 Many other factors such as bandwidth, polarization, scan loss also come into play. .
Antenna Characteristics Independent of the use of a given antenna for transmitting or
receiving, an important characteristic of this antenna is the gain. Some antennas are highly
directional; that is, more energy is propagated in certain directions than in others. The ratio
between the amount of energy propagated in these directions compared to the energy that
would be propagated if the antenna were not directional (Isotropic Radiation) is known as its
gain. When a transmitting antenna with a certain gain is used as a receiving antenna, it will
also have the same gain for receiving. Antenna Gain Antenna Pattern Most radiators emit
(radiate) stronger radiation in one direction than in another. A radiator such as this is referred
to as anisotropic. However, a standard method allows the positions around a source to be
that one radiation pattern can easily be done.

Very useful for average high power rockets. They may not have the range for very
high altitude or long range flights. In most cases at Lucerne Valley, with waivers available at
ROC launches, they should be more than adequate. Almost all non-licensed systems are set
up to be turn-key, and work out of the box with no configuration required. Some non-
licensed systems have Bluetooth interfaces that can send position data directly to a smart
phone, but most require the user to read the coordinates from the receiver and manually enter
them into the phone.The advantage to GPS based systems is the search is much simpler, since
your rocket essentially tells you where it is. There is also the possibility, depending on
specific systems, to have telemetry data for things like system voltage, temperature, etc.

20
 Chapter 4
Applications area and scopes

4.1Tracking Movements of Individual Anoplophoraglabripennis

A beetle from China that has been found in the United States and is a threat to hardwood
treeslives inside the treeno natural predators in the United State.

Movements of 55 Anoplophoraglabripennis (Motschulsky) adults were monitored on 200

willow trees, Salix babylonica L., at a site 80 km southeast of Beijing, China, for 914 d in
an individual markrecapture study using harmonic radar. The average movement distance
was 14 m, with many beetles not moving at all and others moving >90 m. The rate of
movement averaged almost 3 m per day. Movement patterns differed strikingly between the
sexes: males averaged >6 times the total movement distance of females at 2 times their rate.
The overall recapture rate in this short-term experiment was 78%, but the radar tags attached
to individual beetles often broke or otherwise were rendered undetectable after several days
in the field. Currently, the harmonic radar system is useful for tracking beetles and obtaining
estimates of their movement rates over short time periods. It will become useful for longer-
term studies as more durable tags are developed.

4.2 A 3D, outdoor small object environment

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 Automatic tracking of bees while pollinating macadamia trees is important for the
understanding of reproductive biology and fruit yield. We present techniques for tracking
these small targets in an uncontrolled illumination environment and where the background
is not fixed. Our results indicate we can track, based on color, bees moving in 3D in paths
over 3s long .Applications of image segmentation, motion detection in a sequence of frames
and object tracking have focused on tracking relative large objects that travel in restricted
fashion. A typical example is tracking vehicles from another vehicle. These systems have
achieved real-time performance; but large numbers of pixels in a blob correspond to moving
objects. Thus, methods can afford extracting features (lines and corners) to identify object
flow . Also, the objects do not change direction rapidly (cars are essentially restricted to
travel in 2D space), so the clusters of directional vectors can be updated smoothly over
several frames.

Optical flow techniques are computationally expensive and regarded as unrealistic

in many real-time situations unless specialized hardware is available . A method for
detecting and tracking multiple moving objects, using both a large spatial region and a large
temporal region, without assuming temporal motion constancy is described. When the large
spatial region of analysis has multiple moving objects, the motion parameters and the
locations of the objects are computed for one object after another. A method for segmenting
the image plane into differently moving objects and computing their motions using two
frames is presented.

4.3 Shape-and-Behavior Encoded Tracking of Bee Dances

Behavior analysis of social insects has garnered impetus in recent years and has led to
some advances in fields like control systems and flight navigation. Manual labeling of
insect motions required for analyzing the behaviors of insects requires significant investment
of time and effort. In this paper, we propose certain general principles that help in
simultaneous automatic tracking and behavior analysis, with applications in tracking bees and
recognizing specific behaviors that they exhibit. The state space for tracking is defined using
the position, orientation, and current behavior of the insect being tracked.
The position and the orientation are parameterized using a shape model, whereas the
behavior is explicitly modeled using a three-tier hierarchical motion model. The first tier

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(dynamics) models the local motions exhibited, and the models built in this tier act as a
vocabulary for behavior modeling. The second tier is a Markov motion model built on top of
the local motion vocabulary, which serves as the behavior model. The third tier of the
hierarchy models the switching between behaviors, and this is also modeled as a Markov
model. We address issues in learning the three-tier behavioral model, in discriminating
between models, and in detecting and modeling abnormal behaviors.
Another important aspect of this work is that it leads to joint tracking and behavior analysis
instead of the traditional "track-and-then-recognize" approach. We apply these principles for
tracking bees in a hive while they are executing the waggle dance and the round dance.

4.4 Object Tracking using Color Correlogram:

Color histogram based representations have been widely used for blob tracking. In
this paper, a new color histogram based approach for object representation is proposed. By
using a simplified version of color correlogram as object feature, spatial information is
incorporated into object representation, which allows variations of rotation to be detected
throughout the tracking therefore rotational objects can be more accurately tracked. The
gradient decent method mean shift algorithm is adopted as the central computational module
and further extended to a 3D domain to find the mostprobable target position and orientation
simultaneously.

The capability of the tracker to tolerate appearance changes like orientation changes,
small scale changes, partial occlusions and background scene changes is demonstrated using
real image sequences. Visual tracking is a challenging task in the vision community. Real-
time tracking in complex environment requires both discriminative object representation and
effective probabilistic estimation framework, with the former component being the crucial
base for the latter one.

4.5 Robust bee tracking with adaptive appearance template and

geometry-constrained resampling

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 Studying and analyzing inter-communication among bees requires tracking of many
bees. Manual labeling of bees over many frames is painstaking and time-consuming.
Automated tracking is challenging because of the appearance change and unreliable features.
This problem is magnified when tracking for a longer period of time is required. We present a
method for tracking bees that minimizes the accumulation of error over time by using static
and adaptive appearance templates for handling appearance change, and geometry-
constrained resampling of particles for handling unreliable features.
Evaluation against manually-labeled ground truth demonstrates that our method tracks
bees with an RMSE of 8.7 pixels (typical bee length is 100 pixels), and 75% position and
58% angular error improvement over a particle filtering based tracking with gaussian
modeling of appearance. There has been a lot of focus in studying the behaviors of social
animals, such as honey bees, in recent years among biologists. Honey bees live in colonies of
thousands, and they communicate continuously to address the needs of the colony. To study
the behavior of bees requires the bees to be tracked over a period of time. To perform this
tracking manually is time-consuming, expensive and prone to human errors.

4.6 An MCMC-Based Particle Filter for Tracking Multiple Interacting

Targets

We describe a Markov chain Monte Carlo based particle filter that effectively deals
with interacting targets, i.e., targets that are influenced by the proximity and/or behavior of
other targets. Such interactions cause problems for traditional approaches to the data
association problem. In response, we developed a joint tracker that includes a more
sophisticated motion model to maintain the identity of targets throughout an interaction,
drastically reducing tracker failures. The paper presents two main contributions: we show
how a Markov random field (MRF) motion prior, built on the fly at each time step, can
substantially improve tracking when targets interact, and we show how this can be done
efficiently using Markov chain Monte Carlo (MCMC) sampling.
We prove that incorporating an MRF to model interactions is equivalent to adding an
additional interaction factor to the importance weights in a joint particle filter. Since a joint
particle filter suffers from exponential complexity in the number of tracked targets, we
replace the traditional importance sampling step in the particle filter with an MCMC
sampling step. The resulting filter deals efficiently and effectively with complicated

24
interactions when targets approach each other. We present both qualitative and quantitative
results to substantiate the claims made in the paper, including a large scale experiment on a
video-sequence of over 10,000 frames in length.

4.7 Method for tracking the location of mobile agents using stand-off
detection technique

A method for tracking the movement and position of mobile agents using light
detection and ranging (LIDAR) as a stand-off optical detection technique. The positions of
the agents are tracked by analyzing the time-history of a series of optical measurements made
over the field of view of the optical system. This provides a (time+3-D) or (time+2-D)
mapping of the location of the mobile agents. Repeated pulses of a laser beam impinge on a
mobile agent, such as a bee, and are backscattered from the agent into a LIDAR detection
system. Alternatively, the incident laser pulses excite fluorescence or phosphorescence from
the agent, which is detected using a LIDAR system.

Analysis of the spatial location of signals from the agents produced by repeated pulses
generates a multidimensional map of agent location. This invention relates to a method for
tracking the location of mobile agents using the stand-off optical technique, light detection
and ranging (LIDAR), which is also called laser radar (LADAR). There are a number of
apparatus patents describing LIDAR optical systems. The method of multi-dimensional
mapping of the location of mobile agents using a LIDAR system is a novel aspect of this
invention. A LIDAR remote sensing apparatus comprising a laser transmitter and a receiver
in which the radiation return is spectrally analyzed, a fluorescent target at a considerable
distance from said transmitter and receiver, and means for aiming said transmitter and
receiver at said fluorescent target.

The presence of pollutants between the LIDAR system and said target is deduced
from the attenuation of the radiation return at several wavelengths or from the Raman
backscatter due to specific air pollutants. in an archive or a data base. lidar comprising a
source for the emission of a laser beam, an optical receiving system to focus the
backscattered radiation, and an optical channels separator and means for processing the
detected signals. The device comprises means for forming the ratio, two by two, of the

25
signals originating from the optical channels separator and means for making the comparison
between the values of the ratios and a series of values stored

Chapter 5

Conclusion and future scope

How bumblebees quickly find the shortest route to feed from numerous flowers. In
this PLOS Biologue post, we take a look at some of the media interest in this article.
Environment Correspondent Louise Gray summarizs the study, and how it could help farmers
identify the best ways to grow crops to ensure faster pollination. The results showed that the
bees would try a number of different routes to a flower and between plants in order to work
out the quickest way to and from a food source. Within hours or even minutes, the apparently
random flight of the bumblebee is an efficient and learned route.

A computer program that tracks animal behavior, thereby revealing various features and
mechanisms of social animals, is a powerful tool in ethological research. Because honeybee
colonies are populated by thousands of bees, individuals co-exist in high physical densities
and are difficult to track unless specifically tagged, which can affect behavior. In addition,
honeybees react to light and recordings must be made under special red-light conditions,
which the eyes of bees perceive as darkness. The resulting video images are scarcely
distinguishable. We have developed a new algorithm, K-Track, for tracking numerous bees in
a flat laboratory arena.

26
Our program implements three main processes:

(A) The object (bee's) region is detected by simple threshold processing on gray scale
images,

(B) Individuals are identified by size, shape and spatiotemporal positional changes, and

(C) Centers of mass of identified individuals are connected through all movie frames to yield
individual behavioral trajectories. The tracking performance of our software was evaluated on
movies of mobile multi-artificial agents and of 16 bees walking around a circular arena. K-
Track accurately traced the trajectories of both artificial agents and bees. In the latter case, K-
track outperformed Ctrax, well-known software for tracking multiple animals.

To investigate interaction events in detail, we manually identified five interaction categories;

crossing, touching, passing, overlapping and waiting, and examined the extent to
which the models accurately identified these categories from bee's interactions. All 7
identified failures occurred near a wall at the outer edge of the arena. Finally, K-Track and
Ctrax successfully tracked 77 and 60 of 84 recorded interactive events, respectively. K-Track
identified multiple bees on a flat surface and tracked their speed changes and encounters with
other bees.

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 References
[1]. Z. M. Tsai et al. A high-range-accuracy and high-senstivity harmonic radar using pulse
pseudorandom code for bee searching IEEE Trans. Microw. Theory Techn. Vol. 61 no. 1 pp.
666 675 Jan. 2013.

[2]. M.L. Hsu et al. Portable 9.4/18.8 GHz harmonic radar system using pulse
pseudorandom code principle in Proc. Eur. Microw. Conf. Paris France Sep. 2015 pp.885
-888.

[3] J. L. Osbome et al. A landscape-scale study of humble bee foraging range and constancy
using harmonic radar J. Appl. Ecol. Vol. 36 no.4 pp. 519-533 1999 .

[4] Z.-M. Tsai et al. A high range resolution 9.4/18.8 GHz harmonic radar for bees
searching in IEEE MTT-S int . Microw .Symp. Dig. Montreal QC Canada jun. 2012 pp. 1-3.

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