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  • 1. Moscow city, October 25, 2012 PRESENTATION enclosed to grant application from TRANSIST VIDEO LLC Innovative Project Name : The system of video-based navigation for unmanned aerial vehicles. Its application for navigation and airborne terrestrial robots control. Organization name: Transist Video Limited Liability Company
  • 2. 22 It’s not just ordinary project, it is Manhattan Project for video navigation Why? Let us illustrate this using the extract from the articles below
  • 3. 3 U.S. efforts to involve Russia in creation of unmanned aerial vehicles are part of the U.S. policy of Russian economy depletion by investing our limited resources in useless, Star Wars-like projects. Number of publications devoted to unmanned aerial vehicles (UAVs) is growing. They mostly claim that future belongs to UAVs. Anonymous Pentagon experts are quoted, stating that "... today there are no better means of warfare than drone planes," and giving examples of the successful use of UAVs in the invasion of Iraq in 1991. Since then, however, things have changed and the UAVs’ prospects are not so rosy. These publications quite rightly point out how much the USA is spending to build their own UAVs and how bad things are here in Russia. Indeed, things are in a bad way now – luckily, not unfortunately. Today UAVs are created by anyone who will take the trouble. The idea behind UAVs is attractive: to exclude a person from places where it is difficult or dangerous. Number of created and, especially, designed UAVs in the world is enormous. Naturally, everyone wants to lift their own aircraft into the air. But one question remains overlooked: who needs them and why? UAV designers recommend the whole list of application areas. In the peacetime they can be used for monitoring pipelines in tundra, finding seats of forest fires and searching for fish shoals, and so on. In the wartimes they can be used mainly for adversarial intelligence, precision low-level bombing, air-to-ground missiles releasing on targets that are difficult to access (such as caves in the mountains). However, it never seems to occur to anybody, that all these actions are impracticable specifically in the wartimes. They are impracticable due to the following reasons. In order to navigate any UAV within and outside the country, i.e. to determine its own coordinates and use them to control the flight, GPS satellite navigation system combined with an inertial guidance system is used. Accuracy of the inertial system based on gyroscopes, i.e. on the spinning of the top, alone is not sufficient to determine its own coordinates. For example, while performing photo-reconnaissance you need to combine recorded photographs of tanks standing on the ground with their precise geographical coordinates. Such coordinates can be obtained only using GPS (as well as, possibly, GLONASS and Galileo in the future). In order to do this UAV has to know its geographical coordinates with maximum precision. That’s why UAVs are equipped with signal receivers from GPS satellites. Receivers can operate continuously, constantly measuring the current coordinates of the UAV, as well as be activated occasionally, correcting the work of the inertial navigation system. UAVs have to know their geographical coordinates for desired track flight, as well as for returning to the base they bring intelligence information to. Likewise, current UAV-target relative coordinates have to be known to a high precision for the precision bombing and air-to-ground missiles launching. The accuracy required to solve these problems cannot be provided by the inertial navigation system or any other systems, except for satellite ones. That's why GPS satellite navigation system has to be used additionally (as well as, possibly, GLONASS and Galileo in the future). Now let us ask ourselves a simple question: what would happen if the airborne receiver of signals from GPS (or other similar systems) satellites will be disabled by electronic jamming organized by the enemy? The answer is simple: the receiver would be useless, because it is no longer be able to measure coordinates. As a result, reconnaissance and combat UAVs would become useless as well. When we were confronted with a question how to deal with small-dimension UAVs with low reflective surface for radars and low altitude of flights, it turned out that the only way to deal with them is the same old "jammer“. Creating an electronic jamming field for GPS covering theatre of operations as a sunshade results in neutralizing UAVs in addition to neutralizing precision weapons and disrupting troop command and control. Intelligence information obtained by photo and video cameras without precise association with the terrain do not have any value. Besides, the UAVs themselves, without knowing their coordinates, most likely will not be able to return to the base and will be lost. 3 IS IT THE RIGHT WAY TO GO, “DRONES”? О. Antonov, Doctor of Engineering, Aviaconversia LLC (article from the website uav.ru) "
  • 4. 4
  • 5. 5 Project general description Description of the problem that the Project is addressing to Nowadays availability of the GPS signal is necessary condition for UAVs operating. Signal failure or its deliberate suppression makes it impossible to determine the coordinates accurately, and, as a result, to accomplish a desired track flight. The use of inertial navigation systems also doesn’t solve the problem completely: solutions existing at the market (GPS/INS) are not autonomous, precision products are costly and are not noise-proof. The project suggests to solve the problem of ensuring the autonomy of UAVs in the absence of satellite navigation signals on the basis of alternative data sources: image information from onboard daytime and infra-red photo/video cameras and digital terrain data. We develop also simplified commercial video navigator for airborne unmanned ground vehicles (robot-lawnmower) control  Essentials of the development (description of the product (technology) and its characteristics) 1. It is planned to develop a software package including three approaches for comprehensive video navigation solution:  The approach, which uses the current image without additional information. The program finds specific points in the first frame of the video and then tracks their movement in the frame. By the nature of moving it determines changes in the position and orientation of the camera.  The terrain association approach, which uses stereo effect produced by the movements of the camera. It restores the terrain and compares it to the prestored data. In case of "recognition" exact location and orientation of the camera are determined.  The approach of precise photo-reference. Video frames are compared to the prestored images of the route segments. In case of "recognition" exact location and orientation of the camera are determined. 2. A simplified commercial video navigator for airborne unmanned ground vehicles (robot-lawnmower) control and working breadboard model of the video navigator for UAVs are going to be created based on the developed software package.  Technological direction of the Project Space technology, especially in the field of telecommunications and navigation systems (including the development of a required ground infrastructure) Stage of the project to which the application is submitted  Seed stage (stage 1, in accordance with the grant policies of the Fund) The dynamics of the project development up to date  Two patent applications on the subject of air navigation for unmanned ground vehicles are filed., one patent is already gotten/  A database containing algorithms for video navigation is created. The works belong to the Project designers as well as are published by other researchers.  Basic approaches and algorithms, which are protected as a know-how, are determined. General Description, Project Stage, and its Development Dynamics 1. The Innovative Project Summary (hereinafter referred to as the Project)
  • 6. 6 Current Status and Possibilities of the Development Current status  The Project company is established, searching for investor. Technical parameters of the Project’s product  1st approach: position error when moving along open paths is about 1/1000-1/10000 in relation to the distance covered: angle error is 0.00000001 - 0.000005 deg/m (for standard parameters). When moving along closed paths error can be reset when entering already covered segment.  2nd and 3rd approaches: error depends on the resolution of the camera, the distance between the survey points for a pair of images compared, the number of matching points and precision of their tracking, flight altitude, accuracy of available terrain data, resolution of the terrain map, type of the terrain: 3-50 m position error, 0.02-1.39 degrees orientation error (for standard parameters). Achievement plan  Now Project is at the stage of research and development: ‒ Basic approaches and algorithms are defined. ‒ During the development new intellectual property in the field of video navigation and airborne unmanned ground vehicles control that needs to be patented will be created and patented.  Execution of the Project is planned in two phases over 24 months: ‒ 1 Project year: Intermediate product. New software for UAV video navigation and object recognition ‒ 2 Project year: Final product: Video navigator for UAVs and unmanned ground vehicles, their testing. Software implementation of the algorithms in the form of a PC software package for processing input data in order to reconstruct the flight path Hardware implementation of the approaches in the form of specialized computing devices, as well as further improvement and development of the created approaches Testing based on flight data and imagery Flight testing 3 month 9 month 1. The Innovative Project Summary (hereinafter referred to as the Project) 9 month 3 month 1 stage 2 stage
  • 7. Stage Measures Results Supporting documents 1 stage Algorithms development - three approaches to the video navigation of UAVs Algorithms codes MS Word documents Software implementation of the algorithms – three approaches to the video navigation of UAVs Programs codes Application files *.exe Development of the simplified algorithms for unmanned ground vehicle Algorithms and programs codes MS Word documents, application files *.exe Testing based on flight data and imagery (program execution based on previously filmed or real flight) Matching the reconstructed flight path with the real or modeled one Test sheets 2 stage Development of the hardware package (inertial system, camera, FPGA, memory with database on the terrain - namely, landscape, photos) Breadboard model (for UAVs) and brassboard model(for unmanned ground vehicle) Breadboard and brassboard models Program multisequencing for FPGA Algorithms and programs codes Application files *.exe Flight testing Data on direct measurement of navigation parameters obtained using GPS and video navigation Test sheets 7 Planned Stages of Research and Development and Midline Target Values 1. The Innovative Project Summary (hereinafter referred to as the Project)
  • 8. 8 2. Target Market and Competition Consumer needs  The project has 2 target audiences: UAV producers and robot- lawnmowers producers, who has similar needs: they need high-precision and relatively inexpensive video navigator, that can work with no satellite signals. Sources: http://uav.ru, http://www.uav-dozor.ru/ Commercialization scheme The project offers the commercialization opportunities at each implementation stage: Company name Scientific Systems Company Skilligent Standard GPS/INS Video navigator programm for UAV, graphical movies (1000m) Video navigator for UAV, actual flight tests (1000m) Video navigator programm for robot- lawnmower, graphical movies Video navigator for robot- lawnmower, , actual tests Standard DGPS/INS Stage Under development Under development Method 1 (without additional information) no no Method 2 (digital map) yes no Method 3 (space and aerophoto of locality) no yes Tangled situation no little Price/ Owning cost, [RUR] Undefined Undefined 5,000$ 4,990$ 200$ 300$ Positioning accuracy, in metres, given optimum conditions 12m 10m 10m 10m 0.3m 0.3m 0.3m Analogous products development  Skilligent, Scientific Systems Company, Inc. develop similar products  No one applies the ground robots air navigation and it is the project authors’ genuine technology  The video navigators are at the moment in development stage, their characteristics aren’t specified yet Market segment the product is focused on:  By location: Russia, USA, Israel, Europe, South Korea  By product type: UAV, robot lawnmowers Potential customers of the project product  UAV producers: Tranzas, Irkut, Israel Aerospace Industries  robot-lawnmowers producers: LG, Samsung Creation of the program package for sale Creation of functioning model and start-up sale Further video navigator adaptation for specifications and creation preproduction series for sale Creation of preproduction and final product sale to the customers Sale of company to the big strategic investor
  • 9. 2. Target Market and Competition Commercial companies 9
  • 10. США: Европа: Израиль: Южная Корея: 2. Target Market and Competition Universities and Scientific Centers 10
  • 11. 11 2.Target Market and Competition Robots Industrial robots Service robots Other appliance Space rovers Domestic robots Robot lawnmowers Other domestic robots UAV Segments for which the project products are developed: 1500 400 200 550 50 1750 500 120 530 25 0 200 400 600 800 1000 1200 1400 1600 1800 США Европа Средняя Азия АТР Другие TheamountofUAV,units 2010 2016 USA Europe Central Asia APR Others 190 201 212 220 231 220 500 550 605 666 699 734 0 200 400 600 800 1000 1200 2010 2011 2012 2013 2014 2015 $M Навигационное оборудование для БПЛА Системы технического зрения для БПЛА • Navigation facilities for UAVs • Vision systems for UAVs The forecast of potential market of project products for UAV Before 2009 below 20 systems were sold. In the coming 3 years the same is expected. Given the average cost of the system is $0.5М the market volume is about $10М The market assessment (Air video navigators for robot-lawnmowers) 2010 2012 2017 2020 World market In numerical terms, units - - 60000 90000 In monetary terms, $M - - 18 27 Domestic market In numerical terms, units - - 1200 4800 In monetary terms, $M - - 0.36 0.54 In 2017-2020 the ro robot-lawnmowers market volume is expected to be $18-27М annually.  About 2,700 UAV of all types are annually sold worldwide. In the coming five years about 3,000 UAV will be sold annually.  The share of civil UAV is small in comparison with the market of military UAV, but it will grow and by 2016 can exceed 16% of the market.  The project product combines navigation facilities and the vision systems. The sum of the markets exceeds $750M annually with the growth prospects to $900M by 2016. About 60% of this market falls on USA, and the major part of the rest falls on Europe and Asia-Pacific Region.
  • 12. 12 2.Target Market and Competition The sources on navigators for UAV Unmanned Aerial Vehicles (UAVs) for Commercial Applications Global Market & Technologies Outlook 2011-2016, Lead Analyst: Ed Herlik http://defense-update.com/20120502_uav_market_research_2011- 2021.html Teal group’s prediction on future UAV market. http://www.suasnews.com/2011/03/3981/teal-group-predicts- worldwide-uav-market-will-total-just-over-94-billion-in-its-just- released-2011-uav-market-profile-and-forecast/ «E/ME 103 Final Report», Team Pioneer: Kevin Gu, James Leet, Amit Alon, Manpreet Singh http://www.pickar.caltech.edu/e103/papers/Micro%20UAVs.pdf http://www.memoid.ru/node/Perspektivy_razvitiya_bespilotnoj_aviacii http://www.aviaport.ru/news/2011/07/14/218428.html http://nvo.ng.ru/armament/2009-09-11/1_bespilotniki.html The UAV Payload & Subsystems Market 2012-2022, https://www.visiongain.com/Press_Release/233/%27UAV-Payload- and-Subsystems-market-to-be-worth-2-96bn-in-2012%27-says- visiongain-report «FY2009–2034 Unmanned Systems Integrated Roadmap»: www.acq.osd.mil/psa/docs/UMSIntegratedRoadmap2009.pdf The sources on navigators for robot-lawnmowers : OUTDOOR APPLIANCES AND POWER TOOLS: A GLOBAL STRATEGIC BUSINESS REPORT HTTP://WWW.COMPANIESANDMARKETS.COM/NEWS/CONSUMER- GOODS/OUTDOOR-APPLIANCES-AND-POWER-TOOLS-MARKET-VALUE-TO- REACH-110-MILLION-UNITS/NI3839 HTTP://WWW.TRANSWORLDNEWS.COM/760907/C1/OUTDOOR-APPLIANCES-AND- POWER-TOOLS-A-GLOBAL-STRATEGIC-BUSINESS-REPORT-NEW-MARKET- RESEARCH-REPORT Russian gardening equipment market review: lawnmowers, motor cultivators (2004- 2010) http://www.restko.ru/market/2606 Lawn and Garden Tractors and Home Lawn and Garden Equipment SIC 3524, http://business.highbeam.com/industry-reports/equipment/lawn-garden-tractors- home-lawn-garden-equipment All Seasons Lawn Equipment, http://www.sizeup.com/business/all-seasons-lawn- equipment-dale The Robot Report http://www.therobotreport.com/index.php/robot_lawnmowers_still_a_costly_work_in_proc ess/ ION competition of the most advanced robot lawnmowers. Results as of 2012 presented here: http://robomow.ion.org/?p=281 Henry Huang “Bearing only SLAM A Vision-Based System for Autonomous Robots” http://eprints.qut.edu.au/28599/1/Henry_Huang_Thesis.pdf Rand C. Chandler, Dr. A. Antonio Arroyo, Dr. Michael Nechyba, Prof. Eric Schwartz .
  • 13. 13 3. Technology and intellectual property Innovation description • 1 stage It is planned to develop a software package including three approaches for comprehensive video navigation solution  2 stage Creation of video navigator device by means of new improved video navigation procedure development. Scientific and technological novelty description  The most important characteristics of the video navigator that distinguish it from GPS-type systems are: ‒ Autonomy ‒ The opportunity to adjust location and space orientation ‒ The opportunity to provide landing ‒ The opportunity to recognize the objects and to detect obstacles ‒ Low cost in comparison with other systems presently applicable  Simplified video navigators can be used for air operation and coordination of the ground robots’ actions. The offered system provides the independency of UAVs use with no satellite navigation signal on the basis of alternative data source.  At the moment 2 applications for Russian patent are submitted: ‒ the way of navigation and joint coordination of automated facilities ‒ the device for automated facilities coordination  The patenting is to be implemented in RF, USA, Europe, South Korea, Israel and Japan.  No patents in force were found during the preliminary search
  • 14. 14 4. Project Team and Co-investor Project team key members’ short CV Investment attraction plan Investment attraction to the current stage  Co-investor for 1 stage: Chetyre sveta LLC, st. Prospekt Vernadskogo, h. 8а, МMoscow, 119311 ,Tel. +74952281361 http://forlite.ru/about/ Investment attraction during the following Project implementation stages 1 stage: • 10M RUR – Co-investor • 30M RUR – Skolkovo Fund In case 2 stage is necessary: • 75M RUR Co-investor – potential buyer of preproduction series • 75M RUR Skolkovo Fund Alexander Rubinstein •Manager – economist •The area of responsibility: Commercialization and sales, programming • Project participation: full-time job •Place of employment: Economic Institute RAS, PhD in economics, senior research scientist: Interinvestservice CJSC , programmer Project manager: •Oleg Kupervasser •Owner, procedure group manager •Full-time job •Included in anniversary 30 edition of Marquis Who’s Who in the World •Veitsman Israeli Institute PhD, has 7-year work experience in project subject, where 5-year work experience in Israeli University Technion and Israeli company Rafael (cruise missiles), as well as 2-year work experience for big Russian company Tranzas. Has 5 scientific publications. The articles were included in the prestigious Russian and foreign conference collection (IEEE). Kogan Simon Algorithm developer, programmer Algorithm developing, programming Project participation: full-time job Place of employment: Israel, XTR Reality LTD Gershzon Leonid Vladimirovich Algorithm developer, programmer Algorithm developing, programming Project participation: full-time job Place of employment: IT menger of Neftepolis LLC Romanov Alexej Nikolaevich Physicist, programmer Algorithm developing, programming Project participation: full-time job Place of employment: MSU, SSC, PhD in Physics, scientist
  • 15. 15 5. Road Map and Project Financial Plan 1. Extended Project development plan: • During the first year the program package of video navigation and objects recognizing is to be developed; right of use of the package can be sold for RUR 210M. At this stage the IP protection is to be provided as well: – Procedures patenting – Patenting of video navigator for UAV – Patenting of video navigator for ground robot • During the second year the pilot model of video navigator and functioning simplified video navigator for robot-lawnmowers air navigation is to be developed. The expected sales value of title to the both products is about RUR 400-420M. In this case the company sale is expected. • In case the continuation of the company is decided the video navigator for UAVs and video navigator for robot-lawnmowers are to be further adapted for requirement and specifications of a certain consumer; creation of certified product preproduction series is required. After certification is finished the arrangement of the company’s products sale in accordance with the sales plan is possible (see below). Stage 1 Stage 2 Total Fund RUR 15M RUR 15M RUR 30M Co-investor RUR 5M RUR 5M RUR 10M Total RUR 20M RUR 20M RUR 40M Product 2017 2020 Video navigator for UAV RUR 5130M RUR 6306M Video navigator for robot-lawnmowers RUR 342M RUR 513M 2. Project financial plan: • Investment: RUR 40M (RUR 30M - Skolkovo/ RUR 10M– Co-investor) PROJECT COSTS Remuneration of labor Equipment Premises Tests performance Prototype job
  • 16. Key actions Current status (finished arrangement s) 1 stage, to which the grant is attracted 2 stage Implementation term I, year I, year II, year I, year II, year Research and development 1. Procedures and programs compilation - 3 methods of video navigation + + + - - 2. Simplified procedure for ground robots air navigation + + + - - 3. Creation of hardware components with FPGA, paralleling of programs for FPGA - - + - - 4. Flight tests - - + - + 5. Certified model and preproduction series creation - - - + + Marketing and adoption 1. Program package sale - - + - - 2. Start-up sale - - - + + 3. Preproduction series sale - - - - + Intellectual property 1. Patents and procedures + + + - - Financing 1. Skolkovo fund + 75% 75% 50% 50% 2. Co-investor - 25% 25% 50% 50%