The document describes the steps to create motion modeling projects in EMA3100A Target Motion Simulator. Motion modeling projects consist of six main stages: 1) selecting the project type, 2) defining the path creation method, 3) defining and modeling the paths, 4) configuration check, 5) viewing trajectory outputs, and 6) combining paths to create the final trajectory. It provides details on each step, including how to add and model paths using different available methods, view path previews, and combine paths to form the final motion trajectory.

1. EMA3100A
Target Motion Simulator
Creating Motion Modeling (MMP) Projects

2. EMA3100A Target Motion Simulator
EMA3100A Target Motion Simulator, is an engineering tool for use
in any kind of motion modeling and target tracking data set
(pathtrajectory) generation
 In 2D Cartesian Coordinates
 In 3D Cartesian Coordinates
 In Polar Coordinates (Range-Azimuth)
 In Polar Coordinates (Range-Elevation)
 In Polar Coordinates (Azimuth-Elevation)
and with planned extensions
 In Spherical Coordinates
 In GPS Framework (Latitude-Longitude-Altitude)
In this slide pack we detail how to create Target Tracking Projects,

3. EMA3100A Target Motion Simulator
EMA3100A Target Motion Simulator, Motion Modeling Projects
(MMP) consist of mainly six basic stages
 Selecting Project Type
 Defining Path Creation Method
 Defining and Modeling the Paths
 Configuration Check
 Animated or Static Trajectory Viewer Graphical Outputs
 Combining Paths in Any Order to Create Final Trajectory

4. EMA3100A Creating Motion Modeling Projects
Step 1 – Motion Modeling Projects (MMP) creation start with
selection of New project item from File menu, which opens the New
Project Creation dialog

5. EMA3100A Creating Motion Modeling Projects
Step 2 – After properly naming the project and selecting Target
Tracking as Project Type, Project Folder can be chosen from
existing directoriesfolders or a specific folder to hold project items
can be created

6. EMA3100A Creating Motion Modeling Projects
Step 3 – When pressed OK, the next step is selection of Project
Type, in other words the coordinate system for intended project, in
this example we have chosen 3D coordinate system and by
pressing Configure button the next screen for Motion Modeler
selection and definitions come up

7. EMA3100A Creating Motion Modeling Projects
Step 4 – Motion Modeler screen consist of Target Name entry,
sampling time entry and Method selection blocks, once the values
are entered and method is selected, pressing Edit opens up the
TMM-Path Modeler for individual Path additions and modeling
If motion modeling will be done for
more than one item or target, then
target name and sampling time
should be entered at this stage as
Target Name and S-Time
respectively
For this example we have chosen
one target as T1 with an aimed
trajectory sampled at 0.1ms

8. EMA3100A Creating Motion Modeling Projects
Currently there are five methods for selection
 By Known Functions and SPToM – (KF-SPToM)
 By TOP and SPToM – (TOP-SPToM)
 By SOP and SPToM – (SOP-SPToM)
 By V Vectors and SPToM – (V-SPToM)
 By A Vectors and SPToM – (A-SPToM)
SPToM stands for Start Point plus Time of Motion
TOP and SOP stand for Third Order & Second order Polynomials
V and A Vectors stand for Velocity and Acceleration Vectors

9. EMA3100A Creating Motion Modeling Projects

10. EMA3100A Creating Motion Modeling Projects
Step 5 – We added two paths as Path1 and Path2, and the next
thing is modeling the path by right clicking Model the Path menu
item after selecting the path to be modeled, which opens TMM
Editor

11. EMA3100A Creating Motion Modeling Projects
TMM Editor allows parameters
to be entered using respective
boxes and selections, for
selected method of Known
Functions and SPToM only
initial positions and Time of
Motion should be entered and
Function should be selected,
the generated path according to
function is saved in designated
file path. Once the path (in this
example it is shown for Path 1
which is P1) is generated by
pressing Generate button, it
can be plotted by Preview
button as shown in next slide

12. EMA3100A Creating Motion Modeling Projects

13. EMA3100A Creating Motion Modeling Projects
We repeat the same or similar procedure for modeling Path2, to
make t tractable we used same function and same time of motion
and changed only initial position producing the path graphically as
shown in next slide for Path2
Therefore Path1-P1 and Path2-P2 are literally same paths one
starting in a different initial position than other which will ease to
see how they are combined in next stage

14. EMA3100A Creating Motion Modeling Projects

15. EMA3100A Creating Motion Modeling Projects
Step 6 – At this step we combine the paths added and modeled to
form the final trajectory, since we added and modeled two paths
pressing Combine Paths button on TMM Path Modeler opens Path
Combiner with two available paths although the final trajectory
consisting of combination of those paths can be infinitely long (we
just combined two paths but all combinations are possible and
combination number and consequently final trajectory length can
go to very high numbers allowed by platform and OS capability )

16. EMA3100A Creating Motion Modeling Projects

17. EMA3100A Creating Motion Modeling Projects
Main function of Path
Combiner is generating
combined paths from
available paths defined by
the order of combination
and number of paths to be
combined. The paths can
be aligned automatically by
proper selection and a new
sampling time can be
defined for the final
trajectory which is the
ordered combination of
available paths, in this
example it is P1+P2 as
shown in next slide

18. EMA3100A Creating Motion Modeling Projects

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