The document discusses a project aimed at utilizing machine vision techniques to detect alignment errors in space launch vehicles, specifically ISRO's GSLV Mk-III. It outlines the advantages of this method over traditional inspection approaches, including speed, accuracy, and the ability to monitor vehicle alignment continuously during operations. The project includes the creation of a prototype for testing and the use of CAD software for design and modeling.

1. Machine Vision Technique to
avoid alignment
failure in Space Launch Vehicle
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2. LAUNCH VEHICLES OF ISRO
Sounding Rocket
SLV-3
ASLV
PSLV
GSLV-MkII
GSLV-MkIII
2
*Source: ISRO

3. GSLV-Mk III
S 200 STRAP ON
MOTORS 200 tons of
propellant each.
(100s of burning time)
L110 STAGE
C25 STAGE
ENCAPSULATED
ASSEMBLY
PSLV
3
*Source: ISRO

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Misalignment in pitch axis of & P+
strapon
(Front View)
Inclination in Yaw axis of P+
strapon
(Left Side view)
Axis offset of P+ strapon
(Top View)

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*Source: ISRO

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44.80
sinα
=
39.84
sin62°46°
Using Sine rule:

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✓20hours is required for single measuring process.
✓4-5 Operating personnel should be continuously employed.
✓Device error may accumulate.
✓High skill and lot of paper work is required.
✓3 simultaneous measurements are to be compared to confirm
the actual measurement.

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✓In this project, it is planned to use machine vision technique to
find alignment errors of space launch vehicle.
✓A system is proposed to inspect misalignment of the Space
Launch vehicle along with its strap on boosters via machine
vision system, which has many advantages over the traditional
methods.
✓ Before executing the project it is planned make a prototype
model and conduct the experiments in it.
✓Then planned to choose suitable material and scale of
prototype as per working convenience.
Machine vision is the technology used to provide imaging-based
automatic inspection and analysis for applications as automatic
inspection, process control, and robot guidance in an industry

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Preparation of drawings in AutoCAD
Software.
3D Modelling in Solid works
software for interface checks.
A prototype of 1:50 size ratio of Real
GSLV Mk-III vehicle is fabricated.

10. M5 screw
Wood screw
welded
DETAIL- A
M5 Nut
fixing
Location
A
M5 screw
fixing
Location
PART- 4
PART- 4
1
PART-1
PART-3
DETAILED PART DRAWING OF GSLV Mk-3
LAUNCH VEHICLE PROTOTYPE
PART-3
PART-4
MACHINING FINISH IN MICRONS
ASSEMBLY
CHAMFER 1mm x 45°
REMOVE SHARP EDGES AND BURRS
Adjustable
Screw Joint
ALL DIMENSION ARE IN MILLIMETERS
UNLESS OTHERWISE SHOWN
PART-2- 2Nos.
PART-2
PART-1
DRG.No:
PLAN
ASK IF IN DOUBT
ELEVATION
PART-2
DO NOT SCALE THE DRAWING
10
2D-AutoCAD Drawing
Solidworks 3D Model

11. Test Setup Arrangement
Capturing the image
Image analysis
Result
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RGB image

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RGB to Grayscale converted image Grayscale to Binary converted image

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•The initial pixel in higher contrast
difference region is selected to start
tracking the boundary.
• The selected pixel is compared
with neighbourhood pixels.
• If the grayscale value of one of
these eight pixels is higher than its
concentration, then that pixel
becomes the new boundary point.
•Then the traced boundary is
analysed
Boundary traced image
Boundary extracted image

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*Picture Credits: www.isro.gov.in

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*Picture Credits: www.isro.gov.in

20. •It is possible to monitor the launch vehicle continuously after
each and every operations.
• Compared with the traditional methods, this method is fast
and accurate.
•It is a Non contact, online method to check alignment.
•Utilization of direct Video processing technologies with frame
to frame monitoring can be introduced. So that Measurements
taken can be directly co-related with time based gradual
assembly loading of subsystems and subassemblies in space
launch vehicle.
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REFERENCES
1. D. Vernon, Machine Vision – Automated Visual Inspection and Robot
Vision, Cambridge University Press, Cambridge, 1991.
2. F.T. Farago, M.A. Curtis, handbook of Dimensional Measurement, 3rd
Edition, Industrial Press Inc., 1994.
3. R. Lu, Study on the Visual Alignment Technique for On-line
Measurement, The Research Report of Postdoctoral Research. Tianjin
University, China, 2000.
4. RavishankarRao, “Future directions in industrial machine vision: a case
study of semiconductor manufacturing applications”, Image and Vision
Computing 14, 1993, 3-19.
5. About historic launchers and operational launchers by ISRO.
Launchers overview: http://www.isro.gov.in/launchers/

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