This document summarizes a thesis on 3D intelligent object tracking and missile modeling and guidance design. The thesis aimed to develop an accurate environment for designing missile guidance techniques. It involved building a detailed nonlinear model of a missile system and its environment in simulation software. It also surveyed existing guidance techniques and developed new adaptive guidance techniques. These included a new digital guidance controller, a technique for realistic prediction of maneuvering targets, and a technique for intercepting high-speed targets. Validation tests showed the missile model and guidance techniques performed as intended.
User-friendly ways to capture temporal properties - Seminar at KTH, June 2015Patrizio Pelliccione
User-friendly ways to capture temporal properties:
* Properties Sequence Chart (PSC): a scenario-based visual language for specifying temporal properties which balances simplicity of use and expressive power
* Qualitative, Real-Time, and Probabilistic Property Specification Patterns
The 2016 Remote Sensing Field camp will take the form of two projects.
A low tech, low cost aerial photography project using visible spectrum UAV/Ultralight Aircraft mounted cameras as the sensor to demonstrate that relatively low tech, low cost solutions can achieve surprisingly good results when compared to more commercial systems.
A more high tech, high cost terrestrial LiDAR collect of a building or structure of historical or architectural significance.
The scope of a project will influence all other aspects of the project, including its cost, timing, quality and risk.
발표자: 이광무(빅토리아대 교수)
발표일: 2018.7.
Local features are one of the core building blocks of Computer Vision, used in various tasks such as Image Retrieval, Visual Tracking, Image Registration, and Image Matching. Especially for geometric applications, that is, finding the pose of the camera from images, it still remains the state of the art, even in the era of Deep Learining.
In this talk, I will introduce our recent works on using local features, as well as a recent self-supervised pipeline that learns to keypoints that are used to match images from scratch. I will first talk about how to learn to find good correspondences, then talk about how to go through losses based on eigen decomposition, which is essential when retrieving the camera pose. I will also introduce our latest local feature pipeline, which is self-supervised inspired by reinforcement learning.
Camera-based road Lane detection by deep learning IIIYu Huang
lane detection, deep learning, autonomous driving, CNN, RNN, LSTM, GRU, lane localization, lane fitting, ego lane, end-to-end, vanishing point, segmentation, FCN, regression, classification
Slides for the MoveIt! Community Meeting (Sept. 3, 2015)
- The State of MoveIt! - Sachin Chitta (Stealth Startup)
- OMPL - Mark Moll, Lydia Kavraki (Rice University)
- ROS-Control - Adolfo Rodríguez Tsouroukdissian (PAL Robotics)
- Updates to STOMP - Jorge Nicho (SwRI)
- MoveIt! based implementation of an I-AUV - Dina Youakim (University of Girona)
- Team VIGIR at the DRC - Stefan Kohlbrecher (Technische Universität Darmstadt)
- ROS 2.0 and Manipulation - Jackie Kay (OSRF)
User-friendly ways to capture temporal properties - Seminar at KTH, June 2015Patrizio Pelliccione
User-friendly ways to capture temporal properties:
* Properties Sequence Chart (PSC): a scenario-based visual language for specifying temporal properties which balances simplicity of use and expressive power
* Qualitative, Real-Time, and Probabilistic Property Specification Patterns
The 2016 Remote Sensing Field camp will take the form of two projects.
A low tech, low cost aerial photography project using visible spectrum UAV/Ultralight Aircraft mounted cameras as the sensor to demonstrate that relatively low tech, low cost solutions can achieve surprisingly good results when compared to more commercial systems.
A more high tech, high cost terrestrial LiDAR collect of a building or structure of historical or architectural significance.
The scope of a project will influence all other aspects of the project, including its cost, timing, quality and risk.
발표자: 이광무(빅토리아대 교수)
발표일: 2018.7.
Local features are one of the core building blocks of Computer Vision, used in various tasks such as Image Retrieval, Visual Tracking, Image Registration, and Image Matching. Especially for geometric applications, that is, finding the pose of the camera from images, it still remains the state of the art, even in the era of Deep Learining.
In this talk, I will introduce our recent works on using local features, as well as a recent self-supervised pipeline that learns to keypoints that are used to match images from scratch. I will first talk about how to learn to find good correspondences, then talk about how to go through losses based on eigen decomposition, which is essential when retrieving the camera pose. I will also introduce our latest local feature pipeline, which is self-supervised inspired by reinforcement learning.
Camera-based road Lane detection by deep learning IIIYu Huang
lane detection, deep learning, autonomous driving, CNN, RNN, LSTM, GRU, lane localization, lane fitting, ego lane, end-to-end, vanishing point, segmentation, FCN, regression, classification
Slides for the MoveIt! Community Meeting (Sept. 3, 2015)
- The State of MoveIt! - Sachin Chitta (Stealth Startup)
- OMPL - Mark Moll, Lydia Kavraki (Rice University)
- ROS-Control - Adolfo Rodríguez Tsouroukdissian (PAL Robotics)
- Updates to STOMP - Jorge Nicho (SwRI)
- MoveIt! based implementation of an I-AUV - Dina Youakim (University of Girona)
- Team VIGIR at the DRC - Stefan Kohlbrecher (Technische Universität Darmstadt)
- ROS 2.0 and Manipulation - Jackie Kay (OSRF)
Visual odometry & slam utilizing indoor structured environmentsNAVER Engineering
Visual odometry (VO) and simultaneous localization and mapping (SLAM) are fundamental building blocks for various applications from autonomous vehicles to virtual and augmented reality (VR/AR).
To improve the accuracy and robustness of the VO & SLAM approaches, we exploit multiple lines and orthogonal planar features, such as walls, floors, and ceilings, common in man-made indoor environments.
We demonstrate the effectiveness of the proposed VO & SLAM algorithms through an extensive evaluation on a variety of RGB-D datasets and compare with other state-of-the-art methods.
A SYSTEM CONCEPT FOR A 3D REAL-TIMEOFDM MIMO RADAR FOR FLYING PLATFORMSNexgen Technology
TO GET THIS PROJECT COMPLETE SOURCE ON SUPPORT WITH EXECUTION PLEASE CALL BELOW CONTACT DETAILS
MOBILE: 9791938249, 0413-2211159, WEB: WWW.NEXGENPROJECT.COM,WWW.FINALYEAR-IEEEPROJECTS.COM, EMAIL:Praveen@nexgenproject.com
NEXGEN TECHNOLOGY provides total software solutions to its customers. Apsys works closely with the customers to identify their business processes for computerization and help them implement state-of-the-art solutions. By identifying and enhancing their processes through information technology solutions. NEXGEN TECHNOLOGY help it customers optimally use their resources.
Commercial Drone Best Practices: How to Incorporate Data and Job SpecsColin Snow
Drones are an exciting platform that is now emerging as a competitive technology in a number of professional surveying data collection scenarios - including mobile and airborne LiDAR. This presentation presents an overview of what to consider when adding a remotely piloted airborne photogrammetry or laser scanning system to your practice.
AUTO LANDING PROCESS FOR AUTONOMOUS FLYING ROBOT BY USING IMAGE PROCESSING BA...csandit
In today’s technological life, everyone is quite familiar with the importance of security
measures in our lives. So in this regard, many attempts have been made by researchers and one
of them is flying robots technology. One well-known usage of flying robot, perhaps, is its
capability in security and care measurements which made this device extremely practical, not
only for its unmanned movement, but also for the unique manoeuvre during flight over the
arbitrary areas. In this research, the automatic landing of a flying robot is discussed. The
system is based on the frequent interruptions that is sent from main microcontroller to camera
module in order to take images; these images have been distinguished by image processing
system based on edge detection, after analysing the image the system can tell whether or not to
land on the ground. This method shows better performance in terms of precision as well as
experimentally.
Visual odometry & slam utilizing indoor structured environmentsNAVER Engineering
Visual odometry (VO) and simultaneous localization and mapping (SLAM) are fundamental building blocks for various applications from autonomous vehicles to virtual and augmented reality (VR/AR).
To improve the accuracy and robustness of the VO & SLAM approaches, we exploit multiple lines and orthogonal planar features, such as walls, floors, and ceilings, common in man-made indoor environments.
We demonstrate the effectiveness of the proposed VO & SLAM algorithms through an extensive evaluation on a variety of RGB-D datasets and compare with other state-of-the-art methods.
A SYSTEM CONCEPT FOR A 3D REAL-TIMEOFDM MIMO RADAR FOR FLYING PLATFORMSNexgen Technology
TO GET THIS PROJECT COMPLETE SOURCE ON SUPPORT WITH EXECUTION PLEASE CALL BELOW CONTACT DETAILS
MOBILE: 9791938249, 0413-2211159, WEB: WWW.NEXGENPROJECT.COM,WWW.FINALYEAR-IEEEPROJECTS.COM, EMAIL:Praveen@nexgenproject.com
NEXGEN TECHNOLOGY provides total software solutions to its customers. Apsys works closely with the customers to identify their business processes for computerization and help them implement state-of-the-art solutions. By identifying and enhancing their processes through information technology solutions. NEXGEN TECHNOLOGY help it customers optimally use their resources.
Commercial Drone Best Practices: How to Incorporate Data and Job SpecsColin Snow
Drones are an exciting platform that is now emerging as a competitive technology in a number of professional surveying data collection scenarios - including mobile and airborne LiDAR. This presentation presents an overview of what to consider when adding a remotely piloted airborne photogrammetry or laser scanning system to your practice.
AUTO LANDING PROCESS FOR AUTONOMOUS FLYING ROBOT BY USING IMAGE PROCESSING BA...csandit
In today’s technological life, everyone is quite familiar with the importance of security
measures in our lives. So in this regard, many attempts have been made by researchers and one
of them is flying robots technology. One well-known usage of flying robot, perhaps, is its
capability in security and care measurements which made this device extremely practical, not
only for its unmanned movement, but also for the unique manoeuvre during flight over the
arbitrary areas. In this research, the automatic landing of a flying robot is discussed. The
system is based on the frequent interruptions that is sent from main microcontroller to camera
module in order to take images; these images have been distinguished by image processing
system based on edge detection, after analysing the image the system can tell whether or not to
land on the ground. This method shows better performance in terms of precision as well as
experimentally.
A Strategic Approach: GenAI in EducationPeter Windle
Artificial Intelligence (AI) technologies such as Generative AI, Image Generators and Large Language Models have had a dramatic impact on teaching, learning and assessment over the past 18 months. The most immediate threat AI posed was to Academic Integrity with Higher Education Institutes (HEIs) focusing their efforts on combating the use of GenAI in assessment. Guidelines were developed for staff and students, policies put in place too. Innovative educators have forged paths in the use of Generative AI for teaching, learning and assessments leading to pockets of transformation springing up across HEIs, often with little or no top-down guidance, support or direction.
This Gasta posits a strategic approach to integrating AI into HEIs to prepare staff, students and the curriculum for an evolving world and workplace. We will highlight the advantages of working with these technologies beyond the realm of teaching, learning and assessment by considering prompt engineering skills, industry impact, curriculum changes, and the need for staff upskilling. In contrast, not engaging strategically with Generative AI poses risks, including falling behind peers, missed opportunities and failing to ensure our graduates remain employable. The rapid evolution of AI technologies necessitates a proactive and strategic approach if we are to remain relevant.
Biological screening of herbal drugs: Introduction and Need for
Phyto-Pharmacological Screening, New Strategies for evaluating
Natural Products, In vitro evaluation techniques for Antioxidants, Antimicrobial and Anticancer drugs. In vivo evaluation techniques
for Anti-inflammatory, Antiulcer, Anticancer, Wound healing, Antidiabetic, Hepatoprotective, Cardio protective, Diuretics and
Antifertility, Toxicity studies as per OECD guidelines
Synthetic Fiber Construction in lab .pptxPavel ( NSTU)
Synthetic fiber production is a fascinating and complex field that blends chemistry, engineering, and environmental science. By understanding these aspects, students can gain a comprehensive view of synthetic fiber production, its impact on society and the environment, and the potential for future innovations. Synthetic fibers play a crucial role in modern society, impacting various aspects of daily life, industry, and the environment. ynthetic fibers are integral to modern life, offering a range of benefits from cost-effectiveness and versatility to innovative applications and performance characteristics. While they pose environmental challenges, ongoing research and development aim to create more sustainable and eco-friendly alternatives. Understanding the importance of synthetic fibers helps in appreciating their role in the economy, industry, and daily life, while also emphasizing the need for sustainable practices and innovation.
Operation “Blue Star” is the only event in the history of Independent India where the state went into war with its own people. Even after about 40 years it is not clear if it was culmination of states anger over people of the region, a political game of power or start of dictatorial chapter in the democratic setup.
The people of Punjab felt alienated from main stream due to denial of their just demands during a long democratic struggle since independence. As it happen all over the word, it led to militant struggle with great loss of lives of military, police and civilian personnel. Killing of Indira Gandhi and massacre of innocent Sikhs in Delhi and other India cities was also associated with this movement.
How to Make a Field invisible in Odoo 17Celine George
It is possible to hide or invisible some fields in odoo. Commonly using “invisible” attribute in the field definition to invisible the fields. This slide will show how to make a field invisible in odoo 17.
Normal Labour/ Stages of Labour/ Mechanism of LabourWasim Ak
Normal labor is also termed spontaneous labor, defined as the natural physiological process through which the fetus, placenta, and membranes are expelled from the uterus through the birth canal at term (37 to 42 weeks
2. Ain Shams University, Faculty of Engineering
Computer and Systems Engineering Department
3D Intelligent Object Tracking
Missile Modeling and Guidance Design
Submitted By:
Eng. Mohamed Ali Ali Sobh
Supervised By:
Prof. Dr. Mohamed Abd Elhamed Sheirah
Cairo 2006
5. Objectives
Provide very accurate environment to
design and to develop different guidance
techniques for missile systems
Contribute to both Missile Modeling and
Guidance Design
7. Problems
Missile system is very complex and nonlinear
Aerodynamics coefficients are not available
Actual experiments are not allowed or expensive
There is no available tools for missile modeling
Books, Publication, Researches, Datasheets, and
Experiments results are classified
13. Background
Coordinates Systems
SB
SL
SI: (Global Inertial) Geocentric Inertial Coordinates System
SL: Earth Fixed Launch Site Coordinates System
SE: Earth-Centered Launch-Derived Coordinates System
SP: Launch Vehicle Platform Accelerometer Coordinates System
SN: Launch Vehicle Navigation Coordinates System
SB: Body Fixed Coordinates System
SG: Local Geocentric Coordinates System
SG': Fixed Local Geocentric Coordinates System
SC: Local Geodetic Coordinates System
SI
SC
SP
31. Survey
Missile Modeling
Fixed Mass Missile Model
Variable Mass Missile Model
MATLAB General Aircraft Model
Guidance Techniques
LOS - Line of Sight Navigation Guidance
PN - Proportional Navigation Guidance
LQR Guidance
Fuzzy-PN Guidance
Fuzzy Guidance for High Speed Targets
32. Survey
Missile Modeling
Fixed Mass Missile Model
Variable Mass Missile Model
MATLAB General Aircraft Model
Guidance Techniques
LOS - Line of Sight Navigation Guidance
PN - Proportional Navigation Guidance
LQR Guidance
Fuzzy-PN Guidance
Fuzzy Guidance for High Speed Targets
33. Missile Modeling
Fixed Mass Missile Model
A. Aircraft
B. Missile (Symmetry)
C. Missile (Plan Separation)
Longitudinal Lateral
35. Missile Modeling
Variable Mass Missile Model
• Derived specially for large space rockets
• Different coordinate systems (SI, SL, SE, SP, SB, SG, SG’, SC)
• Consider mass variation
• Consider measuring elements
• Consider fuel sloshing and body bending
A. Missile
B. Missile: Linearization at certain operating point. Assume thrust vectoring control.
36. Missile Modeling
MATLAB General Aircraft Model
• Provides both fixed and variable mass missile models
• Uses nonlinear model directly
• Two coordinate systems (SP, SB)
• Provide accurate models for wind, gravity and atmosphere
42. Survey
Missile Modeling
Fixed Mass Missile Model
Variable Mass Missile Model
MATLAB General Aircraft Model
Guidance Techniques
LOS - Line of Sight Navigation Guidance
PN - Proportional Navigation Guidance
LQR Guidance
Fuzzy-PN Guidance
Fuzzy Guidance for High Speed Targets
49. Achievements & Results
Missile Modeling
Very Accurate Missile Model
Visual and Interactive Environment for Guidance Design
Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
New Technique for Exact and Realistic Target Prediction (RPPMT)
New Technique to Intercept High Speed Targets (RPPHST)
General Topics
Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients
New Method for Automatic Fuzzy Mapping
50. Achievements & Results
Missile Modeling
Very Accurate Missile Model
Visual and Interactive Environment for Guidance Design
Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
New Technique for Exact and Realistic Target Prediction (RPPMT)
New Technique to Intercept High Speed Targets (RPPHST)
General Topics
Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients
New Method for Automatic Fuzzy Mapping
51. Missile Modeling
Very Accurate Missile Model
Coordinates Systems and Coordinates Transformation
Variable Mass Rigid Body
Aerodynamics
Engine
Actuators
Aerodynamics Actuators
Thrust Vectoring Actuators
Thrust Control Actuator
Measuring Devices
Rate Gyroscopes
Position Gyroscopes
Accelerometers
Attack and Sideslip Angle Detectors
Tracking Devices
IR (Infrared) Detectors
Radar Detectors
Global Positioning System
Atmosphere
Shear Wind
Turbulence Wind
Pressure
Density
Missile Components
53. Missile Modeling
Visual and Interactive Environment for Guidance Design
Integrated within
SimulaWorks Simulation
Package
Programmed using Native
C/C++
High order numerical
calculations
Very fast 4 times than
MATLAB
Allow very complex control
loop design
Represent missile target
engagement visually
54. Missile Modeling
Model & Environment Validation
Successfully provide exact result compared with
MATLAB aerospace aircraft examples
Separate verification for each component
Visual Inspection
Provides reasonable and expected performance due to
gravity, earth rotation, wind, aerodynamics variation
Successfully used to implement several guidance
techniques like PN, TPN, LOS, LQR, Fuzzy…
62. Achievements & Results
Missile Modeling
Very Accurate Missile Model
Visual and Interactive Environment for Guidance Design
Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
New Technique for Exact and Realistic Target Prediction (RPPMT)
New Technique to Intercept High Speed Targets (RPPHST)
General Topics
Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients
New Method for Automatic Fuzzy Mapping
73. Guidance Techniques
New Technique for Exact and Realistic Target Prediction (RPPMT)
Actual Inputs
for
Target Position
Applying Linear Regression
RPPMT: Realistic Path Prediction for Maneuvering Targets
74. Guidance Techniques
New Technique for Exact and Realistic Target Prediction (RPPMT)
Proposed method to
calculate the exact
interception point
82. Achievements & Results
Missile Modeling
Very Accurate Missile Model
Visual and Interactive Environment for Guidance Design
Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
New Technique for Exact and Realistic Target Prediction (RPPMT)
New Technique to Intercept High Speed Targets (RPPHST)
General Topics
Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients
New Method for Automatic Fuzzy Mapping
83. General Topics
CFD Simulator to Estimate Aerodynamics Coefficients
Provides CFD simulation
In 2D using finite difference method
In 3D using finite volume method
Uses Multi-Grid to perform CFD calculations
Automatically generate the grid around any 3D object
Can be used to perform general fluid simulation for speeds up to 5.0
mach
Provide mach number, pressure, temperature, energy, fluid density
distribution graphs
Calculate forces, moments, center or pressure and fluid dynamics
(aerodynamics) coefficients
Optimized to run with limited memory and computation power
85. Simulator
Velocity Vectors Map at Missile Head (2D)
General Topics
CFD Simulator to Estimate Aerodynamics Coefficients
Mach Number Distribution Graph (2D)
Temperature Distribution Graph (2D)
Mach Number Distribution Graph (2D)
2D (2000 Iteration, 0.005m Resolution, 10 Layers, 468,654 Cell, 45 sec)
3D (5000 Iteration , 0.005m Resolution, 10 Layers, 44,094,150 Cell, 6 hours)
Air Speed 700 m/s
Air Density 1.225
Temperature 288.16 K Velocity Distribution Graph (3D)
86. General Topics
New Method for Automatic Fuzzy Mapping
Objective: Map existing control into an equivalent fuzzy control
Offline Mode: Construct the Variables and the Rules
Online Mode: Update the Rules
88. General Topics
New Method for Automatic Fuzzy Mapping
Trained Fuzzy System In Pitch Plan Trained Fuzzy System In Yaw Plan
Original LOS Guidance
IAE = 32.22
Fuzzy LOS Guidance
IAE = 56.62
90. Conclusion
Missile Modeling
Missile system is too complex to be modeled by a set of linear
equations
The missile model is successfully derived, implemented, and
integrated within SimulaWorks simulation environment
The proposed model and the simulation environment succeeds to
represent most of missile system behaviors and to provide a very
realistic environment for guidance design
A special simulation tool is built and used successfully to estimate
the aerodynamics coefficients by performing CFD simulation around
missile airframe
91. Conclusion
Guidance Design
A new guidance technique (ADC) is proposed and used successfully
to intercept different type of targets
ADC provides minimum IAE, very fast interception, high tracking and
manoeuvrability
A new realistic target prediction technique (RPPMT) is proposed
and used successfully to predict and to intercept manoeuvring
targets
A new realistic target prediction technique (RPPHST) is proposed
and used successfully to predict and to intercept high speed targets
93. Future Work
More aspects and components can be included:
Fuel sloshing and body bending dynamics
More realistic models for propulsions system
Advanced CFD simulation using finite element method
Actual experiments to verify CFD simulation results
Practical implementation to verify simulation results
Apply new digital control techniques like RST
Study the effect of model parameters variation on
guidance performance