Project tag: Control and Algorithm

  • Volt -Indoor Navigation App for TEMI Robot

    This project presents an indoor navigation application developed for the TEMI autonomous robot to assist users in navigating complex indoor environments. The system combines an interactive graphical interface with voice commands, enabling users to search for destinations, create routes, and receive autonomous guidance. Built on the TEMI Android SDK, the application leverages the robot’s built-in mapping, localization, and obstacle avoidance capabilities without requiring additional infrastructure. The software follows the Model-View-Controller...
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  • Dynamic Train Schedule Optimization RL Approach using RDDL Environments

    Managing platform passenger flow is a critical operational challenge for modern urban rail systems, where frequent fluctuations in arrivals cause train disruptions and unsafe crowding. A novel real-time control system is introduced to regulate unpredictable passenger dynamics and optimize train schedules within stochastic urban transit environments. Modeling the rail network as a Markov Decision Process (MDP), the system utilizes a Python-based Gym simulation environment and integrates a two-part framework. First,...
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  • SaveMatic Smart real-time card and discount selector

    The SaveMatic project offers an innovative solution to the challenges associated with managing multiple cards and loyalty programs. Through a smart app, SaveMatic enables users to select the most beneficial discount at the time of purchase without needing to intervene in the transaction process. The app leverages advanced technologies such as Next.js, React, and Firebase to deliver a smooth and rapid user experience. With features like responsive design, multi-language support,...
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  • Low Voltage System of a Formula-Style Racing Vehicle

    This project encompasses the development and implementation of the Low Voltage System (LVS) for an electric, Formula-style race car. The LVS includes six printed circuit boards (PCBs), the shutdown circuit, and their integration with the vehicle’s tractive system (TS). Each component was designed to ensure safe, reliable, and efficient operation of the car’s electrical system. All designs were carried out in compliance with the Formula Student Germany (FSG) competition regulations,...
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  • Check-im – An Automatic RSVP System for Events

    Check-im is a smart, automated RSVP and guest-management platform for events. It combines a modern web app with WhatsApp and voice bots to send invites, collect replies in real time, and follow up automatically. Hosts register, pay once via Bit/PayBox, create an event, upload an Excel guest list, and monitor live status. Voice calls run through a state-machine flow that confirms attendance and party size; WhatsApp replies update the list...
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  • Development of an Android Application Based on GPS and Sensors for Locating a Lost Child in a Crowded Place

    Overview In recent years, the phenomenon of children getting lost in crowded environments, such as theme parks, shopping malls, and large parks, has become a pressing issue. This project addresses this challenge by developing an innovative Android application designed to assist parents in real-time tracking and locating their children using GPS and integrated sensors.  Objective The primary goal of the project is to create a reliable and efficient tool for...
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  • Technological Assistance for Unsignalized Crossings

    Chapter 1: Project Objective The project aims to develop a cost-effective and intelligent system based on motion sensors to aid blind and other needy individuals in safely crossing unsignalized intersections. This technology-oriented solution focuses on human safety and broad, flexible, and affordable implementation. Chapter 2: Introduction and Background The dynamic nature of pedestrian spaces involves numerous hazards, particularly at unsignalized crossings where both pedestrians and drivers must exercise caution. The...
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  • Implementation and Evaluation of“An Improved Algorithm for UniversalSensor Registration”

    The goal of this project is to develop and evaluate an algorithm for absolute calibration of multiple misaligned sensors, enabling accurate target trajectory reconstruction in 2D and 3D. The system addresses the challenge of angular misalignment between sensors by estimating rotation parameters (yaw, pitch, roll) and refining the global target path from noisy measurements. The work is based on the “Improved Algorithm for Universal Sensor Registration” framework, which combines Wahba’s...
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  • Memory consumption predictor with LLMs

    Accurately predicting memory consumption before running code can significantly reduce resources costs and prevent crashes, especially in large-scale or resource-constrained environments. This project focuses on predicting memory consumption of Python code using large language models (LLMs), particularly CodeBERT. Traditional methods for estimating resource usage struggle to generalize across diverse code patterns and often rely on handcrafted features. In contrast, this project leverages the deep contextual understanding of LLMs, treating code...
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  • Muse S ProjectControlling

    In this project, we implemented a control system for a prosthetic hand from the Haifa3D organization using a Muse S brainwave sensor. After reviewing the existing literature on prosthetic hands and control of motorized limbs, we found that EEG-based control is a common approach with potential for further applications. Once we became familiar with the sensor and its capabilities, we found a library (muse-lsl) that allows access to its measured...
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  • IMU based Navigation with Kalman Filters

    This project presents an IMU-based navigation system that integrates digital terrain maps with advanced Kalman filter algorithms. The system enables accurate and reliable GPS-free navigation by fusing elevation data with inertial sensor measurements. A full simulation framework was developed, and multiple Kalman filter variants (EKF, IEKF, UKF) were compared to evaluate performance across diverse terrain conditions.
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  • Target Tracking with Heterogeneous Sensors

    This project explores the challenge of real-time target tracking using heterogeneous sensors (sensors with different characteristics and noise levels). The study compares two primary estimation architectures: Tight Coupling (TC) and Loose Coupling (LC). Both methods aim to estimate the position and velocity of a moving object in 3D space, based on asynchronous measurements from two stationary sensors. The system is evaluated using Kalman Filters (KF) and Extended Kalman Filters (EKF)...
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  • A unified interface for transportation simulations

    In this project, a unified interface was developed for running transportation simulations in a variety of simulators. Since each simulator has a different input and output structure, the goal of the project was to allow the user to enter simulation data uniformly for all simulators and receive the simulation results in a uniform format. The interface that was developed allows the data to be received, adapted to the format required...
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  • Reconstructing 3D Models From Images

    surroundings has driven major advancements in 3D scene reconstruction. One of the most promising approaches in recent years is the use of Neural Radiance Fields (NeRF) -a method that generates photorealistic 3D representations of environments based solely on 2D images. This project focuses on utilizing NeRF techniques to reconstruct indoor environments and plan robotic navigation paths within them. The project leverages the NeRFstudio platform, which serves as a comprehensive framework...
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  • Advanced Multi-Object Detection and Tracking System

    This project is designed to address real-world challenges in detection and tracking a very large number of objects in video . By integrating  YOLOv10 and Deep SORT, it combines speed and accuracy for video processing. Our use of filters, grid-based processing, and NMS demonstrates innovation and enhancing detection performance in complex scenarios up to 1.75 from normal YOLOv10. Beyond practical impact, this project offers a valuable learning experience, strengthens expertise in...
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  • Automatic Correction of GPS Tracks Recordings in the Presence of Disturbances

    Over the past year, GPS jamming has been activated in wide areas of northern Israel, aiming to disrupt the navigation capabilities of hostile aircraft. However, these disruptions also affect civilian navigation applications for residents in the north. In this project, we examined an algorithmic solution based on a modified Kalman filter with Mahalanobis distance check to address GPS jamming. The goal of the algorithm is to correct disrupted measurements in...
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  • CryptoBotIQ

    These days, the field of trading is growing rapidly, and each of us wants to get involved and start earning money indirectly. But what’s the problem? We don’t know anything about trading, and most people who start trading lose a lot of money because they lack background, experience, and the right algorithms to profit from trading. This is where CryptoBotIQ comes in to solve this problem and provide one of...
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  • Credit Card Fraud Detection

    Credit card fraud is a growing challenge in the digital era, with cybercriminals adopting advanced methods to exploit online transactions. This creates economic losses and impacts businesses and individuals alike, emphasizing the need for robust fraud detection systems. Balancing fraud prevention with a smooth customer experience is critical. In this project, we will analyze credit card transaction data to identify unusual behavioural patterns that may indicate fraud. We will employ...
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  • Controlling a robotic prosthetic hand via a brain wave sensor

    Amputation of limbs, specifically of hands, may be caused by a workplace accident, a traffic accident, a combat injury, or may even be congenital. There are different solutions which provide the possibility for amputees to lead as much of a normal life as possible. Many of these solutions are expensive, heavy, and cumbersome for everyday use. Among those, there exist solutions for moving a prosthetic arm via different muscles, including...
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  • The Surprising Brittleness of Hidden Markov Model to Time Dependent Omitting Processes

    This study investigates the inherent limitations of Hidden Markov Models (HMMs) when subjected to time-dependent omitting processes. Despite the wide application of HMMs in analysing sequential data, our research reveals a critical vulnerability: the model’s performance significantly deteriorates in the absence of consecutive observational data. Through a series of experiments utilizing synthetic data, we examined the impact of various omission processes on the ability of standard HMM algorithms to accurately...
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  • Automatic Tuning Of Electric Guitar

    Due to the mechanical nature of electrical guitars, guitarists often encounter a situation where the strings of their guitar go out of tune during playing. This forces them to stop playing to tune the guitar or continue playing with an out-of-tune guitar. This situation is very common and happens much more frequently than with other instruments, which leads to a situation where during performances, guitarists have to constantly worry about...
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  • Tracking a maneuvering target project

    In our project, we addressed the problem of tracking a maneuvering target. Tracking problem is a filtering problem of a moving object. By given a set of noisy measurements, we want to estimate the state vector of the moving object (in our case- position and velocity). During the project, we implemented several tracking algorithms- the Classical Kalman Filter(KF), Interacting multiple model(IMM), Exponentially weighted information filtering(EWIF) and even weighted Interacting multiple...
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  • Optimization methods for the problem of Team Composition

    The project is dedicated to uncovering algorithms that can deliver optimal team configurations within the bounds of predefined team composition constraints. These constraints encompass diverse team structures, including individual athletes, female and male pairs, female trios, male quartets, and mixed-gender pairs. A key methodological aspect of your approach is the employment of a fully connected weighted graph, modeled as a matrix, to represent the network of athletes. In this model,...
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  • Tracking, predicting and evaluating the chance of hitting a basketball shot

    The subject of this project described in this document is the planning and implementation of a tracking system for a two-dimensional (basketball) shooting target and assessing the likelihood of hitting a given interval (basket). In our work, we built a prediction system for a basketball model that moves under gravity only, as well as a system for a basketball model that is affected by gravity in addition to the force...
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  • Locating with trilateration

    The positioning of moving objects using trilateration has been in use for many years. There are multiple steps to this process, and in each step, there are multiple methods to choose between to get the best performance. In this project we focused on improving the performance of the existing methods. First, we focused on the first positioning step, trilateration from distance samples received from multiple sensors at a single time....
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  • Non-linear symbolic Optimizer

    The project creates a system that solves non-linear and non-convex problems using opened tools. In this project we used Gurobi Optimizer which is a prescriptive analytics platform and a decision-making technology developed by Gurobi Optimization, it is a solver that uses mathematical optimization to calculate the answer to a problem. Many solvers exist for these types of problems, but until now we don’t have open source code for it ,...
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  • 3D Object Tracking Using COLMAP*

    *Introduction* Our project embarked on an innovative journey to adapt the capabilities of COLMAP, a powerful Structure from Motion (SfM) and Multi-View Stereo (MVS) software, for a unique application: tracking the motion of a moving object using a static camera setup. This adaptation required a deep understanding of COLMAP’s functionality, particularly its ability to estimate camera motion, and re-engineering it to calculate the path of a moving object.   *Objective*...
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  • Electronic Underwater Balancing System

    A project was developed that introduces an automated underwater buoyancy balance system. This allows divers to select a target depth or a diving plan, and the system ensures they reach that specific depth without manual balancing.   In the initial phase, a diving environment was simulated. This posed challenges, particularly in sealing the depth sensor. Subsequently, a model was designed to replicate open water conditions and a sealed diving vest....
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  • Semantic Segmentation For Solar Panel Arrays

    Solar cleaning Robots are equipped with sensors like IMU that is used to help the robot drive on the surface of the solar panel during the cleaning process. After Certain distance, the IMU reading starts to drift and as a result of that the robot can’t clean in a straight path. The brute force solution was to clean in sequences that increases battery consumption and wastes more time in cleaning...
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  • Monitoring Distress Situations Using A Smartwatch

    We are developing an Android application for a smartwatch that can collect physiological measurements and use them to detect emergency situations such as falls, leaving a predefined area, and manual activation as needed, and send alerts that include the watch wearer’s location and a description of the detected emergency. We have a Galaxy Watch 4 smartwatch, which collects the measurements using its built-in sensors according to the emergency situations. Detection...
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  • Target Tracking Using Multi-static Sensors

    In this project we will be tracking a target using multi-static sensors with two different approaches. Firstly, creating a path that describes the target movement in 2D then creating linear measurements by adding a measurement noise to the path, then using linear Kalman filter in order to estimate the target’s position. Since using multi-static sensors will give range measurements which are non-linear, a different approach should be applied to estimate...
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  • real-time navigation system without GPS using inertial sensors and the phone camera

    In this project, a real-time navigation system was developed for pedestrian/soldier, based on the mobile phone camera and the inertial sensors found in the device. The system does not use GPS signals. The advantages of navigation without GPS are that the system is resistant to attempts to disrupt these signals and enables effective navigation even in places where there is no GPS reception such as buildings and tunnels. The chosen...
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  • The possibility of using multiple IMU’s to improve pedestrian walk navigation

    Our project addressed the question of whether using multiple IMUs along a specific walking path would improve position accuracy. To compute the most accurate position possible we used the Pedestrian Dead Reckoning (PDR) method. PDR calculates the current position based on previously determined positioning, using an estimation of speed and heading direction over a short time period. Initially, we calculated the distance traveled along each step using classic methods, but...
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  • Self Location without GPS Means

    Project Goal: In this project we developed a system for detecting self-location in real time, without using GPS means. Our system is based on smartphone sensors, aided by Matlab app. Process flow: User starts recording in Matlab app. Then, data of axes acceleration and orientation is collected. After that, data is analyzed by prepared code we had written according to following steps: Filtering data from noise Classifying steps direction Estimating...
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  • Tracking Maneuvering Target in Presence of Faulty Measurements

    Goals • Using simulated range sensors to track maneuvering target. • Using EKF (Extended Kalman Filter) to achieve low estimation error. • Examine the effect of the layout of the sensors over the error. • Overcome sensors faulty measurements. Project summary First, a given path of a maneuvering target is provided. Basic setup of simulated range sensors is used to detect the movement of the target. EKF, a recursive tracking...
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  • Sky Map Viewing Project

    The field of real-time sky map viewing is rich in projects executed by a variety of entities such as Google, NASA and more. The purpose of sky mapping is to present to the user the locations of bright objects in space, relative to their current time and location. There are many ways to implement a sky map, ranging from a static 2D map to a full interactive 3D VR environment....
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  • Tracking an aerial target using range and doppler sensors

    Tracking problem is a problem of estimating the state (position, velocity, etc.) of an object, given some measurements.  A  common way to preform tracking is by the help of the Kalman Filter (KF) algorithm. This algorithm is basically a casual, linear, time-discrete filter which enable us to estimate the state space coordinate in a noisy environment. In this project we looked on extension of the Kalman Filter in order to...
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  • Pedestrian Navigation Based on Smartphone’s Inertial Sensors

    GPS technology is used by most navigation systems today to track the user’s movements. Among GPS’s disadvantages are inconsistent reception, the ability of hostiles to intercept signals, inaccuracy of tracking at very short distances, and the inability to classify movement types and steps taken. Tracking and identifying steps has many applications, such as augmented reality museum tours, fitness apps, navigation in public spaces, and more. Our goal was to create...
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  • Online Algorithm for Airport Management

    In this project we will implement an online algorithm which is based on an existing offline algorithm. The online algorithm receives an optimal program of airplane takeoffs and landings for the workday, and during the day the algorithm will need to handle incidents and changes in real time. The main focus is to handle incidents and changes in real time with minimal deviation from the original program. If the algorithm...
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  • IMM vs Kalman Filter: When We Should Use the Last

    In this paper a comparison of accuracy between the Kalman Filter Estimator and the Interacting Multiple Model (IMM) Estimator was performed. The comparison was carried out following a study which compared the two estimators’ performance in tracking single targets, in order to quantify the condition under which an IMM estimator is more desirable than the Kalman Filter. The writers of said paper defined a “Maneuvering Index” to be used to...
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  • Tracking a target using distance measurments

    In this project we modeled an aerial target moving in space in a defined motion. in addition, we modeled simple ground sensors that measure range, then we simulated range measurements and learned to estimate target location and speed using a linear Kalman Filter. We then implemented an Extended Kalman Filter (EKF) that receives raw range measurements – Tightly coupled (TC), and also one that uses a separate position estimation and...
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  • Algorithm For Autonomous Flying And Face Tracknig And Obstacle Avoidance Of A DJI Tello

    This project is all about developing a control algorithm, which will allow a given DJI Tello drone to execute the following stages: The drone has to: take off, and starts the search for the target (Mohamed face) , when the drone finds the target, it starts tracking it and get past the obstacles if necessary , in addition The entire process needs to be done autonomously. The algorithm was developed...
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  • Reaching Airstrip in Engine Cutoff Emergency – Follow up project summary

    This project is a follow up project to two projects that implemented and validated the paper by D. Segal, A. Bar-Gill and N. Shimkin – “Reaching Airstrip in Engine Cutoff Emergency – Optimally Accounting for Intense Crosswinds and for In-Plane and Terrain-Evolving Obstacles”. The system includes a real-time software which produce instructions on how and where to land to an airplane with an engine cut off (engine that have stopped...
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  • Estimation in Hybrid Dynamic Systems in the Presence of Unknown Parameters

    Using multiple models is a common approach for describing a large variety of physical systems. Alas, the optimal algorithm for estimating the state vector in a multiple-model system demands computation resources the grow exponentially in time. Therefore, there is an immense importance in creating techniques for estimation that are sub-optimal but are computationally efficient. On of the popular systems is the IMM (Interacting Multiple Model) algorithm, which balances performance and...
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  • Construction Error Detection and Correction SystemBased on a Building Scan’s Point Cloud

    In construction projects there it is difficult to track and document the progress of a project. Many errors occur and are often not reported. Even when reported, this is problematic due to the fact it is done by hand, the additional need of manpower, and inconsistent frequency of reporting, which may not guarantee problems being fixed in the appropriate time. In addition, the format of the reporting and level of...
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  • Classifying horizontal eye movement with the Muse headband

    In this project we verify and implement the claim that horizontal eye movement can be classified through data received by the commercial EEG device – Muse headband. Furthermore, we attempt to check if there is a frequency limit on correct classification with the EEG device – Muse Headband. To gather data from the muse, build the algorithm and test the accuracy of the algorithm a GUI application was implemented. That...
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  • Controlling Gimbal to Follow A Drone, Handling Input Delay with Prediction

    Our system consists of a camera mounted on an open-loop stepper pan & tilt unit. The camera captures a frame and feeds it to a DNN, which gives us the pixel coordinates of a drone within it. These coordinates are the input to our system, and our goal is to control the motors so that the target is centered in the camera. Implementing a good target following system may be useful...
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  • Tracking maneuvering target using relative angles measurements

    Tracking maneuvering targets is a challenging problem,  as a consequence of different parameters related to the sensors e.g. measurement noise, position’s indirect measurements (such as relative angle measure), sensor fusion etc. and requirements related to control system like stabilization, detectability etc. The following project is a window of understating into Kalman filter algorithm’s manner of operation, as well as the problem of tracking a maneuvering air targets, using grounded sensors...
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  • Video Stabilization Using Inertial Sensors

    Camera is one of the most prevalent uses of a modern smartphone, however the mobility of the device, its light weight and the inexperience of the unprofessional user may cause the filmed video to be unstable. The project aim is to develop a system that stabilizes video captured on mobile devices (even in darkness or low resolution). The system should correct any distortions occurred because of moving the device while...
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  • Navigating without GPS based on INS

    Navigating in a non – GPS environment is still a challenging research issue. With the incremental use of GPS blockers, and the increase of fighting in tunnels, the need for inertial navigating systems is rising.  In this paper, accelerometers, Gyroscopes and magnetometers based algorithm is approached. A 3-axis acceleration sensor provides signals which are processed and filtered, combining with a 3-axis Gyroscope signals for step identification and measurement. Using phase...
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  • People and Cargo Transportation Control System

    This project is part of a large concept of smart and autonomous transportation for people and cargo. The objective is to have a robotic wheel, defined as ‘transporter’ which could potentially communicate with other transporters and work synchronously. The main focus of the project is to design and manufacture a comprehensive and modular wheel control system, under the restriction of manufacturing only in the local laboratory. While keeping the industrial...
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  • C13 – פיתוח גימבל לעקיבה מהירה

    בנייה של גימבל לצרכי מעקב וידאו מטרות הנדסיות: הבנת השיקולים להגדרת מאפייני הגימבל, הבנת השיקולים לבחירת בקר. מטרות אקדמיות: למידה של תהליך תהליך תכנון וכתיבה של אלגוריתם עקיבה ע”פ עקרונות בקרה ועד כיול אופטימלי שלו עבור המערכת הנתונה.. התנסות והטמעה של בקרה סטטיסטית החל מ”קלמן פילטר” ועד למודלים מורכבים יותר לשם השגת ביצועי עקיבה מצוינים.
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  • Navigating without GPS based on INS

    Navigating in a non – GPS environment is still a challenging research issue. With the incremental use of GPS blockers, and the increase of fighting in tunnels, the need for inertial navigating systems is rising.  In this paper, accelerometers, Gyroscopes and magnetometers based algorithm is approached. A 3-axis acceleration sensor provides signals which are processed and filtered, combining with a 3-axis Gyroscope signals for step identification and measurement. Using phase...
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  • C01- שיערוך טווח למטרה מתוך זוויות צילום ומיקום עצמי בלבד

    שיערוך טווח למטרה בעזרת מדי טווח בטכנולוגיות לייזר, אולטרסאונד , מכ”ם –  הינם בעייתית במסגרת פעילות חשאית כי מדידים אלה מאפשרים גילוי על ידי גורמים חיצוניים. שיערוך טווח מזוויות כיוון למטרה בלבד הינה בעייה ידועה בספרות הטכנית.  בפרויקט זה נפתח אלגוריתמים לשערוך טווח  למטרה סטאטית ובהמשך דינאמית מתוך זוויות צילום של מצלמה ניידת ומיקומה הרגעי. בפרויקט נלמד, נפתח  ונשלב טכניקות שיערוך המבוססות על מסנני קלמן  לא לינאריים בסימולציות ולאחר מיכן...
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  • Real-time traffic signs recognition

      Real-Time sign detection is a major milestone in the realization of the autonomous car vision. Using an autonomous vehicle can lower travel costs, reduce private ownership of vehicles and reduce the number of road accidents. The capability of/to behave following the driving laws is necessary to maintain the public order and saving both the drivers and the pedestrians’ lives. This project implements an android application that can detect some...
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  • Video Tracking of Multiple Moving and Hidden Targets

    Detection and tracking of moving objects are essential components to many computer vision applications such as vehicle safety mechanisms, systems for shooting down missiles and revolutionary security cameras. In this project we used the MATLAB environment to implement a tracking system. This system should be capable of tracking multiple moving targets that appear in a video and predicting their positions when they become hidden. In order to achieve this goal,...
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  • c09- עקיבה אחרי מטרה מתמרנת בעזרת מדידות טווח ודופלר

    עקיבה אחרי מטרות מתמרנות הינה בעיה מאתגרת ביישומים רבים כאשר הסנסורים השונים שמשתתפים בתהליך העקיבה מציבים אתגרים שונים בשל יתרונות ומגבלות ייחודיות של סנסורים מסוימים יחסית לאחרים. בפרויקט זה נכיר את בעיית העקיבה אחרי מטרה מתמרנת בעזרת סנסורים המודדים טווח אל המטרה ומהירות דופלר בלבד. במצב זה המידע המתקבל מהסנסור הוא חלקי ולא ניתן לפתור את בעיית העקיבה עם סנסור סטטי בודד. במהלך העבודה נממש אלגוריתמים מהספרות לפתרון הבעיה. בנוסף,...
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  • C08- עקיבה אחרי מטרה מתמרנת בעזרת סנסורים זוויתיים

    עקיבה אחרי מטרות מתמרנות הינה בעיה מאתגרת ביישומים רבים כאשר הסנסורים השונים שמשתתפים בתהליך העקיבה מציבים אתגרים שונים בשל יתרונות ומגבלות ייחודיות של סנסורים מסוימים יחסית לאחרים. בפרויקט זה נכיר את בעיית העקיבה אחרי מטרה מתמרנת בעזרת סנסורים המודדים זווית אל המטרה בלבד. במצב זה המידע המתקבל מהסנסור הוא חלקי ולא ניתן לפתור את בעיית העקיבה עם סנסור סטטי בודד. במהלך העבודה נממש מספר אלגוריתמים מהספרות לפתרון הבעיה ונשווה גישות...
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  • R37- Control & trajectory planning OPTIMIZATION

    planning a controller which calculates in real time the optimal trajectory for the vehicle and outputs the commands for the vehicle in order to drive along the trajectory using MPC. „MPC is a multivariable control algorithm based on an iterative, finite-horizon model. „MPC consists of: „Dynamic model and „Optimization cost function steps: Implementing the Pure Pursuit algorithm using a simulation based on the bicycle model and understanding the limits of the Pure Pursuit...
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  • Tracing cars in difficult scenario

    Within our project we were supposed to trace two objects (cars) that facing contractions from their surroundings and by each other. To trace those cars, we used some mathematical models that help with identifying object and estimating their position when not found. To find the object we used cross correlation method, that searched for the most similar window in the frame in compare to our object, once we found a...
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  • Blink detection system using EEG signal for language and control applications

    In this project, we have implemented a system for detecting short and long eye blinks in order to create language. The system includes real-time EEG signal acquisition, filtering algorithms, and Finite-State-Machine which transfers series of eye blinks into a vocabulary of 8 words. The system has successfully tested among 8 experimentalists. Goals Real Time Acquisition of EEG signals from Neuro-sky Mind-Wave sensor into Matlab process. Detecting and classifying eyes blinking,...
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  • Catching a ball with DC control and video feedback

    בפרויקט זה בנינו מערכת המשגרת כדור, משערכת את מסלול תעופתו ונותנת פקודת מיקום נפילה לעגלה על מסילה המונעת על ידי מנוע DC . למערכת שני חלקים מרכזיים – חוג המצלמה וחוג המיקום של המנוע. בחוג המצלמה, הונחה מצלמה מול מישור התעופה המסוגלת לבודד את הכדור באוויר תוך הסתמכות על צבעו הייחודי ביחס לרקע בעזרת עיבוד תמונה. בכל רגע במהלך עיבוד המידע, בהנתן סט מיקומי הכדור שהתקבלו במצלמה מתעדכן השערוך למסלול...
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  • C12- עקיבה אחרי מטרה מתמרנת בעזרת מדידות מולטיסטטיות

    עקיבה אחרי מטרות מתמרנות הינה בעיה מאתגרת ביישומים רבים. במשימות של בקרה אווירית, למשל, העקיבה מתבצעת ע”י עיבוד של מדידות של אחד או יותר מכ”מים מונוסטטיים . מכ”מ מונוסטטי הוא מערכת שמשדרת סיגנל ומודדת טווח אל המטרה על סמך הסיגנל החוזר. בפרויקט זה נכיר את בעית העקיבה אחרי מטרה מתמרנת בעזרת סנסורים מולטיסטטיים, כלומר המודדים טווח ע”ס סיגנל חוזר ששודר מיחידה אחרת. במהלך העבודה נממש אלגוריתמים מהספרות לפתרון הבעיה. בנוסף,...
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  • C11- עקיבה והערכת סיכוי קליעה בזריקת כדורסל

    בפרויקט זה נממש אלגוריתם עקיבה אחרי כדור שנזרק לסל בעזרת מדידות שמתקבלות ממצלמה. המטרה תהיה להעריך בכל רגע במהלך מעוף הכדור את ההסתברות לקליעה לסל. בשלב הראשון (כסמסטר) נלמד כלים ושיטות מקובלות לעקיבה אחרי אובייקטים ונממש אלגוריתמים אלה על נתונים סינטטיים. בשלב השני (סמסטר נוסף) נתאים את השיטות שיפותחו להתמודדות עם נתונים מתוך הקלטת וידאו..
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  • C10- כיול אבסולוטי של שגיאת הצבה של סנסורים

    כיול שגיאת הצבה של סנסורים הוא משימה חשובה בכל יישום בו יש ריבוי של חיישנים כמו עקיבה מרובת מכ”מים  אחרי מטרות אוויריות. במקרים רבים הכיול מתבצע בעזרת רפרנס מדויק אליו ניתן להשוות פלט  של אלגוריתם כלשהו ולקזז את שגיאות ההצבה על סמך הפער ביחס לאותו הרפרנס.  בהיעדר רפרנס כזה נרצה לבצע כיול אבסולוטי על סמך המידע  של הסנסורים הלא מכוילים בלבד. בפרויקט זה נכיר ונממש מספר . שיטות לכיול שגיאת...
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  • C04- בקרה אינרציאלית של גימבל תלת צירי

    יש לבצע בקרה לגימבל תלת צירי בעזרת משוב ממדידים אנרציאלים. הגימבל מאפשר קבלת פקודות זווית אנאלוגיות לשלשת המנועים וקבלת תפוקות משלושה   ג’ירוסקופים , שלושה  אנקודרים ושלושה מדי תאוצה לצורך ביצוע סגירת חוגים בתוכנה בזמן אמיתי. מטרת הפרוייקט הינה סגירת חוגי בקרת מהירות ומצב יחסיים ואינרציאליים על כל גימבל בנפרד. החוגים יאפשרו  מתן פקודות עקיבה חיצוניים על כל גימבל. שלבי עבודה: פיתוח מודל סימולציה מקורב של המערכת על בסיס נתוני המערכת ותוצאות מדידות ספקטראליות וזמניות...
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  • C07 -פיתוח מערכת ניווט המסתמכת על חיישנים אינרציאליים ומצלמה ב Smartphone

    :יש לפתח מערכת ניווט המסתמכת על חיישני אינרציאליים ומצלמה.  הפרויקט כולל שני שלבים שלב 1: פיתוח מד מהירות בעזרת  עיבוד אות מצלמת ה-Smartphone. ה-Smartphone מצלם בתנועה תוואי קרקע מוגדר עם סמנים מתאימים ומחשב מהירות התקדמות. שלב 2: פיתוח מערכת ניווט המסתמכת על חיישני ה-Smartphone ללא שימוש ב- GPS . מערכת הניווט תכלול קלטים  מהחיישנים האינרציאליים של ה-Smartphone  יחד עם מד המהירות שפותח, הקלטים יעובדו בעזרת מסנן קלמן לא לינארי UKF Unscented Kalman...
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  • C06- פיתוח מערכת סימולציה לבקרת סרוו לייצוב אינרציאלי של מערכת תצפית כנגד הפרעות קרקע

    יש לפתח מערכת סימולציה למערכת בקרת סרוו של מערכת נשק, לייצוב אינרציאלי כנגד הפרעות קרקע , תוך כינון עדין והלמי ירי של מערכת תצפית הפרויקט יכלול:  קבלת תוצאות מדודות  (ספקטראליות וזמניות) של פונקציות תמסורת בחוג פתוח של מערכת נשק פיתוח מערכת משוואות סימולציה אשר מדמה את המערכת המדודה פיתוח מערכות בקרה לכינון וייצוב אינרציאלי כנגד הפרעות קרקע מדודות נתונות לרמה מפרטית נדרשת הרחבת הבקרה שפותחה לייצוב המערכת כנגד הלמי ירי נתונים ומדודיםמערכת הסימולציה...
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  • C05 -פיתוח אלגוריתם למד נטייה דינמי על Smartphone

    יש לפתח אלגוריתם עבור מד נטייה דינאמי מבוסס על שלושה ג’ירוסקופים, ושלושה מדי תאוצה  הנמצאים ב Smartphone . האלגוריתם יתבסס על מאמר שנכתב ע”י חברי סגל בבטכניון, האלגוריתם יפותח בסביבת אנדרויד  ועל תפוקות המדידים של Smartphone.
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  • C03- פיתוח מערכת בקרת סיבוב מנועי רחפן להשקטת רעשים אקוסטיים

    מטרת הפרויקט הינה להשקיט רעשים אקוסטיים של רחפנים. הפרויקט יבוצע בעזרת בקרה ספרתית על פרשי פאזה זוויתיים  של 4 מנועים המסובבים מדחפים. הפרויקט מבוסס על מחקר ניסויי המראה, שהשקטת רעשים אקוסטיים של רחפן אפשרית על ידי בקרה על תדר הסיבובים והפרשי מופע של זווית הלהבים שלו. עוצמת הרעשים האקוסטיים נמדדת בעזרת חיישנים מתאימים המצויים במערכת המבוקרת.
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  • C02- Control Design and Analysis of Servo-Systems with Friction and Backlash

    Friction and Backlash are present in almost all electro-mechanical systems: Servo system drives (linear/rotational) , Single/double gimbals systems, Robotic manipulators, Inertial/optical stabilized platforms. Friction control problems: –     causes rapid disturbance changes when the velocity is reversed. -performance degradation: tracking errors, limit cycles, hunting -wear and damage to components – Backlash control problems: – decreased steady-state accuracy; – tracking errors, limit cycles   This research will be focused on the modern control design approaches...
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