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Bench face profiling
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Reduce your drill and blast costs by applying 3GSM's easy to use systems
Complete 3D coverage of the bench face for fly-rock reduction
3GSM packages - Simply Measure!
Blast design
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BlastMetriX 3D!
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Geological mapping
Contact-free measurements in 3D simply geological documentation works in tunnelling and mining
3GSM software generates 3D models from digital imagery
Aerial 3D images
Aerial 3D images of heaps for documentation and conservation of evidence
Volumetric and slope measurements in surface mines made easy
Combine it with blast design and rock mass characterisation
BlastMetriX UAV
Blast Design and Blast Analysis with 3D images
3D images from drones are a perfect survey of large blast sites
ShapeMetriX TBM
3D imaging and analysis system for digital tunnel face documentation during hard rock tunnelling with a TBM.
Areas of application
3GSM's systems are used in more than 40 countries worldwide.
Our clients appreciate the efficiency and simple application of our systems such as ShapeMetriX 3D und BlastMetriX 3D
Contact-free acquisition and assessment of rock and terrain surfaces by metric 3D images Windows xp activation wpa kill program.
New! Fragmentation analysis for drone imagery in 3D – Learn more…
Dual boot esxi and windows 10. New! Request about our full software demo version – available for BlastMetriX and ShapeMetriX! more…
3GSM's systems provide easy application in geological mapping, volumetric measurements, or blast design
Our systems are used in more than 40 countries all over the world.
BMX Fragmenter is the newest modul of the 3GSM software. It is the first real 3D fragmentation analysis from drone imagery.
More 3GSM congratulates DI Stefan Stauder on receiving the OeGG Award, which was awarded for his very good Diplom theses in the field of of Geology and Geomechanics.
More3D image measurements
Tunnelling
• Digital tunnel face documentation
• Geotechnical data acquisition
• Conservation of evidence
NEW: now also for TBM excavations
• Geotechnical data acquisition
• Conservation of evidence
NEW: now also for TBM excavations
Benefits
• Quick, comprehensive, complete, objective
• Measurements also in inaccessible areas
• Permanent documentation
More • Quick, comprehensive, complete, objective
• Measurements also in inaccessible areas
• Permanent documentation
Mining
• Bench face profiling
• Blast design
• Volumetric measurements
• Stability assessment
• Blast design
• Volumetric measurements
• Stability assessment
Benefits
• Fly-rock prevention
• Improved blasting results
• Reduction of drill and blast costs
More • Fly-rock prevention
• Improved blasting results
• Reduction of drill and blast costs
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Construction
• Data acquisition for engineering geologists
• Rock mass characterisation
• Determinaton of rock mass parameters
• Documentation / Conservation of evidence
• Rock mass characterisation
• Determinaton of rock mass parameters
• Documentation / Conservation of evidence
Benefits
• Contact-free measurements
• Comprehensive documentation
• Reduced data acquisition time
More • Contact-free measurements
• Comprehensive documentation
• Reduced data acquisition time
Applied all over the World
It seems that the quality of our systems and their innovative strength are highly appreciated by our customers together with our fast support.
That’s why our clients in more than 40 countries proudly range from smallest engineering consultant firms to the largest mining enterprises of the world.
Let us convince you with our systems such as ShapeMetriX 3D and BlastMetriX 3D!
Afghanistan – Australia – Belgium – Bosnia and Herzegovina – Botswana – Brazil – Chile – China – Germany – Finland – France – Great Britain – Greenland – India – Ireland – Israel – Italy – Canada – Colombia – Korea – Croatia – Malaysia – Morocco – Mexico – New Zealand – Niger – Norway – Austria – Romania – Russia – Sweden – Switzerland – Serbia – Singapore – Slovakia – Slovenia – Spain – South Africa – Thailand – Czech Republic – Hungary – United States – United Arab Emirates
Simulation models often need different levels of fidelity during different development stages. During the rapid-prototyping stage, we would like to quickly experiment and tune parameters to test different autonomous algorithms. During the production development stage, we would like to validate our algorithms against models of increasing fidelities. In this example, we demonstrate a method to approximate a high-fidelity model with the UAV Guidance Model block and use it to prototype and tune a waypoint following navigation system. See Tuning Waypoint Follower for Fixed-Wing UAV. The same navigation system is tested against a high-fidelity model to verify its performance.
The example model uses a high-fidelity unmanned aerial vehicle (UAV) model consisting of a plant model and a mid-level built-in autopilot. This model contains close to a thousand blocks and it is quite complicated to work with. As a first step in the development process, we created a variant system that can switch between this high-fidelity model and the UAV Guidance Model block. The high-fidelity model is extracted from a File Exchange entry, Simulink Drone Reference Application.
Uav Design software, free download 2018
UAV model of different fidelity
You can switch between the low and high-fidelity models by changing a MATLAB® variable value stored in the data dictionary associated with this model.
Approximate high-fidelity fixed-wing model with low-fidelity guidance model
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To approximate the high-fidelity model with the UAV Guidance Model block, create step control signals to feed into the model and observe the step response to
RollAngle
, Height
, and AirSpeed
commands.First, command a change in roll angle. Esxi 6.7 torrent.
Zooming into the simulation result above, you see the characteristics of the roll angle controller built into the high-fidelity model. The settling time for the roll angle is close to 2.5 seconds.
For a second-order PD controller, to achieve this settling time with a critically damped system, the following gains should be used to configure the UAV Guidance Model block inside the low-fidelity variant of the UAV model. For this example, the UAV Guidance Model block is simulated using code generation to increase speed for multiple runs. See the block parameters.
Set the new gains and simulate the step response for the low-fidelity model. Compare it to the original response.
Design Of Uav Systems
The low-fidelity model achieves a similar step response. Similarly, we can tune the other two control channels:
Height
and AirSpeed
. More sophisticated methods can be used here to optimize the control gains instead of visual inspection of the control response. Consider using System Identification Toolbox® to perform further analysis of the high-fidelity UAV model behavior.Test navigation algorithm with low-fidelity model
Now that we have approximated the high-fidelity model with the UAV Guidance Model block, we can try to replace it with the UAV Guidance Model block in the Tuning Waypoint Follower for Fixed-Wing UAV example. Test the effect of the lookahead distance and heading control gains against these models of different fidelities.
Validate with high-fidelity model
Conclusion
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This example shows how we can approximate a high-fidelity model with a low-fidelity abstraction of a fixed-wing UAV. The opposite approach can be used as well to help with choosing autopilot control gains for the high-fidelity model. You can first decide acceptable characteristics of an autopilot control response by simulating a low-fidelity model in different test senarios and then tune the high-fidelity model autopilot accordingly.
See Also
UAV Guidance Model |
fixedwing
| multirotor
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Related Topics
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