Student Project Seed Grant

Title:

Battlefield Insights: 3D Terrain Modeling using

Transparent 5G Antenna on Mobile Robots
 DEPARTMENT OF TELECOMMUNICATION ENGINEERING

1.Title of the Project:

Battlefield Insights: 3D Terrain Modeling using Transparent 5G Antenna on Mobile
Robots

2. Broad Area of Research:

The broad area of research for the project is Antenna and RF communication. Advanced
technologies like Lidar-based Time of Flight cameras, Image processing, and 5G
communication in military operations is integrated to enhance soldier terrain awareness,
decision-making leading to mission success rate.

3. Names of Students: Department:

Gargi Khobragade 1MS20ET002 Telecommunication Engineering
Saritha R 1MS20ET047 Telecommunication Engineering
Varsha J 1MS20ET058 Telecommunication Engineering
Harsha B N 1MS21ET401 Telecommunication Engineering

4. Name of supervisor: Dr. Parimala Prabhakar

5. Expertise of supervisor in the domain of the proposed seed grant:

Dr. Parimala Prabhakar has extensive expertise in the domain of the proposed seed grant,
with a focus on the field of Antennas and Communication. She has demonstrated her
commitment to research in this field through her academic achievements, paper
publications, Patents and proposal writing for Research funding. She has done her PhD in
Image tracking and Fusion using SRIF filter. She is also the co ordinator for Center of
Excellance for antennas and Rf systems, RIT. She has guided UG and Mtech students in
their project works efficiently leading to student Publications .
A recent publication that showcases her expertise is

● Pruthvi, Keerthana,Sowmini, Syed, Dr.Parimala , Meanderline Pattern Wearable

Textile Antenna for Position Identification in Military Applications, 3rd International
conference on Intelligent Data technologies and IOT, ICICI-2020 Conference Proceeding
Page 796-806, August 27-28, 2020.

6.Abstract of proposal

The "Battlefield Insights: 3D Terrain Modeling using Transparent 5G Antenna on

Mobile Robots" is an innovative project designed to revolutionize battlefield operations.
By integrating cutting-edge technologies, including Time of Flight (ToF) cameras,
advanced Image processing algorithms, 3D modeling software, Raspberry Pi units, a
Robotic arm system, and a Transparent 5G antenna, the project aims to provide soldiers
with real-time 3D Terrain visualization.
The ToF cameras capture precise 3D data, while image processing algorithms generate
comprehensive terrain maps and overlays. 3D modeling softwares can be further used to
create more interactive and clear 3D models from the maps and overlays of the terrain.
Raspberry Pi units helps in collecting this information and send it to soldiers for enhanced
situational awareness and tactical planning.
The robotic arm facilitates efficient camera deployment, and the transparent 5G antenna
ensures seamless communication and data transmission, with upcoming Cellular
technology. The project's implementation will empower soldiers with an unprecedented
level of understanding, significantly improving safety and mission success rates on the
modern battlefield.

7.Brief Introduction to the proposal

Modern military operations demand real-time and comprehensive terrain awareness to

ensure the safety and success of soldiers on the battlefield. The proposed project,
"Battlefield Insights: 3D Terrain Modeling using Transparent 5G Antenna on Mobile
Robots", represents a groundbreaking initiative to address this critical need by harnessing
cutting-edge technologies.

At the core of this project are the Time of Flight (ToF) cameras, integrated with Lidar
technology, which enables precise distance measurements through infrared light. These
cameras rapidly scan the environment, generating highly accurate 3D models of the terrain
and objects in real-time. We will be placing this camera on the arm of the remote
controlled Mobile Robotic Arm. The captured data from the ToF camera is then processed
by sophisticated image processing algorithms, converting raw information into
comprehensive and intuitive terrain maps and overlays. This processed data can further be
used to create a more interactive and clear 3D model using 3D modeling software like
Blender, UNITY, UNREAL, etc. These software are widely used in game developments
and animated movies for creating 3D models in their projects. So if we use one of these
software to create the 3D models then the soldiers will get a more accurate insight and
spatial awareness of the battlefield. Further these 3D models can be implemented in AR
and VR for simulating the exact terrain/environment which will help soldiers in more
intense and proper tactical practice.

Raspberry Pi units are employed to collect and transmit the terrain data. These compact
and powerful processing units ensure real-time information delivery to the soldiers on the
ground, enhancing their situational awareness and decision-making capabilities.

The project's versatility is further enhanced by a robotic arm system, which facilitates the
deployment and positioning of the Time of Flight cameras in various terrains and
scenarios. This dynamic and adaptive capability allows soldiers to gather critical data from
challenging or hazardous locations without putting their lives at risk.

In addition, the transparent 5G antenna technology serves as the communication backbone,

ensuring reliable and uninterrupted data transmission between the soldiers' devices and the
central command unit. This seamless connectivity empowers soldiers with vital
information and enables swift coordination and response during missions.

By fusing these advanced technologies, the project aims to revolutionize how soldiers
perceive and interact with their operational environment. The project's implementation will
elevate their tactical capabilities, promote safer decision-making, and ultimately lead to
enhanced mission success rates on the modern battlefield. This endeavor represents a
significant step towards modernizing military operations, equipping soldiers with cutting-
edge tools, and reaffirming the commitment to safeguarding lives while achieving military
objectives.

8.Background (literature review)

The design of modern military systems requires a deep understanding of various
technology domains and their convergence to create effective solutions. The "Battlefield
Insights: 3D Terrain Modeling using Transparent 5G Antenna on Mobile Robots"
represents a seamless integration of Lidar-based Time of Flight (ToF) cameras, advanced
image processing algorithms, Raspberry Pi units, a robotic arm system, and 5G antenna
technology. Each of these domains brings a unique contribution to the project's ultimate
objective - enhanced terrain visualization and improved situational awareness for soldiers
on the battlefield.

Advanced image processing algorithms play a pivotal role in converting raw Lidar data
into comprehensible and useful information. Various studies have focused on algorithm
development for Lidar data analysis and interpretation [ 3] (Mallet et al., 2011; Himme
lsbach et al., 2010). These algorithms typically involve noise filtering, segmentation,
classification, and 3D reconstruction, transforming the collected data into detailed terrain
maps and overlays. We find that there are various algorithms that we can utilize in the
domain of image processing. The Histogram Equalization which aims to enhance the
contrast of an image by redistributing the intensity values in the image's histogram. It
stretches the intensity levels across the entire range, making the image visually more
appealing and easier to analyze. Gaussian Blur algorithm applies a Gaussian kernel to an
image to reduce noise and remove high-frequency details, resulting in a smoother
appearance. It is commonly used in pre-processing and image filtering tasks.
Canny Edge Detection algorithm is widely used for edge detection in images. It involves
multiple steps, including Gaussian blurring, gradient calculation, non-maximum
suppression, and hysteresis thresholding to identify edges with high accuracy.

5G technology offers high-speed, low-latency wireless communication that has

transformative potential across various sectors, including the military [ ](Andrews et al.,
2016). The proposed project leverages a transparent 5G antenna, which enhances
communication capabilities without obstructing soldiers' views, thus enabling seamless
data transmission and real-time updates.

The project's success hinges on the effective integration of these diverse technologies. A
number of studies have explored Lidar-based 3D modeling [ ] (Sappa et al., 2016), real-
time image processing (Li et al., 2015), and the use of Raspberry Pi in various applications
(Cope et al., 2016). However, combining these technologies for a portable, soldier-
operated terrain visualization system represents an innovative approach. Additionally, the
inclusion of a robotic arm system for camera deployment in a military context, and the use
of transparent 5G antenna for seamless communication, are novel aspects of the project
that underscore its transformative potential.

Details of the components which we will be using:-

ToF (Time of Flight) Cameras:-

A 3D time-of-flight (ToF) camera works by illuminating the scene with a modulated light
source, and observing the reflected light. The phase shift between the illumination and the
reflection is measured and translated to distance. Figure 1 illustrates the basic ToF concept.
Typically, the illumination is from a solid-state laser or a LED operating in the near-
infrared range (~850nm) invisible to the human eye. An imaging sensor designed to
respond to the same spectrum receives the light and converts the photonic energy to
electrical current.
 Figure 1: 3D time-of-flight camera operation.

IMU (Inertial Measurement Unit) Sensors:-

It measures force, magnetic field, and angular rate. These sensors include a 3-axis
accelerometer and gyroscope. So this would be measured as a 6-axis IMU sensor. These
can also comprise an extra 3-axis magnetometer, so it can be considered like a 9-axis IMU.
For our project we will be using a 9-axis IMU which is named as MPU9250.The MPU-
9250 is a 9-axis Motion Tracking device that combines a 3-axis gyroscope, 3-axis
accelerometer, 3-axis magnetometer and a Digital Motion Processor (DMP) all in a small
3x3x1mm package available as a pin-compatible chip.

Figure 2: MPU9250 (IMU sensor)

GPS (Global Positioning System):-

Global Positioning System is a satellite-based radio-navigation system that broadcasts
highly accurate navigation pulses to users on or near Earth. In our project we will be using
the NEO-6M GPS Module.

Raspberry Pi:-
Raspberry Pi units are compact, cost-effective, and powerful computers that have been
widely used in various applications, from education to industrial automation, and even in
space exploration (Upton, 2020). In the proposed project, Raspberry Pi units serve as the
processing and display units for the terrain visualization system, ensuring real-time
delivery of processed data to the soldiers.

Mobile Robotic Arm:-

The Mobile Robotic Arm is basically a manually controlled platform which uses
Caterpillar type track belt locomotion. The gear box is dominantly a mechanical assembly
which uses a Worm gear assembly which uses Caterpillar type track belt locomotion. The
platform is rear wheel driven wherein two high torque DC motors of 12V, 45 rpm rating
are used, additional two motors are used in the gearbox and gripper assembly.

Figure 3: Mobile Robotic arm

In conclusion, the project represents a pioneering effort to enhance soldier terrain
awareness by leveraging cutting-edge technologies. Drawing from a body of literature
across various technology domains, the project promises to make significant advancements
 in military operations, equipping soldiers with a comprehensive and up-to-date
understanding of the terrain, fostering improved tactical planning, heightened safety, and
enhanced mission success rates.

9.Problem Statement (this must be very specific)

The project is to develop a prototype of "Battlefield Insights: 3D Terrain Modeling using

Transparent 5G Antenna on Mobile Robots" which addresses the significant challenge of
providing soldiers with real-time, high-resolution, 3D terrain visualization and situational
awareness in diverse and dynamic battlefield environments, using an integrated, portable
and soldier-operable system.

10.Objectives

● Develop an Integrated Terrain Visualization System: Design and build a compact,

lightweight, and easily deployable system that seamlessly integrates Lidar-based Time of
Flight cameras, Inertia Measurement Unit sensors, GPS module, Raspberry Pi units, a
robotic arm system, and transparent 5G antenna technology.

● Real-time 3D Terrain Visualization: Enable real-time 3D terrain visualization to provide

soldiers with accurate and up-to-date representations of the surrounding environment,
including terrains, obstacles, and potential threats.

● Safe and Efficient Camera Deployment: Implement a robotic arm system to facilitate the
safe and efficient deployment and positioning of the Time of Flight cameras in diverse
and challenging terrains, and ensure reliable data capture.

● Seamless Communication: Employ transparent 5G antenna technology to ensure

seamless and reliable communication between soldiers' devices and the central command
unit, enabling real-time data transmission and coordinated response during missions.

● Validation and Testing: Conduct rigorous testing and validation of the system's
functionality and performance in simulated and real-world military environments,
ensuring its reliability and efficacy during field deployments.

● Cost-effectiveness and Scalability: Optimize the project's cost-effectiveness and

scalability to ensure its feasibility for wider implementation across military units and
operations.

11.Methodology of the proposed solution

There will be 2 stages i) Designing and Testing the 5G transparent ii)3D modelling of terrain

i.Designing and Testing of 5G Transparent Antenna:-

For designing of 5G transparent Antenna at 3.2GHZ, we are using PET sheet as a

Substrate, ITO (Indium Tin Oxide) as the Conducting Material. For designing, fabrication
and testing of Antenna we will be working in CARFS (Centre for Antennas and Radio
Frequency System).

Block Diagram
 Steps:-

○ Define the antenna specifications: The first step is to define the required
specifications of the antenna, such as the frequency bands of operation, gain,
radiation pattern, polarization, and impedance. This information will guide the
antenna design process.

○ Antenna design: The next step is to design the antenna using ANSYS HFSS,
taking into account the specifications defined in the previous step.

○ Simulation: After designing the antenna, the next step is to simulate the system
using ANSYS HFSS. The simulation will enable us to evaluate the performance
of the antenna system, such as the radiation pattern, gain, efficiency, correlation,
isolation, and diversity gain.

○ Design optimization: Based on the simulation results, the antenna design can be
optimized to achieve the desired performance metrics. This can involve
modifying the antenna dimensions, orientation, or feed point position.

○ Prototype development: Once the optimized design is obtained, a prototype of the

antenna system can be developed and tested to validate the simulation results.

○ Performance evaluation: The performance of the antenna system can be evaluated

by measuring the antenna parameters, such as gain, efficiency, correlation, and
isolation.

ii.3D modeling of terrain

For the purpose of creating a 3D visualization of the terrain, we will be requesting to utilize
the facilities at CIT (Centre of Imaging Technologies). To make the 3D model of the
terrain a remote controlled Mobile Robotic Arm, two Raspberry Pi’s for transmitting and
receiving are used as shown in figure 4. Both the Raspberry Pi’s are integrated with our
custom made 5G transparent antenna. The transmitting Raspberry Pi is referred as RPi-1
and the receiving Raspberry Pi as Rpi-2. RPi-1 is used for collecting data from the sensors
necessary for 3D modeling and send the collected data to RPi-2 connected to the laptop.
The sensors we are using for 3D modeling are ToF cameras (for measuring distance of an
object from the robot), IMU sensors (for detecting the motion of the object) and GPS (to
track the and navigate the robot). We will use Virtualization Software to run Rpi-2 OS on
the laptop so that we can simultaneously use our Laptop’s functionality and RPi-2’s
functionality. We will be using image processing algorithms and 3D modeling software on
the laptop, for doing so the data is acquired from Rpi-2 (which in turn receives it from RPi-
1). We have to go through all of this trouble because the current laptops might not be able
to capture data signals directly from modified Raspberry Pi’s because of the difference in
5G frequency band and the regular WiFi frequency band, once the technology emerges and
all the electronics gadget support 5G bandwidth then there won’t be the need of 2nd
microcontroller and Virtualization Software.

Steps:-

● Integration of 5G antenna onto the two RPi’s.

● Assembly of the Mobile Robotic Arm.

● Connecting the power supply (here we are using Power Bank for RPi-1 as it will be
placed on a mobile unit) and all the sensors (ToF camera, GPS and IMU) to RPi-1.

● Perfectly place the RPi-1 with all the connections onto the Mobile Robotic Arm unit
(ToF camera will be placed in the arm of the robot while maintaining its connection to
RPi-1).

● Connect the power supply to RPi-2 and then connect it to Laptop.

● Download necessary libraries on the RPi’s (Royale library, MPU9250 serial to IMU
data) and the necessary software on the laptop (Virtualization Software, 3D modeling
software, MATLAB).

● RPi-1 sends data to RPi-2.

● We acquire data from RPi-2 onto the laptop and using the laptop we process it using
Image Processing algorithms which converts raw information into comprehensive and
intuitive terrain maps and overlays

● At last from the maps and overlays achieved from Image Processing we create a clear
and look-alike 3D Model of the Terrain with the help of 3D modeling software.

This final 3D model will help soldiers in Enhanced Situational Awareness, Route Planning
and Navigation, and Tactical Decision Making.
 Figure: Block Diagram of the methodology of Battle Field insights

12.Preliminary Work Done (if any) and Project Execution Feasibility

● Technological Feasibility: The project involves established technologies like Lidar-based

Time of Flight cameras, image processing algorithms, 3D modeling software, Raspberry Pi
units, Mobile Robotic Arm and 5G antenna technology, which have seen significant
advances in recent years and have been successfully implemented in various applications.

● Resource Feasibility: The components required for the system, including ToF cameras,
Raspberry Pi units, robotic arms, and materials to design 5G antennas, are widely available
and can be procured from reliable suppliers. The project team will require expertise in
areas like Lidar technology, image processing, and communication technology, which can
be ensured through careful team composition and training.

● Time Feasibility: With a structured project timeline and a systematic approach to the
design, development, and testing phases, it is feasible to execute the project within a
reasonable time frame. Regular monitoring and evaluation will ensure that the project stays
on track and any potential delays are identified and addressed promptly.

● Financial Feasibility: While the project involves advanced technologies, the cost of
components like Raspberry Pi units and ToF cameras has been decreasing due to mass
production and market competition. The system is designed to be compact, portable, and
user-friendly can operate the system effectively and derive maximum benefit from its
 features.

13. Details of experimental set up

The following hardware and software units are employed in developing the prototype of
Battle field insights .
Hardware requirements
i. ITO and PET materials for fabricating Transparent antenna with connectors
ii. Remote controlled Mobile Robotic Arm
iii. Raspberry Pi Processor
iv. Power Bank
v. ToF camera
vi. IMU sensor
vii. GPS module
viii. Laptop
Software requirements
i. Raspberry Pi interfacing program
ii. Image /video Preprocessing software
iii. 3D modelling software

● Custom made 5G transparent antennas are integrated to both the Raspberry Pi’s, RPi-1 at
the transmitter and Rpi-2 at the receiver.

● At Transmitter the power supply is provided to Robotic arm, ToF Camera, IMU sensor
(MPU9250),GPS Module and RPi-1.

● RPi-1, along with the necessary connections, is positioned onto the Mobile Robotic Arm
Unit .

● At Receiver RPi-2 is used to receive the data signal from the Transmitter.RPi-2 is
connected to the Laptop. By using Virtualization Software terrain data is communicated
from RPi-2 to Laptop.

● Suitable Image Processing Algorithm will be applied to process the raw data and will be
converted to comprehensive and intuitive terrain maps and overlays.

● Using 3D modeling software the maps and overlays are converted to clear 3D Model of
the surrounding terrain.
 Figure 4: Tentative Experimental Setup

14. Timeline of project execution

August 2023: Project Planning and Requirements Analysis

 Form the project team and assign roles and responsibilities
 Define project objectives, scope, and deliverables and apply for funding

September 2023: Technology Integration and Design

 Procure necessary components like ToF cameras, Raspberry Pi units, robotic arms
and materials required for, designing 5G antennas.
 Study and develop detailed system architecture and schematics necessary to
integrate the various technologies into a cohesive design.

October 2023: Software and Algorithm Development

 Create user-friendly software interfaces for Raspberry Pi units.
 Program the robotic arm system for efficient camera deployment.

November 2023: Software and Algorithm Development

 Work on image /video processing software

December 2023: Field Testing and Optimization

 Build a functional prototype of the terrain visualization system.

 Conduct field tests and simulations in different terrains.

 Optimize the system's performance based on field test results and user feedback.

January –February 2023: Address user training and integration

 Address any issues or challenges that arise during testing.
 Integrate the system into soldiers' standard operating procedures and workflows.
 March 2023: Finalization of the prototype and Documentation
 Make final adjustments based on user feedback and testing results.
 Documentation and reporting of the project's progress and outcomes.

April-May 2023: Evaluation and Improvement

 Monitor and evaluate the system's performance and user satisfaction in real time
applications
 Apply for Publication and initiate to file a patent.

15.Ethical considerations:

1. Transparency: Clearly communicate the capabilities and limitations of the system to

soldiers and stakeholders to manage expectations and foster trust.

4. Dual-Use Concerns: Consider the potential dual-use nature of the technology and assess
the implications for its use in both military and civilian settings.

Environmental Considerations:

1. Eco-Friendly Materials: Use eco-friendly materials and components in the system's

construction and design to minimize environmental impact.

2. Energy Efficiency: Optimize power consumption of the system's components, ensuring

energy-efficient operation and reduced carbon footprint.

3. Recycling and Disposal: Implement proper recycling and disposal procedures for system
components, especially for batteries and electronics, to mitigate electronic waste and
environmental pollution.

4. Sustainability: Assess the environmental impact of the project during its lifecycle and
strive to ensure that the benefits outweigh any negative effects on the environment.

5. Environmental Compliance: Comply with environmental regulations and guidelines

when conducting field tests and deployments, ensuring minimal disturbance to natural
ecosystems and habitats.

By carefully considering these ethical and environmental aspects, the project aims to
uphold the highest standards of responsible research and development, promoting both
ethical practices and environmental sustainability in its implementation.

16.Expenditure Planning (to be done by supervisor)

Sl. No Item Amount (In INR)

1. Non- Recurring
Equipment 34,555/-
2. Consumables and 3,804/-
Recurring Components
3. Contingency 10,000/-
Grand total 48,359/-
Justification for Equipment:

Sl. Components No Cost in Source

no. Rupees

1. ITO coated PET sheet 2 3,804/- Shilpent Indium Tin Oxide (ITO) Coated PET
Sheet (Size: L 200mm × W 100mm x T
0.175mm) (ITO Sheet resistivity – ≤ 10 ohms/sq)
: Amazon.in: Industrial & Scientific

2. ToF camera for Raspberry 1 12,363/ Buy Arducam ToF Camera, 0.43MP Color
pi - Rolling Shutter Camera Module with Case for
Raspberry Pi and Nvidia Jetson Nano/NX, Depth
Sensing Solution ToF Tech Camera Online at
Low Price in India | Arducam Camera Reviews
& Ratings - Amazon.in

3. GPS for Raspberry pi 1 530/- Thinklets™ GY-NEO6MV2 GPS Module with

Antenna for Arduino, Raspberry Pi : Amazon.in:
Computers & Accessories

4. Raspberry Pi 4 Model B 1 7,600/- Raspberry Pi 4 Model B 8GB RAM DDR4 64-

8GB RAM bit SoC @ 1.5GHz Single Board Computer :
Amazon.in: Computers & Accessories

5. Raspberry Pi 4 Model B 1 6,212/- Raspberry Pi 4 Model B 4Gb Ram Micro

4Gb RAM Controller Board for IOT Electronic Hobby Kit :
Amazon.in: Computers & Accessories

6. Breadboard and jumper 1 set 199/- ePro Labs KIT-0010 Breadboard + 60 Pieces
wires Jumper Wires Set : Amazon.in: Industrial &
Scientific

7. Mobile Robotic Arm 1 3,800/- Buy ROBOSOFT Systems Mobile Robotic Arm
DIY Kit Online at Low Prices in India -
Amazon.in

8. MPU9250 1 1,234/- MPU9250 9-Axis Attitude Accelerator

Magnetometer Sensor Module : Amazon.in:
Industrial & Scientific

9. Power Bank 1 1,899/- Ambrane 20000mAh Power Bank, 20W Fast

Charging, Triple Output, Type C PD (Input &
Output), Quick Charge, Li-Polymer, Multi-Layer
Protection for iPhone, Smartphones & Other
Devices (Stylo 20K, Green) : Amazon.in:
Electronics

10. SD card 2 718/- SanDisk Ultra microSD UHS-I Card 32GB,

120MB/s R - Buy SanDisk Ultra microSD UHS-
I Card 32GB, 120MB/s R Online at Low Price in
India - Amazon.in
 Total 38,359/
-

Justification for Consumables:

1. The ITO coated PET sheet is (L 200 mm × W 100 mm x T 0.175mm) with a resistivity
of <10 ohms/sq. This component is used for making the transparent antenna.

2.Time of Flight Camera: The Time of Flight (ToF) camera is a crucial component in the
system as it provides real-time distance measurements using infrared light. This data is
essential for generating accurate 3D terrain models.

3. GPS for Raspberry Pi: GPS modules provide precise location information, enabling the
system to geotag the generated terrain data accurately and also to locate the robot.Backup
GPS modules may be needed to maintain continuous and reliable positioning, especially in
harsh or remote environments.

4.Bread board and Jumper wires : These wires are essential for connecting various
components within the system. Consumables like spare wires and connectors are necessary
to address any unexpected wiring issues or wear and tear during field operations.

5. Two Raspberry Pi’s: One Raspberry Pi model serves as the transmitter of data captured
from the sensors for the terrain visualization. The other RPi model serves as the receiver.

6. Two SD cards: SD cards for Raspberry Pi to load operating system and for data storage.

7. Power Bank: To supply power to the Raspberry Pi deployed on the mobile robotic arm.

8. MPU9250 (IMU sensor): The IMU sensor is an electronic device used to calculate and
reports an exact force of body, angular rate as well as the direction of the body, which can
be achieved by using a blend of 3 sensors like Gyroscope, Magnetometer, and
Accelerometer.

9. Mobile Robotic Arm: The robotic arm plays a critical role in deploying the Time of
Flight camera for scanning the terrain.

Justification for Contingency:

With this innovative project proposal , with financial aid from RIT, we expect to have at
least one publication and Patenting the novelty we developed as a prototyping of
Battlefield insight. Fabrication of Transparent antenna is carried out with Laser cutting
shops.
Towards Publication : Rs.7000/-
Stationary : Rs.2000/-
Travel expenditure : Rs.1000/-
Total: Rs10,000/-

17.Expected Outcomes (publications, patents etc.)

 1. Minimum one Publication in peer reviewed Journal or IEEE Conference
2. Indian Patent filing and publishing

18.References
1. Chen, Y., et al. “Lidar technology and applications. Progress in Physical Geography”(2017).
2. Kolb, A., et al. “Time-of-flight sensors in computer graphics. Eurographics - State of the Art
Reports” (2010).
3. Mallet, C., et al. (2011). “A full-waveform lidar echo classification method for the automatic
extraction of terrain and non-terrain points”. ISPRS Journal of Photogrammetry and Remote Sensing
(2011).
4. Himmelsbach, M., et al. “Real-time object classification in 3D lidar data using elongated ness
analysis”. IEEE Intelligent Vehicles Symposium (2010).
5. Andrews, J. G., et al. “What will 5G be?”. IEEE Journal on Selected Areas in Communications
(2016).
6. Sappa, A. D., et al. “An overview of 3D information recovery from 2D images in urban scenarios:
The role of the sensor”. ISPRS Journal of Photogrammetry and Remote Sensing (2016).
7. Li, X., et al. “A real-time experimental platform for stereo vision”. Proceedings of the World
Congress on Intelligent Control and Automation (WCICA) (2015).
8. Cope, J., et al. “Raspberry Pi. Telematics and Informatics” (2016).
9.Arpa Desai ,”Flexible CPW fed transparent antenna for WLAN and sub-6 GHz 5G applications ”,31
July 2020.
10.Chow-Yen-Desmond Sim,“A Highly Transparent Flexible Antenna Based on Liquid Metal Mesh
Film”,Charotar University of Science and Technology, CSPIT, Gujarat, India,26 April 2023.
11. Pizer, S. M., Amburn, E. P., Austin, J. D., Cromartie, R., Geselowitz, A., Greer, T., ... &
Zimmerman, J. B. “Adaptive histogram equalization and its variations, Computer vision, graphics, and
image processing”, 39(3), 355-368, (1987)
12.Perona, P., & Malik, J. “Scale-space and edge detection using anisotropic diffusion”. IEEE
Transactions on Pattern Analysis and Machine Intelligence, 12(7), 629-639 (1990).
13.Canny, J. “A computational approach to edge detection”. IEEE Transactions on Pattern Analysis
and Machine Intelligence, (6), 679-698, (1986).

Dr. Parimala Prabhakar Dr. B.K. Sujatha

Supervisor Head of Department
Electronics and Telecommunication