WO2013108253A1 - Système et procédé de détection de missiles lancés - Google Patents

Système et procédé de détection de missiles lancés Download PDF

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Publication number
WO2013108253A1
WO2013108253A1 PCT/IL2013/050046 IL2013050046W WO2013108253A1 WO 2013108253 A1 WO2013108253 A1 WO 2013108253A1 IL 2013050046 W IL2013050046 W IL 2013050046W WO 2013108253 A1 WO2013108253 A1 WO 2013108253A1
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Prior art keywords
target
pixel
pixels
frames
succession
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PCT/IL2013/050046
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English (en)
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WO2013108253A8 (fr
Inventor
Gil Tidhar
Efraim SHOAM
Tomer BAUM
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Elta Systems Ltd
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Publication of WO2013108253A1 publication Critical patent/WO2013108253A1/fr
Publication of WO2013108253A8 publication Critical patent/WO2013108253A8/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F41G3/147—Indirect aiming means based on detection of a firing weapon
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
    • G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors

Definitions

  • the invention is generally in the field of detecting launched missiles.
  • Fig. 1 illustrating a typical launching scene of a SAGGER missile towards a target.
  • the missile's primary mode of operation is by ground mounted on a "suitcase" launcher.
  • the missile is wire guided and the launch may take place such that there is no line-of-sight (LOS) 101 between the physical location of the missile's launch site 102 and the target (vehicle 103).
  • LOS line-of-sight
  • a detection (typically electro-optical) system mounted on (or in the vicinity of) the designated target would detect the threatening missile during launch (e.g. by detecting the launch incident flare 104) thus allowing ample time for the target vehicle to apply counter-measure means and/or maneuver to avoid hit.
  • electro-optical detection systems which are designated to detect an oncoming threat cannot rely on a launch-incident flare during launch since, as specified above, in many operational scenarios, there is no LOS (101) between the incident flare and the electro-optical detection system (fitted on or in the vicinity of the protected vehicle - not shown in Fig. l).
  • LOS 101
  • the flare's intensity is relatively low, hindering the detection system to detect it from a large distance, say of a few kilometers (which, in many cases, is the actual range-to-target of the launched SAGGER).
  • a method for detecting a flying target comprising:
  • processing selected frames of the succession including searching for at least one pixel having pixel characteristics that correspond to the target characteristics, and if identified, indicating the target.
  • the selected frames are a succession of frames.
  • the pixel characteristics refer to a window embracing more than one pixel.
  • the pixel characteristics include a pixel modulation frequency that is proportional to the optical modulation frequency and the frame rate.
  • a method wherein the pixel characteristics include the given wavelength. In accordance with an embodiment of the presently disclosed subject matter, there is further provided a method, wherein the pixel characteristics are tested for complying with the wavelength before obtaining the digital signal.
  • the pixel characteristics include pixel's value intensity.
  • the pixel characteristics include identifying a pattern of pixels that correspond to a flight trajectory of the target.
  • processing includes, with respect to at least, selected from among the succession of frames:
  • a method wherein following applying a High Pass Filter (HPF) to the identified pixels, for analyzing spatial distribution in the pixels and applying a score to pixels such that the better the score the more likely the pixel's characteristics resemble target's pixel characteristics , testing pixel's characteristics for identifying a pattern that corresponds to flight trajectory of the target and indicating on oncoming target including pixel (x,y) location and time of the detection event.
  • HPF High Pass Filter
  • the missile being a SAGGER missile.
  • the protected object is a moving object.
  • the indicating includes pixel (x,y) location as well as time of the detection.
  • a method further comprising detecting if the flying target is oncoming towards a protected object.
  • a method further comprising, in the case of indication of the oncoming target, activating counter-measure means for destroying the target.
  • a system for detecting a flying target comprising:
  • a sub-system configured to receive optical signals of a scene and acquiring therefrom, at a given frame rate, a digital signal that includes a succession of frames each including a plurality of pixels; a processor configured to process selected frames of the succession including searching for at least one pixel having pixel characteristics that correspond to the target characteristics, and if identified, indicating on the target.
  • a system wherein the processor is further configured to detect if the flying target is oncoming towards a protected object.
  • the subsystem includes an optics sub-system for receiving oncoming signals and a cluster of optical sensors for acquiring a succession of video frames at a given frame rate.
  • the optics sub-system includes a spectral filter module for obtaining maximum Signal to Noise (S/N) ratio between target and background, and wherein the objective lens module is configured in accordance with certain parameters, including the desired detection range, such that the larger the focal length, the larger the detection distance.
  • S/N Signal to Noise
  • the camera includes a sensor module sensitive to visible light configured to acquire the received optical signal and converts it to a digital signal; the camera further includes a Frame Grabber and Proximity Electronics module configured to capture video at a given frame rate for feeding to the processor.
  • CMOS complementary metal-oxide-semiconductor
  • CCD complementary metal-oxide-semiconductor
  • CMOS camera being a Bayer camera.
  • a system further comprising a database for storing target characteristics of various targets.
  • a computer program product for detecting a flying target; the target rotating about its longitudinal axis and having at least one beacon coupled thereto; the rotation of the target substantially blocks and unblocks the light emanated from the beacon, giving rise to target characteristics that include modulated optical signals at a given wavelength; the computer program product embodying a computer readable storage medium storing a computer program for executing the following stages including
  • processing selected frames of the succession including searching for at least one pixel having pixel characteristics that correspond to the target characteristics, and if identified, indicating the target.
  • a method for detecting a flying target comprising:
  • Fig. 1 is a typical launching scene of a SAGGER missile towards a target
  • Fig. 2 is a schematic illustration of a BEACON fitted on a flying SAGGER missile that rotates about its longitudinal axis;
  • Fig. 3 is an exemplary operational scenario of detecting a threat missile during flight, in accordance with certain embodiments of the invention.
  • Fig. 4 is a generalized system architecture, in accordance with certain embodiments of the invention.
  • Fig. 5 is a generalized sequence of operations, in accordance with certain embodiments of the invention.
  • the detection is based on the fact that during the missile's flight it rotates in a well defined frequency. Attention is now directed to Fig. 2 showing a schematic illustration of a red BEACON 20 fitted on a SAGGER missile 21 that rotates about its longitudinal extent, during flight.
  • the red beacon 20 serves as a visual indication allowing the operator to wire- guide the missile towards the target.
  • the rotation of the missile substantially blocks and unblocks the light emanated from the beacon, giving rise to a modulated optical signal at a given wavelength, forming part of target characteristics.
  • wavelength should be construed as embracing also a wavelength range.
  • the light emanated from the beacon is blocked, whereas when the missile rotates in a segment of 90 degrees clockwise the beacon's light is unblocked (see 20 in snapshot 202).
  • the beacon's light is still unblocked, whereas when the missile rotates for still another 90 degrees segment 204, the beacon's light is blocked.
  • This sequence of substantially blocking and unblocking gives rise to a modulated optical signal which depends on the rotation of the missile including the rotation rate thereof and the number of segments (as well as their length ) that the light is substantially blocked (i.e. not necessarily fully blocked) and unblocked (i.e. not necessarily fully unblocked) in each rotation.
  • the spatial orientation of the missile affects the signal intensity, for instance shortly after launch, the missile's orientation is more vertical, facilitating thus a better LOS between the beacon and the electro-optical system, thereby increasing the intensity of the modulated signal as received by the electro-optical system of the invention, whereas when the missile proceeds in the flight trajectory it changes its orientation to be a more flat trajectory, thereby partially concealing the LOS between the beacon and the receiver system, thus possibly reducing the intensity of the modulated signal when received by the electro-optical system.
  • other parameters may affect the modulated signal.
  • utilization of more beacons may affect the frequency and intensity of the modulated signal.
  • an electro-optical system is configured to detect a modulated digital signal (that is proportional also to the specified optical signal modulation frequency) and apply further processing on the modulated digital signal for providing an indication of an oncoming threat/target (that is possibly aimed at a protected object) in good time before the missile hits the protected object.
  • the detection system may be located on/in or near the protected object.
  • protected object refers to a target object whether moving (such as a vehicle, e.g. tank) or stationary, such as a building.
  • the target is not necessarily an oncoming target, namely not aimed at protected object.
  • the detection system of the invention may be located at a different location than the designated hitting area of the target.
  • the electro-optical detection system is not bound by the number of illumination devices such as a BEACON fitted on the flying object and/or to the location thereof and or to a specific operational wavelength of the light of the optical signal emanated from the beacon.
  • Fig. 3 it illustrates a typical operational scenario for detecting a missile during flight, in accordance with certain embodiments of the invention. While not shown in Fig. 3, the scenario starts with a missile launch.
  • the electro-optical system 30 mounted on, or in the vicinity, of the protected object, is operative to receive optical signals indicative of real-world scene(s) (including clutters) at a distance of, say, a few kilometers.
  • the signals are received and a digital signal that includes a succession of frames is acquired therefrom and processed, and in case it complies with predetermined signal characteristics that correspond to the target characteristics, namely unique characteristics of a true threat/target during flight (e.g. of a SAGGER missile), an appropriate indication is provided. Note that the signal gets stronger as the missile approaches the detection system (locations 31 to 34).
  • the specified signal characteristics include wavelength and modulation characteristics (such as proportional frame rate and optical signal modulation frequency of a target).
  • the digital signal includes a succession of streaming video (frames) that are acquired at a given frame rate from the received optical signal and are processed by an image processing sub-system.
  • a true threat/target may be reflected as an area (consisting of one or more pixels) (in a series of frames of the succession ) having with respect to each pixel, certain pixel characteristics.
  • the digitized received signal may extend over more than one pixel, and, in the latter case, known per se compensation techniques may be applied such as static or dynamic size window embracing a few pixels and e.g. summing the values of the (grey levels of) pixels in the window. These may still be regarded as pixel characteristics.
  • pixel characteristics include a given wavelength (e.g. indicative of a given color - corresponding to red in the case of SAGGER) and pixel modulation frequency that is proportional to the specified optical modulation frequency and to the frame rate.
  • a given wavelength may, in certain embodiments, encompass also wavelength range.
  • pixel characteristics may further include, among others, a series of pixels (35) on a series of frames (of said succession) having a given pattern that corresponds to flight trajectory of the threat/target (e.g. from position 31 to position 34).
  • FIG. 4 there is shown a generalized system architecture 40, in accordance with certain embodiments of the invention.
  • incoming signals are received by optics sub-system 42, and after having been incident on the optical sub-system 42, are acquired as a succession of video frames at a given frame rate by the camera sub-system 43 and thereafter processed by image processing sub-system 44 which provides as an output indication e.g. whether or not a true threat/target missile (e.g. SAGGER) is approaching towards the protected object.
  • image processing sub-system 44 which provides as an output indication e.g. whether or not a true threat/target missile (e.g. SAGGER) is approaching towards the protected object.
  • optics system 42 it includes spectral filter module 45 and objective lens module 46.
  • the spectral filter transmission is optimized, such that maximum Signal to Noise (S/N) ratio is achieved between target and background.
  • S/R is optimized since the camera's filter blocks any radiation which is outside the designated wavelength (spectral band) of the target.
  • Target in this case refers to the beacon having, by this example, spectral emission of highest intensity in a wavelength that corresponds to the red light.
  • the objective lens 46 is selected in accordance with certain parameters including the desired detection range, such that the larger the focal length, the larger the detection distance. Note however that longer detection distance is achieved at the penalty of narrower detection sector.
  • the camera further includes sensor module (47) (utilizing e.g. CMOS or CCD), sensitive to visible light, which acquires the received optical signal and converts it to a digital signal, and Frame Grabber and Proximity Electronics module (48) that enable capturing video at a given frame rate for feeding to the image processing sub-system (44).
  • the latter includes Image Processor module (49) and User /External output module (401).
  • Image Processor module (49) is responsible for pixels processing.
  • the output module 401 handles messaging or any other output formats to the user or to (e.g.
  • a DB may be utilized to store target characteristics, e.g. in case that the electro-optic system is designated to detect any of those in the repertoire of possible threats/targets.
  • system architecture is not bound by the system, sub-systems and/or modules illustrated and explained with reference to Fig. 4.
  • a cluster of optical sensors where camera is an example
  • a single optical sensor is utilized.
  • FIG. 5 illustrating a generalized sequence of operations, in accordance with certain embodiments of the invention.
  • the video streaming (51) is generated by the camera sub-system 43 as a succession of video frames that are acquired at a given frame rate.
  • this rate is at least double the modulation frequency of the optical signal emanated from a target , e.g. 120 Hz -).
  • the so acquired frames are fed to signal processing module (49) and undergo various processing stages as illustrated in Fig. 5.
  • the incoming video streaming (frames) undergoes known image non-uniformity and bad pixel correction for compensating on intrinsic camera and optics related errors, all as known per se.
  • the video streaming undergoes image registration for motion correction and, as a preparatory step for subsequent image processing, all as known per se.
  • the motion correction may be applied globally to the entire image, or different correction may be applied to different image portions, all as known per se.
  • the registration between frames is performed in order to eliminate or reduce undue effects such as camera motion (e.g. if the latter is fitted on a mobile platform).
  • a narrow band pass temporal filter (e.g. IIR) proportional to target rotation frequency is applied to the video streaming outputted from computational stage 52.
  • the sought threat/target e.g. the SAGGER
  • the target of interest is identified at a relatively large distance (of a few kilometers) it is likely to fall in a single pixel (representing an area of a few square meters) or a few (say 2 to 4) adjacent pixels in a Focal Plane Array (FPA) that stores a given frame (of the succession of acquired frames). If, on the contrary, a pixel is detected at a shorter distance, the target may embrace a few pixels.
  • FPA Focal Plane Array
  • the digitized received signal may extend over more than one pixel, and, in the latter case, known per se compensation techniques may be applied such as static or dynamic size window embracing a few pixels and, e.g. summing the values of the (grey levels of) pixels in the window.
  • Pixel characteristics may include wavelength, which by this example is a priori determined by employing a spectral filter (see e.g. 45 in Fig. 4) adapted to transfer an optical signal received only at the desired wavelength. Pixel characteristics may further prescribe pixel modulation frequency that is proportional to the specified optical signal modulation frequency and to the specified frame rate.
  • a true target emerges in a given pixel (at X,Y location of the FPA) and further assuming a frame rate of 120Hz and modulated optical signal frequency ⁇ 0.5 * frame rate , then it is expected that for each one of a first series of frames, the pixel value (at the specified X,Y location) will have a grey level value that corresponds to unblocked energy radiated from the beacon, and thereafter in each one of a subsequent second series of frames, the specified pixel (at the X,Y location) will have a grey level value that corresponds to blocked energy.
  • the specified pixel (at X,Y location) will have again a grey level value that corresponds to unblocked energy radiated from the beacon, and so forth, in compliance with the optical signal modulated (see e.g. Fig. 2).
  • the length of each one of the specified series of frames (whether identical or different) not only depends upon the optical signal modulation frequency, but rather also on the frame rate. Note that in accordance with certain embodiments, the signal is not devoid of any external effects and therefore the grey levels that correspond to "blocked” and "unblocked” states may be "contaminated” by various effects but will be still discernable one from the other.
  • pixel characteristics also address this characteristic by identifying a given pattern that corresponds to a flight trajectory of a threat/target.
  • a Narrow Band Pass filter is a fast processing filter (e.g. the specified IIR). The latter is used considering the fact that many pixels are processed per each frame of incoming streaming video (at the specified frame rate of, say 120 Hz).
  • the net effect of using a fast processing filter is that many false positive indications may occur (i.e. pixel locations seemingly representing a true target), however the number of false positive identified pixels is considerably smaller than the entire matrix of pixels in the FPA, alleviating the burden on the subsequent processing stage to identify pixels being representative of a true target.
  • the specified wavelength analysis of the pixel characteristics may be implemented instead of a preliminary filter (e.g. 45 of Fig. 4) by different elements, say by a sensor (e.g. 47 which being for example Bayer) or in accordance with certain other embodiments by the signal processor 49.
  • HPF High Pass Filter
  • Large events may be for example a signal expanding over a large cluster of pixels which may represent a real life scenario of traffic lights of a large lorry that has traversed the FOV of the camera.
  • the specified HPF may discard all pixels that do not comply with a true event scenario.
  • a score is given to the so processed signal. The higher the score, the more the pixel's characteristics correspond to a true target's characteristics (and obviously not belonging to a "large event”).
  • a low score may be indicative of e.g. pixel modulation frequency that is not sufficiently close to the target's pixel modulation frequency and/or possibly belonging to a cluster of many pixels indicative of "a large event".
  • the pixel data with their associated scores are subjected to a threshold for Constant False Alarm Rate CFAR (whose operation is generally known per se) which will forward to the next processing stage only those pixels having a sufficiently high score, constituting a candidate alarm list.
  • Constant False Alarm Rate CFAR whose operation is generally known per se
  • Stage 54 includes a finer and more accurate analysis in order to refine the candidate alarm list to include pixels having pixel characteristics that better correspond to the characteristics of a true threat/target.
  • the current fine computational stage (54) applies a more computationally demanding, and therefore more accurate processing, and therefore can determine pixel characteristics of higher accuracy, giving rise to pixels (from among the candidate pixels in the candidate alarm list) having a sufficiently good score.
  • the candidate alarm lists may include only a few tens or hundreds of pixels per frame (depending, among others, on the processing capacity) and, accordingly, in the current fine processing stage 54, a more computationally demanding processing is feasible per each frame (in the succession of frames according to the video frame rate) in order to identify pixel(s) that comply with the target's pixel characteristics.
  • stage 54 the more computationally demanding frequency comparison (e.g. FFT) is applied for each candidate pixel (per frame) in order to ascertain in a more accurate manner whether it complies with the target's pixel characteristics.
  • stage 54 involves inter-frame processing in order to find an X,Y location having pixel characteristics (by this embodiment pixel's modulation frequency that corresponds to target's pixel modulation frequency).
  • Each pixel is assigned with a score depending on the target's pixel modulation frequency.
  • the resulting pixels' scores are compared to a threshold which may be fixed, or different (e.g. in different thresholds for different parts of the frame) and only those pixels whose scores e.g.
  • pixel characteristics do not necessarily refer only to pixel's modulation frequency but possibly also to other parameters such as pixel intensity, all as discussed in detail above.
  • stage 55 which concerns testing pixel's characteristics being indicative of a sought target flight trajectory. This may include analyzing pixels in the alarm list resulting from the previous calculation for identifying a pattern (that corresponds to flight trajectory of the threat/target (see e.g. Fig. 2). To this end, in accordance with certain embodiments, a so-called Kalman Filter is utilized. By this embodiment, the pixels that passed this processing stage are included in a true alarm list.
  • the characteristics of the flight trajectory of a threat/target may stipulate that the threat/target flies towards the protected object or in dangerous vicinity thereto.
  • each missile (either in the salvo or in the series) is represented as a series of true pixels that comply with the specified characteristics.
  • an indication e.g. detection message and alarm of a true encountered event is yielded which may include for example pixel (x,y) location (of those included in the true alarm list) as well as time of the detection.
  • an action may be invoked, e.g. activation of counter-measure means.
  • pixel characteristics they do not necessarily refer to a single pixel.
  • the signal may be smeared across a few pixels, and accordingly a pixel window (either of static or dynamic size as the case may be) may embrace a few pixels, say 4, whose value, in one embodiment, may be summed.
  • the summed values in a pixel window may be regarded as a pixel when evaluating pixel characteristics.
  • a single optical sensor is utilized (rather than a cluster of optical sensors).
  • the sequence of operations described with reference to Fig. 5 will be applied mutatis mutandis (e.g. not utilizing streaming video, image frames , HPF, FAR etc.)
  • system architecture in Fig. 4 is provided for illustrative purposes only and is by no means binding. Accordingly, the system architecture may be modified by consolidating two or more blocks/modules/units/systems and/or by modifying at least one of them and or by deleting at least one of them and replacing one or more others, all as required and appropriate, depending upon the particular implementation.
  • flow chart illustrating a sequence of operations in Fig. 5 is provided for illustrative purposes only and is by no means binding. Accordingly, the operational stages may be modified by consolidating two or more stages and/or by modifying at least one of them and or by deleting at least one of them and replacing one or more others, all as required and appropriate, depending upon the particular implementation.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

L'invention concerne un système de détection d'une cible volante, la cible tournant autour de son axe longitudinal et une balise étant accouplée à celui-ci. La rotation de la cible bloque et libère sensiblement la lumière émanant de la balise, ce qui produit des caractéristiques de cible, dont des signaux optiques modulés à une longueur d'onde donnée. Le système comprend un sous-système configuré pour recevoir des signaux optiques d'une scène et obtenir de ceux-ci, à une certaine fréquence de trame, un signal numérique qui comprend une succession de trames contenant chacune une pluralité de pixels. Le système comprend en outre un processeur configuré pour traiter les trames sélectionnées de la succession, par la recherche des pixels présentant des caractéristiques correspondant aux caractéristiques cibles, et si celles-ci sont identifiées, par l'indication sur la cible.
PCT/IL2013/050046 2012-01-17 2013-01-16 Système et procédé de détection de missiles lancés WO2013108253A1 (fr)

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IL217575 2012-01-17
IL217575A IL217575A0 (en) 2012-01-17 2012-01-17 A system and method for detecting launched missiles

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
US10175101B2 (en) 2014-12-21 2019-01-08 Elta Systems Ltd. Methods and systems for flash detection
GB2586607A (en) * 2019-08-28 2021-03-03 Bae Systems Plc Detection of modulating elements
US12008805B2 (en) 2019-08-28 2024-06-11 Bae Systems Plc Detection of modulating elements

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US5332176A (en) * 1992-12-03 1994-07-26 Electronics & Space Corp. Controlled interlace for TOW missiles using medium wave infrared sensor or TV sensor
US5999652A (en) * 1995-05-25 1999-12-07 Lockheed Martin Corporation Plume or combustion detection by time sequence differentiation of images over a selected time interval
US6677571B1 (en) * 2001-04-26 2004-01-13 The United States Of America As Represented By The Secretary Of The Air Force Rocket launch detection process

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US5332176A (en) * 1992-12-03 1994-07-26 Electronics & Space Corp. Controlled interlace for TOW missiles using medium wave infrared sensor or TV sensor
US5999652A (en) * 1995-05-25 1999-12-07 Lockheed Martin Corporation Plume or combustion detection by time sequence differentiation of images over a selected time interval
US6677571B1 (en) * 2001-04-26 2004-01-13 The United States Of America As Represented By The Secretary Of The Air Force Rocket launch detection process

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10175101B2 (en) 2014-12-21 2019-01-08 Elta Systems Ltd. Methods and systems for flash detection
GB2586607A (en) * 2019-08-28 2021-03-03 Bae Systems Plc Detection of modulating elements
GB2586607B (en) * 2019-08-28 2024-02-28 Bae Systems Plc Detection of modulating elements
US12008805B2 (en) 2019-08-28 2024-06-11 Bae Systems Plc Detection of modulating elements

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IL217575A0 (en) 2012-06-28

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