Vision-Guided Control Algorithms for Micro Aerial Vehicles

2013 ◽  
Vol 33 (1) ◽  
pp. 271-288
Author(s):  
Mirosław Wijaszka
Keyword(s):  
Computer Vision ◽  
Image Analysis ◽  
Micro Air Vehicles ◽  
Control Algorithms ◽  
Feature Points ◽  
Analysis Method ◽  
Hypothetical Model ◽  
Stability And Control ◽  
Constant Altitude ◽  
And Control

AbstractThis study presents an image analysis method used in the vision guided control system for Micro Air Vehicles (MAVs). The paper describes a hypothetical model of a MAV located in the GPS-denied unknown environment, somewhere indoors. The model keeps moving autonomously following ‘the track’ marked with corners and other feature points recorded with a monocular camera pointed at the far end of a corridor and slightly tilted down at the angle β (20° - 30°). The flight stability and control are provided with an on-board autopilot that maintains zero pitch and roll angles and constant altitude. The image analysis has been based on the real-time computer vision library - OpenCV (Open Source Computer Vision library - http://opencv.willowgarage.com).

Curve Parameterization and Curvature via Method of Hurwitz-Radon Matrices

2011 ◽  
Vol 16 (1-2) ◽  
pp. 49-56 ◽  
Author(s):  
Dariusz Jakóbczak
Keyword(s):  
Computer Vision ◽  
Image Analysis ◽  
Object Recognition ◽  
Explicit Form ◽  
Local Maximum ◽  
Parametric Representation ◽  
Feature Points ◽  
Implicit Representation ◽  
Computer Vision Applications ◽  
Interpolation Nodes

Curve Parameterization and Curvature via Method of Hurwitz-Radon MatricesParametric representation of the curve is more appropriate in computer vision applications then explicit formy=f(x)or implicit representationf(x, y) = 0. Proposed method of Hurwitz-Radon Matrices (MHR) can be used in parameterization and interpolation of curves in the plane. Suitable parameterization leads to curvature calculations. Points with local maximum curvature are treated as feature points in object recognition and image analysis. This paper contains the way of curve parameterization and computing the curvature in the range of two successive interpolation nodes via MHR method. Proposed method is based on a family of Hurwitz-Radon (HR) matrices. The matrices are skew-symmetric and possess columns composed of orthogonal vectors. The operator of Hurwitz-Radon (OHR), built from these matrices, is described. It is shown how to create the orthogonal OHR and how to use it in a process of curve parameterization and curvature calculation.

scholarly journals Vision-guided flight stability and control for micro air vehicles

2003 ◽  
Vol 17 (7) ◽  
pp. 617-640 ◽  
Author(s):  
Scott M. Ettinger ◽  
Michael C. Nechyba ◽  
Peter G. Ifju ◽  
Martin Waszak
Keyword(s):  
Micro Air Vehicles ◽  
Flight Stability ◽  
Stability And Control ◽  
And Control ◽  
Air Vehicles

Numerical and Experimental Investigation of Membrane Wing for Micro Aerial Vehicle Applications

2014 ◽  
Author(s):  
Igor Petrović ◽  
Sean P. Shea ◽  
Ian P. Smith ◽  
Franc Kosel ◽  
Pier Marzocca
Keyword(s):  
Micro Air Vehicles ◽  
Aerodynamic Characteristics ◽  
The Body ◽  
Flight Mechanics ◽  
Space Environment ◽  
Stability And Control ◽  
Aerial Vehicle ◽  
Deformable Membrane ◽  
Flight Regimes ◽  
And Control

Micro-Air-Vehicles (MAV) flight regimes differs significantly from larger scales airplanes. They are operating at low Reynolds numbers of approximate 104, cruising at speed about 12m/s, and are capable of agile maneuvers in limited space environment. They are compact and easily stowable to facilitate transportation. However, due to the small size, they are usually more vulnerable to the wind gusts with significant complexities associated to their flight mechanics, stability and control, which also makes difficult to quantify flight qualities and performances. Furthermore, complex aerodynamics can produce loading scenarios leading to the destruction of the vehicle during flight operation. To minimize the size of the MAV when not in use, their wings are stowed within the body of the vehicle, and are deployed during operation. To supplement the bulk of knowledge in MAV aero-mechanics, the study of the aerodynamic characteristics of a deformable membrane MAV wing is carried out in this paper. The analysis of the membrane airfoil is performed using a fluid-structure interaction 2D model, to select a set of optimal airfoil parameters for the intended flight regime. Numerical simulations are supplied and validated with an M AV model tested in the wind tunnel.

Effects of Phase Relation between Forewing and Hindwing on Aerodynamic Performance in Dragonfly Flight

2014 ◽  
Vol 709 ◽  
pp. 245-251
Author(s):  
Jin Zhao Yan ◽  
Meng Zong Zheng ◽  
Zhi Ping Li ◽  
Qiu Shi Li
Keyword(s):  
Phase Relation ◽  
High Frequency ◽  
Small Amplitude ◽  
High Speed ◽  
Micro Air Vehicles ◽  
Aerodynamic Performance ◽  
Stability And Control ◽  
High Acceleration ◽  
The Stability ◽  
And Control

Dragonflies possess one of the most maneuverable flights among various insects. As the bionic Micro Air vehicles (MAVs) with the flight capabilities like dragonflies have been widely applied, detailed studies of dragonfly flight become critical and necessary for improvement and accomplishment of MAVs design. The phase relation between the forewings and hindwings is the most distinct feature of dragonfly flight and it plays an important role in the aerodynamic performance. In this paper, both tethered and quasi-free flapping flight of the dragonfly Pantala flavescens was filmed using a high-speed camera in indoor laboratory. Dragonflies tend to flap in-phase when an additional force is expected, while out-of-phase flapping is conducive to the stability and control of flight. In the takeoff maneuver, the large-and small-amplitude wingbeat alternated. Dragonflies obtain a high acceleration rapidly by the suddenly enlarged wingbeat amplitude which increases by 42%, and maintain the velocity and make ready for following acceleration by the small-amplitude but high-frequency wingbeat with amplitude decreases by 51% and frequency increases by 30% relatively.

scholarly journals Application of computer vision and image analysis method in cheese-quality evaluation: a review

2018 ◽  
Vol 7 (2) ◽  
pp. 192-214 ◽  
Author(s):  
Jasmina Lukinac Lukinac ◽  
Marko Jukić Jukić ◽  
Kristina Mastanjević Mastanjević ◽  
Mirela Lučan Lučan
Keyword(s):  
Computer Vision ◽  
Image Analysis ◽  
Quality Evaluation ◽  
Analysis Method ◽  
Image Analysis Method

Rancang Bangun Sistem Penerimaan Dan Mutasi Barang Pada PDAM Tirta Kerta Raharja

Sensi Journal ◽  
2020 ◽  
Vol 6 (2) ◽  
pp. 236-246
Author(s):  
Ilamsyah Ilamsyah ◽  
Yulianto Yulianto ◽  
Tri Vita Febriani
Keyword(s):  
System Analysis ◽  
Object Oriented ◽  
Analysis Method ◽  
Web Based ◽  
Visual Modeling ◽  
Long Time ◽  
The Right ◽  
And Control ◽  
Web Based System ◽  
The Web

The right and appropriate system of receiving and transferring goods is needed by the company. In the process of receiving and transferring goods from the central warehouse to the branch warehouse at PDAM Tirta Kerta Raharja, Tangerang Regency, which is currently done manually is still ineffective and inaccurate because the Head of Subdivision uses receipt documents, namely PPBP and mutation of goods, namely MPPW in the form of paper as a submission media. The Head of Subdivision enters the data of receipt and mutation of goods manually and requires a relatively long time because at the time of demand for the transfer of goods the Head of Subdivision must check the inventory of goods in the central warehouse first. Therefore, it is necessary to hold a design of information systems for the receipt and transfer of goods from the central warehouse to a web-based branch warehouse that is already database so that it is more effective, efficient and accurate. With the web-based system of receiving and transferring goods that are already datatabed, it can facilitate the Head of Subdivision in inputing data on the receipt and transfer of goods and control of stock inventory so that the Sub Head of Subdivision can do it periodically to make it more effective, efficient and accurate. The method of data collection is done by observing, interviewing and studying literature from various previous studies, while the system analysis method uses the Waterfall method which aims to solve a problem and uses design methods with visual modeling that is object oriented with UML while programming using PHP and MySQL as a database.

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