MOZAK – RAČUNAR INTERFEJS I NJEGOVA PRIMENA U UPRAVLJANJU DRONOM

U radu su detaljno objašnjeni osnovni principi BCI tehnologije odnosno interfejsa između mozga i računara kao i njegova primena u ipravljanju dronom. Prikazan je AR Drone 2.0 i opisan je njegov princip rada kao i kontrola drona, i konačno uređaj Emotiv Insight dizajniran za BCI. Dat je opis softvera uređaja koji je dizajniran za ovaj uređaj kao i BCI200 platforma dizajnirana za razvoj otvorenog koda za upotrebu u istraživačke ili obrazovne svrhe u oblasti biomedicinskog inženjerstva.

Fuzzy control of quadrotor Ar. Drone 2.0 in a controlled environment

This paper aims to describe the design and implementation of the height control system for the quadrotor AR. Drone 2.0 making use of a fuzzy logic in a previously established environment. This device has a height control system both in simulation and in the real platform. Three controllers are developed by fuzzy logic whose parameters are obtained from the drone's sensors in such a way that it allows to control height and angles of orientation (Pitch, Roll and Yaw) as long as certain levels of battery charge are considered so that the system does not become unstable. For the visualization and interaction with the drone a Matlab® interface is designed and implemented, that allows communication between the user and all system functions in such a way that the mode of execution can be chosen, follow the reference parameters autonomously, store data for a later analysis, and visualize the displacements to observe the efficiency of system.

Developing a novel haptic device for non-rigid computer graphic objects utilizing unmanned aerial vehicles

In this paper, we propose a novel haptic device consisting of a Parrot quadcopter AR Drone 2.0 that delivers force-feedback to users when they press on the surface of the drone in the vertical direction. This drone haptic device will free users from any cumbersome devices which were utilized in previous haptics systems and allow them to sense kinesthetic feedback coming from the drone which in turn renders computer graphic objects, for example, a virtual box. Specifically, this system performs damped harmonic oscillation force motion on users’ hands and fingers. The oscillation function is implemented on the drone whenever users nudge the drone down. Overall, we evaluated the system with ten subjects, and results show the effectiveness of using damping oscillation motion to provide force-feedback delivered from the drone.

USING AFFORDABLE DATA CAPTURING DEVICES FOR AUTOMATIC 3D CITY MODELLING

In this research project, many movies from UTM Kolej 9, Skudai, Johor Bahru (See Figure 1) were taken by AR. Drone 2. Since the AR drone 2.0 has liquid lens, while flying there were significant distortions and deformations on the converted pictures of the movies. Passive remote sensing (RS) applications based on image matching and Epipolar lines such as Agisoft PhotoScan have been tested to create the point clouds and mesh along with 3D models and textures. As the result was not acceptable (See Figure 2), the previous Dynamic Pulse Function based on Ruby programming language were enhanced and utilized to create the 3D models automatically in LoD3. The accuracy of the final 3D model is almost 10 to 20 cm. After rectification and parallel projection of the photos based on some tie points and targets, all the parameters were measured and utilized as an input to the system to create the 3D model automatically in LoD3 in a very high accuracy.