Multi Camera Visual Servoing Of A Micro Helicopter Under Occlusions
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Multi Camera Visual Servoing Of A Micro Helicopter Under Occlusions
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Author : Yuta Yoshihata
language : en
Publisher:
Release Date : 2010
Multi Camera Visual Servoing Of A Micro Helicopter Under Occlusions written by Yuta Yoshihata and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Technology categories.
Multi-Camera Visual Servoing of a Micro Helicopter Under Occlusions.
Visual Servoing
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Author : Rong-Fong Fung
language : en
Publisher: BoD – Books on Demand
Release Date : 2010-04-01
Visual Servoing written by Rong-Fong Fung and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-04-01 with Technology & Engineering categories.
The goal of this book is to introduce the visional application by excellent researchers in the world currently and offer the knowledge that can also be applied to another field widely. This book collects the main studies about machine vision currently in the world, and has a powerful persuasion in the applications employed in the machine vision. The contents, which demonstrate that the machine vision theory, are realized in different field. For the beginner, it is easy to understand the development in the vision servoing. For engineer, professor and researcher, they can study and learn the chapters, and then employ another application method.
Nonlinear Control And Filtering Using Differential Flatness Approaches
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Author : Gerasimos G. Rigatos
language : en
Publisher: Springer
Release Date : 2015-06-05
Nonlinear Control And Filtering Using Differential Flatness Approaches written by Gerasimos G. Rigatos and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-06-05 with Technology & Engineering categories.
This monograph presents recent advances in differential flatness theory and analyzes its use for nonlinear control and estimation. It shows how differential flatness theory can provide solutions to complicated control problems, such as those appearing in highly nonlinear multivariable systems and distributed-parameter systems. Furthermore, it shows that differential flatness theory makes it possible to perform filtering and state estimation for a wide class of nonlinear dynamical systems and provides several descriptive test cases. The book focuses on the design of nonlinear adaptive controllers and nonlinear filters, using exact linearization based on differential flatness theory. The adaptive controllers obtained can be applied to a wide class of nonlinear systems with unknown dynamics, and assure reliable functioning of the control loop under uncertainty and varying operating conditions. The filters obtained outperform other nonlinear filters in terms of accuracy of estimation and computation speed. The book presents a series of application examples to confirm the efficiency of the proposed nonlinear filtering and adaptive control schemes for various electromechanical systems. These include: · industrial robots; · mobile robots and autonomous vehicles; · electric power generation; · electric motors and actuators; · power electronics; · internal combustion engines; · distributed-parameter systems; and · communication systems. Differential Flatness Approaches to Nonlinear Control and Filtering will be a useful reference for academic researchers studying advanced problems in nonlinear control and nonlinear dynamics, and for engineers working on control applications in electromechanical systems.
Advances In Computational Intelligence
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Author : Jing Liu
language : en
Publisher: Springer
Release Date : 2012-07-06
Advances In Computational Intelligence written by Jing Liu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-06 with Computers categories.
This state-of-the-art survey offers a renewed and refreshing focus on the progress in evolutionary computation, in neural networks, and in fuzzy systems. The book presents the expertise and experiences of leading researchers spanning a diverse spectrum of computational intelligence in these areas. The result is a balanced contribution to the research area of computational intelligence that should serve the community not only as a survey and a reference, but also as an inspiration for the future advancement of the state of the art of the field. The 13 selected chapters originate from lectures and presentations given at the IEEE World Congress on Computational Intelligence, WCCI 2012, held in Brisbane, Australia, in June 2012.
Augmented Reality Virtual Reality And Computer Graphics
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Author : Lucio Tommaso De Paolis
language : en
Publisher: Springer
Release Date : 2018-07-13
Augmented Reality Virtual Reality And Computer Graphics written by Lucio Tommaso De Paolis and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-07-13 with Computers categories.
The 2-volume set LNCS 10850 and 10851 constitutes the refereed proceedings of the 5th International Conference on Augmented Reality, Virtual Reality, and Computer Graphics, AVR 2018, held in Otranto, Italy, in June 2018. The 67 full papers and 26 short papers presented were carefully reviewed and selected from numerous submissions. The papers are organized in the following topical sections: virtual reality; augmented and mixed reality; computer graphics; human-computer interaction; applications of VR/AR in medicine; and applications of VR/AR in cultural heritage; and applications of VR/AR in industry.
Robot Arms
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Author : Satoru Goto
language : en
Publisher: BoD – Books on Demand
Release Date : 2011-06-09
Robot Arms written by Satoru Goto and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-06-09 with Technology & Engineering categories.
Robot arms have been developing since 1960's, and those are widely used in industrial factories such as welding, painting, assembly, transportation, etc. Nowadays, the robot arms are indispensable for automation of factories. Moreover, applications of the robot arms are not limited to the industrial factory but expanded to living space or outer space. The robot arm is an integrated technology, and its technological elements are actuators, sensors, mechanism, control and system, etc.
Recent Progress In Robotics Viable Robotic Service To Human
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Author : Sukhan Lee
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-01-14
Recent Progress In Robotics Viable Robotic Service To Human written by Sukhan Lee and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-01-14 with Language Arts & Disciplines categories.
th This volume is an edition of the papers selected from the 13 International Conference on Advanced Robotics, ICAR 2007, held in Jeju, Korea, August 22-25, 2007, with the theme: “Viable Robotics Service to Human. ” It is intended to deliver readers the most recent technical progress in robotics, in particular, toward the advancement of robotic service to human. To ensure its quality, this volume took only 28 papers out of the 214 papers accepted for publication for ICAR 2007. The selection was based mainly on the technical merit, but also took into consideration whether the subject represents a theme of current interest. For the final inclusion, authors of the selected papers were requested for another round of revision and expansion. In this volume, we organize the 28 contributions into three chapters. Chapter 1 covers Novel Mechanisms, Chapter 2 deals with perception guided navigation and manipulation, and Chapter 3 addresses human-robot interaction and intelligence. Chapters 1, 2 and 3 consist of 7, 13 and 8 contributions, respectively. For the sake of clarity, Chapter 2 is divided further into two parts with Part 1 for Perception Guided Navigation and Part 2 for Perception Guided Manipulation. Chapter 3 is also divided into two parts with Part 1 for Human- Robot Interaction and Part 2 for Intelligence. For the convenience of readers, a ch- ter summary is introduced as an overview in the beginning of each chapter. The chapter summaries were prepared by Dr. Munsang Kim for Chapter 1, Prof.
Visual Servoing Via Advanced Numerical Methods
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Author : Graziano Chesi
language : en
Publisher: Springer
Release Date : 2010-03-10
Visual Servoing Via Advanced Numerical Methods written by Graziano Chesi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-10 with Technology & Engineering categories.
Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting arti?cial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-e?ectors by using the view provided by some arti?cial eyes as feedback information. Indeed, the arti?cial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and hence constitutes feedback information. This procedure is known in robotics with the term visual servoing, and it is nothing else than an imitation of the intrinsic mechanism that allows human beings to realize daily tasks such as reaching the door of the house or grasping a cup of co?ee.
Single Chip Solution For Stabilization Control Monocular Visual Servoing Of Small Scale Quadrotor Helicopter
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Author : Mohammed Raju Hossain
language : en
Publisher:
Release Date : 2017
Single Chip Solution For Stabilization Control Monocular Visual Servoing Of Small Scale Quadrotor Helicopter written by Mohammed Raju Hossain and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
This thesis documents the research undertaken to develop a high-performing design of a small-scale quadrotor (four-rotor) helicopter capable of delivering the speed and robustness required for agile motion while also featuring an autonomous visual servoing capability within the size, weight, and power (SWaP) constraint package. The state of the art research was reviewed, and the areas in the existing design methodologies that can potentially be improved were identified, which included development of a comprehensive dynamics model of quadrotor, design and construction of a performance optimized prototype vehicle, high-performance actuator design, design of a robust attitude stabilization controller, and a single chip solution for autonomous vision based position control. The gaps in the current art of designing each component were addressed individually. The outcomes of the corresponding development activities include a high-fidelity dynamics and control model of the vehicle. The model was developed using multi-body bond graph modeling approach to incorporate the dynamic interactions between the frame body and propulsion system. Using an algorithmic size, payload capacity, and flight endurance optimization approach, a quadrotor prototype was designed and constructed. In order to conform to the optimized geometric and performance parameters, the frame of the prototype was constructed using printed circuit board (PCB) technology and processing power was integrated using a single chip field programmable gate array (FPGA) technology. Furthermore, to actuate the quadrotor at a high update rate while also improving the power efficiency of the actuation system, a ground up FPGA based brushless direct current (BLDC) motor driver was designed using a low-loss commutation scheme and hall effect sensors. A proportional-integral-derivative (PID) technology based closed loop motor speed controller was also implemented in the same FPGA hardware for precise speed control of the motors. In addition, a novel control law was formulated for robust attitude stabilization by adopting a cascaded architecture of active disturbance rejection control (ADRC) technology and PID control technology. Using the same single FPGA chip to drive an on-board downward looking camera, a monocular visual servoing solution was developed to integrate an autonomous position control feature with the quadrotor. Accordingly, a numerically simple relative position estimation technique was implemented in FPGA hardware that relies on a passive landmark/target for 3-D position estimation. The functionality and effectiveness of the synthesized design were evaluated by performance benchmarking experiments conducted on each individual component as well as on the complete system constructed from these components. It was observed that the proposed small-scale quadrotor, even though just 43 cm in diameter, can lift 434 gm of payload while operating for 18 min. Among the ground up designed components, the FPGA based motor driver demonstrated a maximum of 4% improvement in the power consumption and at the same time can handle a command update at a rate of 16 kHz. The cascaded attitude stabilization controller can asymptotically stabilize the vehicle within 426 ms of the command update. Robust control performance under stochastic wind gusts is also observed from the stabilization controller. Finally, the single chip FPGA based monocular visual servoing solution can estimate pose information at the camera rate of 37 fps and accordingly the quadrotor can autonomously climb/descend and/or hover over a passive target.
Multi Focal Visual Servoing Strategies
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Author : Kolja Kuehnlenz
language : en
Publisher:
Release Date : 2007
Multi Focal Visual Servoing Strategies written by Kolja Kuehnlenz and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with categories.
In this chapter novel visual servoing strategies have been proposed based on multi-focal active vision systems able to overcome common drawbacks of conventional approaches: a tradeoff between field of view and sensitivity of vision devices and a large variability of the control performance due to distance dependency and singular configurations of the visual controller. Several control approaches to exploit the benefits of multi-focal vision have been proposed and evaluated in simulations: Serial switching between vision devices with different characteristics based on performance- and field-of-view-dependent switching conditions, usage of several of these vision devices at the same time observing different parts of a reference structure, and individual switching of one or more of these simultaneously used sensors. Stability has been discussed utilizing common and multiple Lyapunov functions. It has been shown that each of the proposed strategies significantly improves the visual servoing performance by reduction of the pose error variance. Depending on the application scenario several guidelines for using multi-focal vision can be given. If only one vision sensor at a time is selectable then a dynamical sensor selection satisfying desired performance constraints and side-conditions is proposed. If several vision sensors can be used simultaneously selected features of a reference object can be observed with highsensitivity sensors while a large field of view sensor ensures observation of a sufficient number of features in order to render the visual controller full rank. The high-sensitivity sensors should preferably be focused on those feature points resulting in the highest sensitivity of the controller.