Single Chip Solution For Stabilization Control Monocular Visual Servoing Of Small Scale Quadrotor Helicopter
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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.
Proceedings Of The 4th International Conference On Electrical Engineering And Control Applications
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Author : Sofiane Bououden
language : en
Publisher: Springer Nature
Release Date : 2020-09-29
Proceedings Of The 4th International Conference On Electrical Engineering And Control Applications written by Sofiane Bououden and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-09-29 with Technology & Engineering categories.
This book gathers papers presented during the 4th International Conference on Electrical Engineering and Control Applications. It covers new control system models, troubleshooting tips and complex system requirements, such as increased speed, precision and remote capabilities. Additionally, the papers discuss not only the engineering aspects of signal processing and various practical issues in the broad field of information transmission, but also novel technologies for communication networks and modern antenna design. This book is intended for researchers, engineers and advanced postgraduate students in the fields of control and electrical engineering, computer science and signal processing, as well as mechanical and chemical engineering.
Small Unmanned Aircraft
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Author : Randal W. Beard
language : en
Publisher: Princeton University Press
Release Date : 2012-02-26
Small Unmanned Aircraft written by Randal W. Beard and has been published by Princeton University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-02-26 with Technology & Engineering categories.
Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.
Advances In Guidance Navigation And Control
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Author : Liang Yan
language : en
Publisher: Springer Nature
Release Date : 2021-11-12
Advances In Guidance Navigation And Control written by Liang Yan and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-11-12 with Technology & Engineering categories.
This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircraft. It covers a range of topics, including, but not limited to, intelligent computing communication and control; new methods of navigation, estimation, and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation, and control of miniature aircraft; and sensor systems for guidance, navigation, and control. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.
Proceedings Of The 5th International Conference On Electrical Engineering And Automatic Control
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Author : Bo Huang
language : en
Publisher: Springer
Release Date : 2016-07-16
Proceedings Of The 5th International Conference On Electrical Engineering And Automatic Control written by Bo Huang and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-07-16 with Technology & Engineering categories.
On the basis of instrument electrical and automatic control system, the 5th International Conference on Electrical Engineering and Automatic Control (CEEAC) was established at the crossroads of information technology and control technology, and seeks to effectively apply information technology to a sweeping trend that views control as the core of intelligent manufacturing and life. This book takes a look forward into advanced manufacturing development, an area shaped by intelligent manufacturing. It highlights the application and promotion of process control represented by traditional industries, such as the steel industry and petrochemical industry; the technical equipment and system cooperative control represented by robot technology and multi-axis CNC; and the control and support of emerging process technologies represented by laser melting and stacking, as well as the emerging industry represented by sustainable and intelligent life. The book places particular emphasis on the micro-segments field, such as intelligent micro-grids, new energy vehicles, and the Internet of Things.
Unmanned Rotorcraft Systems
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Author : Guowei Cai
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-06-01
Unmanned Rotorcraft Systems written by Guowei Cai 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 2011-06-01 with Technology & Engineering categories.
Unmanned Rotorcraft Systems explores the research and development of fully-functional miniature UAV (unmanned aerial vehicle) rotorcraft, and provides a complete treatment of the design of autonomous miniature rotorcraft UAVs. The unmanned system is an integration of advanced technologies developed in communications, computing, and control areas, and is an excellent testing ground for trialing and implementing modern control techniques. Included are detailed expositions of systematic hardware construction, software systems integration, aerodynamic modeling; and automatic flight control system design. Emphasis is placed on the cooperative control and flight formation of multiple UAVs, vision-based ground target tracking, and landing on moving platforms. Other issues such as the development of GPS-less indoor micro aerial vehicles and vision-based navigation are also discussed in depth: utilizing the vision-based system for accomplishing ground target tracking, attacking and landing, cooperative control and flight formation of multiple unmanned rotorcraft; and future research directions on the related areas.
Bramwell S Helicopter Dynamics
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Author : A. R. S. Bramwell
language : en
Publisher: Elsevier
Release Date : 2001-04-06
Bramwell S Helicopter Dynamics written by A. R. S. Bramwell and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001-04-06 with Technology & Engineering categories.
Since the original publication of 'Bramwell's Helicopter Dynamics' in 1976, this book has become the definitive text on helicopter dynamics and a fundamental part of the study of the behaviour of helicopters. This new edition builds on the strengths of the original and hence the approach of the first edition is retained. The authors provide a comprehensive overview of helicopter aerodynamics, stability, control, structural dynamics, vibration, aeroelastic and aeromechanical stability. As such, Bramwell's Helicopter Dynamics is essential for all those in aeronautical engineering. THE single volume comprehensive guide for anyone working with helicopters Written by leading worldwide experts in the field
Robot Operating System Ros
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Author : Anis Koubaa
language : en
Publisher: Springer Nature
Release Date : 2020-08-21
Robot Operating System Ros written by Anis Koubaa and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-08-21 with Technology & Engineering categories.
This book is the fifth volume in the successful book series Robot Operating System: The Complete Reference. The objective of the book is to provide the reader with comprehensive coverage on the Robot Operating System (ROS), which is currently considered to be the primary development framework for robotics applications, and the latest trends and contributing systems. The content is divided into six parts. Pat I presents for the first time the emerging ROS 2.0 framework, while Part II focuses on multi-robot systems, namely on SLAM and Swarm coordination. Part III provides two chapters on autonomous systems, namely self-driving cars and unmanned aerial systems. In turn, Part IV addresses the contributions of simulation frameworks for ROS. In Part V, two chapters explore robotic manipulators and legged robots. Finally, Part VI presents emerging topics in monocular SLAM and a chapter on fault tolerance systems for ROS. Given its scope, the book will offer a valuable companion for ROS users and developers, helping them deepen their knowledge of ROS capabilities and features.
Computer Vision Eccv 2020
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Author : Andrea Vedaldi
language : en
Publisher: Springer Nature
Release Date : 2020-11-06
Computer Vision Eccv 2020 written by Andrea Vedaldi and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-06 with Computers categories.
The 30-volume set, comprising the LNCS books 12346 until 12375, constitutes the refereed proceedings of the 16th European Conference on Computer Vision, ECCV 2020, which was planned to be held in Glasgow, UK, during August 23-28, 2020. The conference was held virtually due to the COVID-19 pandemic. The 1360 revised papers presented in these proceedings were carefully reviewed and selected from a total of 5025 submissions. The papers deal with topics such as computer vision; machine learning; deep neural networks; reinforcement learning; object recognition; image classification; image processing; object detection; semantic segmentation; human pose estimation; 3d reconstruction; stereo vision; computational photography; neural networks; image coding; image reconstruction; object recognition; motion estimation.
Interactive Collaborative Robotics
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Author : Andrey Ronzhin
language : en
Publisher: Springer
Release Date : 2019-08-12
Interactive Collaborative Robotics written by Andrey Ronzhin and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-08-12 with Computers categories.
This book constitutes the refereed proceedings of the 4th International Conference on Interactive Collaborative Robotics, ICR 2019, held in Istanbul, Turkey, in August 2019. The 32 papers presented in this volume were carefully reviewed and selected from 46 submissions. They deal with challenges of human-robot interaction; robot control and behavior in social robotics and collaborative robotics; and applied robotic and cyber-physical systems.