Academic literature on the topic 'Gimballed Camera Control Law'
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Journal articles on the topic "Gimballed Camera Control Law"
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KEMSARAM, Narsimlu, Venkata Rajini Kanth THATIPARTI, Devendra Rao GUNTUPALLI, and Anil KUVVARAPU. "Design and development of an on-board autonomous visual tracking system for unmanned aerial vehicles." Aviation 21, no. 3 (2017): 83–91. http://dx.doi.org/10.3846/16487788.2017.1378265.
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This paper proposes the design and development of an on-board autonomous visual tracking system (AVTS) for unmanned aerial vehicles (UAV). A prototype of the proposed system has been implemented in MATLAB/ Simulink for simulation purposes. The proposed system contains GPS/INS sensors, a gimbaled camera, a multi-level autonomous visual tracking algorithm, a ground stationary target (GST) or ground moving target (GMT) state estimator, a camera control algorithm, a UAV guidance algorithm, and an autopilot. The on-board multi-level autonomous visual tracking algorithm acquires the video frames from the on-board camera and calculates the GMT pixel position in the video frame. The on-board GMT state estimator receives the GMT pixel position from the multi-level autonomous visual tracking algorithm and estimates the current position and velocity of the GMT with respect to the UAV. The on-board non-linear UAV guidance law computes the UAV heading velocity rates and sends them to the autopilot to steer the UAV in the desired path. The on-board camera control law computes the control command and sends it to the camera's gimbal controller to keep the GMT in the camera's field of view. The UAV guidance law and camera control law have been integrated for continuous tracking of the GMT. The on-board autopilot is used for controlling the UAV trajectory. The simulation of the proposed system was tested with a flight simulator and the UAV's reaction to the GMT was observed. The simulated results prove that the proposed system tracks a GST or GMT effectively.
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Alshahir, Ahmed, Mohammed Albekairi, Kamel Berriri, et al. "Quadrotor UAV Dynamic Visual Servoing Based on Differential Flatness Theory." Applied Sciences 13, no. 12 (2023): 7005. http://dx.doi.org/10.3390/app13127005.
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In this paper, we propose 2D dynamic visual servoing (Dynamic IBVS), where a quadrotor UAV tries to track a moving target using a single facing-down perspective camera. As an application, we propose the tracking of a car-type vehicle. In this case, data related to the altitude and the lateral angles have no importance for the visual system. Indeed, to perform the tracking, we only need to know the longitudinal displacements (along the x and y axes) and the orientation along the z-axis. However, those data are necessary for the quadrotor’s guidance problem. Thanks to the concept of differential flatness, we demonstrate that if we manage to extract the displacements according to the three axes and the orientation according to the yaw angle (the vertical axis) of the quadrotor, we can control all the other variables of the system. For this, we consider a camera equipped with a vertical stabilizer that keeps it in a vertical position during its movement (a gimbaled camera). Other specialized sensors measure information regarding altitude and lateral angles. In the case of classic 2D visual servoing, the elaboration of the kinematic torsor of the quadrotor in no way guarantees the physical realization of instructions, given that the quadrotor is an under-actuated system. Indeed, the setpoint has a dimension equal to six, while the quadrotor is controlled only by four inputs. In addition, the dynamics of a quadrotor are generally very fast, which requires a high-frequency control law. Furthermore, the complexity of the image processing stage can cause delays in motion control, which can lead to target loss. A new dynamic 2D visual servoing method (Dynamic IBVS) is proposed. This method makes it possible to generate in real time the necessary movements for the quadrotor in order to carry out the tracking of the target (vehicle) using a single point of this target as visual information. This point can represent the center of gravity of the target or any other part of it. A control by flatness has been proposed, which guarantees the controllability of the system and ensures the asymptotic convergence of the generated trajectory in the image plane. Numerical simulations are presented to show the effectiveness of the proposed control strategy.
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K., Narsimlu *. Dr. T. V. Rajini Kanth Dr. Devendra Rao Guntupalli Anil Kuvvarapu. "A HYBRID AUTONOMOUS VISUAL TRACKING ALGORITHM FOR MICRO AERIAL VEHICLES." INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH TECHNOLOGY 5, no. 8 (2016): 524–35. https://doi.org/10.5281/zenodo.60095.
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An efficient image tracking algorithm plays a major role in an autonomous surveillance and monitoring the environment from micro aerial vehicle. A hybrid autonomous visual tracking algorithm is proposed based on cam-shift and extended kalman filter estimator for micro aerial vehicle. The proposed algorithm identifies and tracks the ground moving target continuously, even ground moving target moves quickly, and the color of the other ground moving target or background similar to that of the ground moving target. A MATLAB based simulation tool is developed for determining the proposed algorithm performance. The results exhibit that the proposed algorithm tracks the ground moving target very accurately
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Papakonstantinou, Charalampos, Vaios Lappas, and Vassilis Kostopoulos. "A Gimballed Control Moment Gyroscope Cluster Design for Spacecraft Attitude Control." Aerospace 8, no. 9 (2021): 273. http://dx.doi.org/10.3390/aerospace8090273.
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This paper addresses the problem of singularity avoidance in a cluster of four Single-Gimbal Control Moment Gyroscopes (SGCMGs) in a pyramid configuration when used for the attitude control of a satellite by introducing a new gimballed control moment gyroscope (GCMG) cluster scheme. Four SGCMGs were used in a pyramid configuration, along with an additional small and simple stepper motor that was used to gimbal the full cluster around its vertical (z) axis. Contrary to the use of four variable-speed control moment gyroscopes (VSCMGs), where eight degrees of freedom are available for singularity avoidance, the proposed GCMG design uses only five degrees of freedom (DoFs), and a modified steering law was designed for the new setup. The proposed design offers the advantages of SGCMGs, such as a low weight, size, and reduced complexity, with the additional benefit of overcoming the internal elliptic singularities, which create a minor attitude error. A comparison with the four-VSCMG cluster was conducted through numerical simulations, and the results indicated that the GCMG design was considerably more efficient in terms of power while achieving a better gimbal configuration at the end of the simulation, which is essential when it is desired for different manoeuvres to be consecutively executed. Additionally, for a nano-satellite of a few kilograms, the results prove that it is feasible to manufacture the GCMG concept by using affordable and lightweight commercial off-the-shelf (COTS) stepper motors.
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Lin, Psang Dain, and Chi-Kuen Sung. "Camera Calibration Based on Snell’s Law." Journal of Dynamic Systems, Measurement, and Control 128, no. 3 (2005): 548–57. http://dx.doi.org/10.1115/1.2192824.
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In this paper we present a camera calibration method using Snell’s Law. Traditional camera calibration is based on the pinhole model, which is an approximation algorithm using untrue geometrical assumptions and giving a single lumped result for the various optical elements in the camera system. Using full modeling of lens geometry, the proposed method establishes the geometric relationship between images and objects via Snell’s Law. A matrix equation that relates the intrinsic/extrinsic parameters of image the plane and six pose parameters of each element is determined from sensitivity analysis. These parameters can be identified using the least square method by observing points with known coordinates. An illustrative example using a two-camera stereo coordinate measurement system demonstrates that system performance via the proposed method is better than the pinhole model.
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Ratcliffe, Jerry H., and Elizabeth R. Groff. "A Longitudinal Quasi-Experimental Study of Violence and Disorder Impacts of Urban CCTV Camera Clusters." Criminal Justice Review 44, no. 2 (2018): 148–64. http://dx.doi.org/10.1177/0734016818811917.
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Methodological challenges have hampered a number of previous studies into the crime reduction effectiveness of closed-circuit television (CCTV) surveillance systems. These have included the use of arbitrary fixed distances to represent estimated camera deterrence areas and a lack of control for camera sites with overlapping surveillance areas. The current article overcomes the first of these challenges by using camera view areas individually constructed by researchers viewing and manipulating cameras to determine precise camera viewsheds. The second challenge is addressed by grouping cameras into clusters of combined viewshed areas. The longitudinal crime and disorder reduction effectiveness of these clusters of overlapping CCTV cameras is tested in Philadelphia, PA. Multilevel mixed-effects models with time-varying covariates and measures from a noncomparable control area are applied to 10 years of crime data (2003–2012) within the viewsheds of 86 CCTV cameras grouped into 13 clusters. Models applied across violent street felonies and disorder incidents find no significant impact associated with the introduction of CCTV surveillance. Potential reasons for this are discussed.
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Fink, Geoff, Hui Xie, Alan F. Lynch, and Martin Jagersand. "Dynamic Visual Servoing for a Quadrotor Using a Virtual Camera." Unmanned Systems 05, no. 01 (2017): 1–17. http://dx.doi.org/10.1142/s2301385017500017.
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This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor unmanned aerial vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a moving planar target located within the camera’s field of view. The control law is termed dynamic as it’s based on the dynamics of the vehicle. To simplify the kinematics and dynamics, the control law relies on the notion of a virtual camera and image moments as visual features. The convergence of the closed-loop is proven to be globally asymptotically stable for a horizontal target. In the case of nonhorizontal targets, we modify the control using a homography decomposition. Experimental and simulation results demonstrate the control law’s performance.
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Chang, Kuei Ying, Huai Jen Hsu, Pendry Alexandra, and Min Fan Ricky Lee. "Trajectory Control Using Linear Control System on Mobile Robot." Advanced Materials Research 383-390 (November 2011): 1619–22. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.1619.
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A lot of studies have been conducted and published on how to control the wheeled mobile robot to reach the desired target smoothly and many simulation results have been presented. However, very few of the control theorems have been applied on a real mobile robot platform to test the feasibility. This paper focuses on the experimental validation by applying the kinematic model and the control law suggested by Siegwart et al [6] on a nonholonomic wheeled mobile robot. The omni-directional camera mounted on ceiling is used to capture the initial position of robot and monitor the trajectory. Our experiment results proved with the proposed control law, the mobile robot can reach the final goal and stop.
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Hsieh, Yi-Hui, Wei-Chong Chang, Pei-Hsiou Ding, and Meng-Yu Tsai. "Using acoustic camera technology on inspection of noisy vehicles in Taiwan." INTER-NOISE and NOISE-CON Congress and Conference Proceedings 268, no. 4 (2023): 4421–29. http://dx.doi.org/10.3397/in_2023_0630.
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In recent years, noise complaints on motor vehicles had shown an increasing trend and became an environmental concern issue in Taiwan. Since 2021, innovative acoustic camera technology used to inspect high-noise vehicles exceeding "Vehicle Noise Control Standard" would be fined. There are 111 sets of acoustic camera equipment using in 21 counties and cities in Taiwan, and local government issued 4,099 fines to violating vehicle owners. This environmental policy has been supported by people living near major road with ninety percent satisfaction. Currently, acoustic camera technology with sound radar adopted by some cities in France to locate noisy vehicles accurately and issue fines automatically. Array sound camera technology has been used to inspect noisy vehicles in Netherlands and Germany. Taiwan is the first country in Asia to use acoustic camera technology conducting inspections and law enforcement against noisy vehicles. The sound camera technology system is mainly composed of high-speed camera equipment, sound level meter and license plate recognition system. Fixed systems are prior to set on specific road in hot spots of public complaint to inspect and outlaw noisy vehicles. After implementation of acoustic camera technology in these years, some challenges need to overcome. First, people doubt with accuracy and fairness of law enforcement equipment. Second, noise judgment of multi-source vehicle with law enforcement. To improve accuracy of law enforcement and multi-sound source vehicle noise judgment, technology of combining sound photography with array microphones is developing in Taiwan. In the future, we plan to conduct research on multi-source vehicle noise judgment technology to improve inspection efficiency and ensure a peaceful environment.
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Cieśluk, Jakub, Zdzisław Gosiewski, Leszek Ambroziak, and Sławomir Romaniuk. "Computationaly Simple Obstacle Avoidance Control Law for Small Unmanned Aerial Vehicles." Acta Mechanica et Automatica 9, no. 1 (2015): 50–56. http://dx.doi.org/10.1515/ama-2015-0010.
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Abstract The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.
Dissertations / Theses on the topic "Gimballed Camera Control Law"
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Marshall, Matthew Q. "Multi-camera uncalibrated visual servoing." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/49117.
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Uncalibrated visual servoing (VS) can improve robot performance without needing camera and robot parameters. Multiple cameras improve uncalibrated VS precision, but no works exist simultaneously using more than two cameras. The first data for uncalibrated VS simultaneously using more than two cameras are presented. VS performance is also compared for two different camera models: a high-cost camera and a low-cost camera, the difference being image noise magnitude and focal length. A Kalman filter based control law for uncalibrated VS is introduced and shown to be stable under the assumptions that robot joint level servo control can reach commanded joint offsets and that the servoing path goes through at least one full column rank robot configuration. Adaptive filtering by a covariance matching technique is applied to achieve automatic camera weighting, prioritizing the best available data. A decentralized sensor fusion architecture is utilized to assure continuous servoing with camera occlusion. The decentralized adaptive Kalman filter (DAKF) control law is compared to a classical method, Gauss-Newton, via simulation and experimentation. Numerical results show that DAKF can improve average tracking error for moving targets and convergence time to static targets. DAKF reduces system sensitivity to noise and poor camera placement, yielding smaller outliers than Gauss-Newton. The DAKF system improves visual servoing performance, simplicity, and reliability.
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Degen, Shane C. "Reactive image-based collision avoidance system for unmanned aircraft systems." Thesis, Queensland University of Technology, 2011. https://eprints.qut.edu.au/46969/1/Shane_Degen_Thesis.pdf.
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Approximately 20 years have passed now since the NTSB issued its original recommendation to expedite development, certification and production of low-cost proximity warning and conflict detection systems for general aviation [1]. While some systems are in place (TCAS [2]), ¡¨see-and-avoid¡¨ remains the primary means of separation between light aircrafts sharing the national airspace. The requirement for a collision avoidance or sense-and-avoid capability onboard unmanned aircraft has been identified by leading government, industry and regulatory bodies as one of the most significant challenges facing the routine operation of unmanned aerial systems (UAS) in the national airspace system (NAS) [3, 4]. In this thesis, we propose and develop a novel image-based collision avoidance system to detect and avoid an upcoming conflict scenario (with an intruder) without first estimating or filtering range. The proposed collision avoidance system (CAS) uses relative bearing ƒÛ and angular-area subtended ƒê , estimated from an image, to form a test statistic AS C . This test statistic is used in a thresholding technique to decide if a conflict scenario is imminent. If deemed necessary, the system will command the aircraft to perform a manoeuvre based on ƒÛ and constrained by the CAS sensor field-of-view. Through the use of a simulation environment where the UAS is mathematically modelled and a flight controller developed, we show that using Monte Carlo simulations a probability of a Mid Air Collision (MAC) MAC RR or a Near Mid Air Collision (NMAC) RiskRatio can be estimated. We also show the performance gain this system has over a simplified version (bearings-only ƒÛ ). This performance gain is demonstrated in the form of a standard operating characteristic curve. Finally, it is shown that the proposed CAS performs at a level comparable to current manned aviations equivalent level of safety (ELOS) expectations for Class E airspace. In some cases, the CAS may be oversensitive in manoeuvring the owncraft when not necessary, but this constitutes a more conservative and therefore safer, flying procedures in most instances.
Book chapters on the topic "Gimballed Camera Control Law"
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Das, T., and I. N. Kar. "Development of an Adaptive Fuzzy Logic Based Control Law for a Mobile Robot with an Uncalibrated Camera System." In Lecture Notes in Computer Science. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11590316_48.
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Sultan, Zamra, Muhammad Umar Farooq, and Rana Hammad Raza. "Improved Vehicle Logo Detection and Recognition for Complex Traffic Environments Using Deep Learning Based Unwarping of Extracted Logo Regions in Varying Angles." In Digital Interaction and Machine Intelligence. Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-37649-8_2.
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AbstractIntelligent Traffic Monitoring and Management System (TMMS) is a growing research area as cities infrastructure continues to evolve. Traffic situation is demanding innovative solutions for effective monitoring and management given the complex nature of the urban scenario. A major focus of this research domain is fine-grained vehicles classification that requires detection and recognition of distinct features of vehicles. Some of these features are semantic based while others are appearance based. One such appearance-based feature of a vehicle is its logo. Logo detection helps with identification of a vehicle’s make during fine-grained classification process. There are various deep learning methods which give good performance for such object detection tasks. However, it is challenging to exploit these methods due to smaller size of logo especially in a surveillance environment. This work firstly presents a deep learning-based approach for detection of vehicles’ logos in camera video feeds. Due to small size of logos, a unique pipeline using three different deep learning models is designed. Firstly, a modified Improved Warped Planar Object Detection Network (IWPOD-NET) selects a Region of Interest (ROI) and adjusts the orientation of vehicle logo. Then YOLO (You Only Look Once) v5 is used to detect the logo part in the selected ROI and finally, EfficientNet is used to further classify logo into different classes. This pipeline is tested on four surveillance environments namely toll control, law enforcement, dashcam, and parking lot access control. Comparative analysis shows accuracy improvement with this proposed approach in each testing case. A pose variance analysis is also performed to determine the orientation limits to which this approach can work. Secondly, a custom dataset, VL-10 (Vehicle Logos) is presented which provided further insights into the challenges w.r.t local environment settings. The whole approach improved the overall performance of the logo detection and recognition system.
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Yang, Po-Hung, Chia-Hao Cheng, and Teng-Hu Cheng. "Tracking a Dynamic Ground Target of a Fixed-Wing UAV with Gimbal Camera and Simulation Technology." In Advances in Transdisciplinary Engineering. IOS Press, 2025. https://doi.org/10.3233/atde250322.
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This research derives the ground target tracking algorithm of a fixed-wing UAV equipped with a gimballed camera. The gimballed camera is controlled to track a moving target independent of the UAV motion, and this is achieved by employing a UKF to estimate the position and velocity of the target. The input of the UKF is the bounding box of the target, which is generated by YOLO, a deep neural network algorithm used to detect the target. The estimated state is essential for image tracking control, and it is achieved by the IBVS algorithm and a gimbal controller to lock the target when the UAV is in flight. Simulations are conducted through to verify the efficacy of the developed controller.
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Huhtinen, Aki-Mauri, Arto Hirvelä, and Tommi Kangasmaa. "The Opportunities of National Cyber Strategy and Social Media in the Rhizome Networks." In Cyber Law, Privacy, and Security. IGI Global, 2019. http://dx.doi.org/10.4018/978-1-5225-8897-9.ch043.
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Securing the society is a central task of the state. In the present day, as well as in the future, knowledge and information are evermore closely tied to electronic data transfer. Finland's newly published Cyber Security Strategy depicts how the government safeguards electronic data transfer, that is, information security against different threat and risk scenarios. Cyberspace has a human element and a technological element. It is a way to influence and affect society. It may be used to influence minds or to attack the physical world, for example by disrupting traffic control. But cyberspace cannot exist without people. The cyberspace offers the platform so called strategic communication. Strategic communication is a concept that unites the efforts of governmental organisations to influence people in support of national interests. Formal organisations and institutions are often seen as being opposed or resistant to change. Social Media and the cyber domain can offer many opportunities but also unknown threats and risks. In this paper we argue that securing an organisation is a living and continuously changing process. Deleuze and Guattari (1983) present the concept of a rhizome, meaning a dynamic weed formation which, opposed to the arboreal and hierarchical structure of the tree, involves spontaneous, unpredictable and distant connections between heterogeneous elements (Linstead & Thanem 2007, 1484) Strategic Communication is the focus of a heated discussion in the military field: How can militaries be credible and uphold the high standards of democracy within the asymmetric and complex battlefield? To be credible one must act according to what is said. The challenge is that the scene is global in the information age. The act, the actor, the scene, the purpose – all are exposed to a global audience through cyberspace on a very short notice. The most effective way of showing the scene and actors is an audiovisual product. Examples of this come from all conflict zones. Militaries are establishing Youtube channels and supplying material from intense fighting and frontline action. The solution for supporting the organisation's own arguments has been the Combat Camera capability, in other words media-trained soldiers who are where the main effort is happening. Within the spirit of strategic communication, the cyber strategy itself is one way to operationalise cyber security by announcing measures to be taken against cyber attacks. In this article the authors reflect on the Finnish Cyber Strategy and Strategic Communications from a phenomenological perspective.
Conference papers on the topic "Gimballed Camera Control Law"
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Regina, Niki, and Matteo Zanzi. "Camera Pan-Tilt Gimbals Robust Control Law for Target Tracking with Fixed Wing UAV." In AIAA Guidance, Navigation, and Control (GNC) Conference. American Institute of Aeronautics and Astronautics, 2013. http://dx.doi.org/10.2514/6.2013-4990.
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Wood, Jared G., Benjamin Kehoe, and J. Karl Hedrick. "Target Estimate PDF-Based Optimal Path Planning Algorithm With Application to UAV Systems." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4262.
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Companies are starting to explore investing in UAV systems that come with standard autopilot trackers. There is a need for general cooperative local path planning algorithms that function with these types of systems. We have recently finished a project in which algorithms for autonomously searching for, detecting, and tracking ground targets was developed for a fixed-wing UAV with a visual spectrum gimballed camera. A set of scenarios are identified in which finite horizon path optimization results in a non-optimal ineffective path. For each of these scenarios, an appropriate path optimization problem is defined to replace finite horizon optimization. An algorithm is presented that determines which path optimization should be performed given a UAV state and target estimate probability distribution. The algorithm was implemented and thoroughly tested in flight experiments. The experimental work was successful and gave insight into what is required for a path planning algorithm to robustly work with standard waypoint tracking UAV systems. This paper presents the algorithm that was developed, theory supporting the algorithm, and experimental results.
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Nikkhah, Mehdi, and Hashem Ashrafiuon. "Robust Control of a Vessel Using Camera Feedback and Extended Kalman Filter." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-16164.
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This paper presents the implementation of a robust position tracking control law for an underactuated autonomous surface vessel. The robust control law is developed based on the sliding mode approach where a first order sliding surface is defined in terms of surge and a second order one in terms of lateral motion tracking errors. The control law uses a simple three-degree-of-freedom planar vessel model with two actuator inputs. The vessel is a small model boat with two propellers in a small indoor pool. The position and orientation of the boat is measured using a camera and with two infrared diodes attached the front and end of the boat. An Extended Kalman Filter is designed to estimate all the unmeasured states and filter out the measurement noise. A computer with controller board processes the camera image, calculates the control inputs, and sends the control signal to a two channel wireless receiver on the vessel using a wireless transmitter. The relationship between the distorted camera image and the vessel actual position as well as the relation between motor input voltage and propeller force are derived through experimental calibrations. An experiment is performed where the vessel follows a predefined straight-line trajectory.
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Samarawickrama, Jayathu G., and Silvio P. Sabatini. "Version and vergence control of a stereo camera head by fitting the movement into the Hering's law." In >Fourth Canadian Conference on Computer and Robot Vision. IEEE, 2007. http://dx.doi.org/10.1109/crv.2007.69.
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Rai, Aayush, and Yue Wang. "3D Coverage Control and Target Orientation Alignment Using Unmanned Ground Vehicle with Onboard Camera Sensor." In WCX SAE World Congress Experience. SAE International, 2023. http://dx.doi.org/10.4271/2023-01-0693.
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<div class="section abstract"><div class="htmlview paragraph">This paper addresses a three dimensional (3D) mission domain coverage control problem combined with camera pose control to align towards specific objects of interest. We consider an unmanned ground vehicle (UGV) based on a unicycle kinematics model with an onboard camera sensor based on a visual perspective sensor model. The coverage control problem has been researched in large part for planar domains, which is however not sufficient for real world applications for UGV navigation. Furthermore, in contrast to coverage control of points in the environment, when dealing with objects of interest, it is more amicable to consider that there exist certain orientations to which the camera must align itself to properly cover the object and make ‘sense’ of it. Hence, we seek to derive both UGV coverage control law for 3D mission domains and onboard camera pose control considering target orientation. The goal is to allow the UGV to survey each point in the environment to a preset level while also controlling the camera to align and look towards objects of interest, thereby increasing situational awareness. Analytic control laws for the UGV are formulated based on a Lyapunov error function defined in a time-varying 3D domain. L1 and L2 rotation averaging techniques are applied and analyzed for multiple target points and are coupled with a convergence function to give analytic control laws on the manifold for the camera pose. Finally, the control laws are verified and simulated in CoppeliaSim using a Python API and the results are analyzed and discussed.</div></div>
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Takami, Hideki, and Hirokazu Kataza. "Measurements of Atmospheric Turbulence Using a High Speed Curvature Sensing Camera." In Adaptive Optics for Large Telescopes. Optica Publishing Group, 1992. http://dx.doi.org/10.1364/aolt.1992.pd15.
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Investigation of the properties of atmospheric turbulence which produce wave-front errors are essential to determine the number of control points and the control speed of adaptive optics system. The spatial properties are generally believed to be described by 5/3 law of Kolmogorov's turbulence theory. This has been experimentally verified in various manners1. On the other hand very few measurements of time evolution of the turbulence have been made, in spite of the importance for determining the control speed2.
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Nimbalkar, Varad Pramod, Vishu Kumar, Saad Sayyed, Siddharth Bharadwaj, Vedansh Gohil, and Shamla Tushar Mantri. "Conceptual Framework for Cost-Effective Automatic Number Plate Recognition System." In 8th International Conference on Computer Science and Information Technology. Academy & Industry Research Collaboration Center, 2024. http://dx.doi.org/10.5121/csit.2024.141510.
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ANPR is a must for traffic control, law enforcement and automated toll collection systems. Traditional ANPR solutions are expensive, rely heavily on hardware and not suitable for mass adoption. A low-cost, high-performance ANPR system on a Raspberry Pi 4 device with camera module and Optical Character Recognition (OCR) capabilities. The system uses a Convolutional Neural Network (CNN) for OCR which can identify license plates with high accuracy even under different lighting conditions and resolutions. The pre-processing pipeline of the image includes noise removal and gray scaling to make extracting edges simpler, which aims for better license plate visibility in crowded frames. These pre-processed images are further passed to a plate localization extraction trained CNN so as the make it invariant of distortion and locale ensuring better accuracy in such number plate detection applications. This low-cost answer represents a viable option to traditional ANPR systems for larger scale applications in traffic control, law enforcement and automatic toll processing. In future iterations, we look to increase performance and robustness by providing more data from which the system can learn. Moreover, the incorporation of advanced functionalities like cloud-based analytics would strengthen system features that will aid in smart city infrastructure integrations. The advancements of these developments aim to increase ANPR system throughput at a scale that will play role in enabling safer and more efficient transportation systems.
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Grove, Donald E., R. Randall Soper, Michael Abbott, and Charles F. Reinholtz. "Orientation-Regulated Platforms for Use in Biplanar Bicycles." In ASME 1999 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/imece1999-0345.
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Abstract This work develops an active feedback control law that provides robust regulation for a pendulating platform attached to a new class of land vehicle. The biplanar bicycle is a novel two-wheeled single-axle differentially driven vehicle. The vehicle generates locomotive torques by driving against a reaction mass (comprised of the main chassis, motors, etc.), which is free to rotate. The lack of a fixed-orientation mount for peripheral and excitation-sensitive equipment may be a major disadvantage of this new vehicle class. However, active feedback control using a second reaction or proof mass to stabilize a platform fills this need. Here, the procedure for modeling and control of such a structure is demonstrated through the example of a camera spar for an autonomous biplanar bicycle. The dynamics of the example are developed using Lagrangian techniques. The application of optimal control theory to a linearized approximation of the plant is shown to provide robust regulation, with respect to perturbations and external disturbances, of the fully nonlinear system.
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Chivate, Aditya, and Chi Zhou. "A Modified Schlieren System for In-Situ Voxel Growth Observation in Projection-Based Stereolithography Process." In ASME 2022 17th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/msec2022-85787.
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Abstract Digital maskless lithography is growing in popularity due to its unique ability to fabricate high-resolution parts at a fast speed without the need for physical masks. With controlled grayscaling and exposure control, it has the potential to replace conventional lithography. Though the theoretical foundation for photopolymerization exists, it is difficult to observe the voxel growth process in situ. This can be attributed to the low refractive index difference between cured and uncured resin, the microscopic size of the parts, and the rapid rate of photopolymerization after crossing the threshold. Therefore, a system that can address these issues is highly desired. Schlieren optics is a tool that makes the minute changes in the refractive indices visible. This paper proposes a modified schlieren-based observation system with confocal magnifying optics that create a virtual screen at the focal plane of the camera. The proposed technique visualizes the light deflection by the changing density induced refractive index gradient, and the use of focusing optics enables flexible positioning of the virtual screen and optical magnification. Single-shot binary images with a different number of pixels were used for fabricating voxels. Different factors affecting the voxel shape like chemical composition, energy input are studied. The observed results are compared against simulations based on Beer-Lambert’s law, photopolymerization curve, and Gaussian beam propagation theory. The physical experimental results demonstrated the effectiveness of the proposed observation system.