Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.
Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February...
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Transcript of Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February...
![Page 1: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/1.jpg)
Existing Draganflyer Projects and
Flight Model Simulator Demo
Chayatat Ratanasawanya
5 February 2009
![Page 2: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/2.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
2Chayatat Ratanasawanya
Presentation Overview
Existing projects utilizing the Draganflyer “6-DOF estimation using monocular vision
and Moiré patterns” thesis review Radio Controller 101 Flight Model Simulator Demo Summary Questions/comments
![Page 3: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/3.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
3Chayatat Ratanasawanya
SWARMHealth Management Project
Ongoing work at MIT. SWARM = Self-assembling Wireless
Autonomously Reconfigurable Modules A group of computer-controlled quad-rotors
craft flying together Many real world applications
![Page 4: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/4.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
4Chayatat Ratanasawanya
Object search and track using multiple UAVs
Source: http://vertol.mit.edu/videos-2006.html
![Page 5: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/5.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
5Chayatat Ratanasawanya
6-DOF estimation using monocular vision and Moiré patterns
Thesis written by Glenn P. Tournier Using one wireless camera and Moiré
patterns to estimate the 6-DOF of the Draganflyer
Applications: hovering and landing on static and moving platforms
![Page 6: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/6.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
6Chayatat Ratanasawanya
Moiré Patterns French, referring to pattern
changes on watered silk when two layers of silk are pressed together and the wearer moves
Example: striped T-shirt on TV Moiré effect occurs in 2 ways:
1. When 2 repetitive structures are placed one on top of the other
2. Aliasing when sampling of a repetitive signal
![Page 7: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/7.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
7Chayatat Ratanasawanya
The Moiré target
(13.3 cm)
Grating
![Page 8: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/8.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
8Chayatat Ratanasawanya
The Moiré target (cont’d)
![Page 9: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/9.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
9Chayatat Ratanasawanya
The system
![Page 10: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/10.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
10Chayatat Ratanasawanya
Algorithm flow
Distortion correction is necessary for locating the fringes within the image and computing yaw and altitude
Altitude = scale factor x target size
![Page 11: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/11.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
11Chayatat Ratanasawanya
Algorithm flow (cont’d)
Yaw angle calculation is achieved by observing how parallel the lines between feature points on the target are to the vertical
![Page 12: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/12.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
12Chayatat Ratanasawanya
Algorithm flow (cont’d)
![Page 13: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/13.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
13Chayatat Ratanasawanya
Result
The system successfully hovers over the target, lands on a static platform carrying the target, and lands on a moving platform
![Page 14: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/14.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
14Chayatat Ratanasawanya
Landing on a moving platform
Source: http://vertol.mit.edu/videos-2006.html
![Page 15: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/15.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
15Chayatat Ratanasawanya
Radio controller 101
Left stick controls altitude and yaw Right stick controls pitch and roll, i.e.
direction 4 trim switches Trainer socket
![Page 16: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/16.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
16Chayatat Ratanasawanya
FMS demo
![Page 17: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/17.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
17Chayatat Ratanasawanya
Summary
SWARM Health Management Project Thesis review Radio controller FMS
![Page 18: Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009.](https://reader038.fdocuments.us/reader038/viewer/2022103101/5697bffc1a28abf838cc1739/html5/thumbnails/18.jpg)
Existing Draganflyer Projects & Flight Model Simulator Demo
18Chayatat Ratanasawanya
Questions/Comments
Picture credit: www.rctoys.com