Existing Draganflyer Projects and
Flight Model Simulator Demo
Chayatat Ratanasawanya
5 February 2009
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
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
Existing Draganflyer Projects & Flight Model Simulator Demo
4Chayatat Ratanasawanya
Object search and track using multiple UAVs
Source: http://vertol.mit.edu/videos-2006.html
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
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
Existing Draganflyer Projects & Flight Model Simulator Demo
7Chayatat Ratanasawanya
The Moiré target
(13.3 cm)
Grating
Existing Draganflyer Projects & Flight Model Simulator Demo
8Chayatat Ratanasawanya
The Moiré target (cont’d)
Existing Draganflyer Projects & Flight Model Simulator Demo
9Chayatat Ratanasawanya
The system
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
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
Existing Draganflyer Projects & Flight Model Simulator Demo
12Chayatat Ratanasawanya
Algorithm flow (cont’d)
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
Existing Draganflyer Projects & Flight Model Simulator Demo
14Chayatat Ratanasawanya
Landing on a moving platform
Source: http://vertol.mit.edu/videos-2006.html
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
Existing Draganflyer Projects & Flight Model Simulator Demo
16Chayatat Ratanasawanya
FMS demo
Existing Draganflyer Projects & Flight Model Simulator Demo
17Chayatat Ratanasawanya
Summary
SWARM Health Management Project Thesis review Radio controller FMS
Existing Draganflyer Projects & Flight Model Simulator Demo
18Chayatat Ratanasawanya
Questions/Comments
Picture credit: www.rctoys.com
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