The Prototype of Gyro-Stabilized UAV Gimbal for Day-Night Surveillance

Jędrasiak, Karol; Bereska, Damian; Nawrat, Aleksander

doi:10.1007/978-3-642-31665-4_9

Cited by 27 publications

(10 citation statements)

References 5 publications

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“…For a particular type of the UAV we can interpret The camera head which we will examine is the gimbal camera head described in [19,20] On the basis of the examination of the helicopter Vario XLV dynamics, we assumed the values of the parameters T h and V hmax , for the subsequent control channels, which are presented in Table 1. The parameters which characterise the Figure 9 presents the two kinds of test points of the space Ω: belonging and not belonging to the subspace Ω s .…”

Section: Gmentioning

confidence: 99%

“…The camera head which we will examine is the gimbal camera head described in [19,20]. On the basis of the examination of the helicopter Vario XLV dynamics, we assumed the values of the parameters T h and V hmax , for the subsequent control channels, which are presented in the table 1.…”

Section: Dynamical Propertiesmentioning

confidence: 99%

“…On the basis of the examination of the helicopter Vario XLV dynamics, we assumed the values of the parameters T h and V hmax , for the subsequent control channels, which are presented in the table 1. The parameters which characterise the dynamical properties of the camera head were assumed on the basis of the transients and data taken from [19], [20] Table 4. The values of the camera head's model parameters for the control channels of the angles α k and β k obtain the subspace Ω s presented in figure 9.…”

Section: Dynamical Propertiesmentioning

confidence: 99%

“…In Fig. 9 we have chosen green rings to denote the points of the space Ω for which the object dynamical properties of the camera head were assumed on the basis of the transients and data taken from [19,20] is not lost during tracking. The red rings denote the points for which the tracked object is lost during tracking.…”

Section: Dynamical Propertiesmentioning

confidence: 99%

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Analysis of dynamical properties of object tracking system elements

Kuś

2016

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. The goal of this paper was to determine necessary dynamical conditions for the object tracking task. Developing these conditions required examining dynamical relationships between the UAV, camera head, disturbances and tracked object. This analysis was conducted in order to assess whether a given UAV-camera head set was suitable for a given object tracking task. The study assumed that the UAV was equipped with a flight trajectory control system. We discussed the methods of the dynamical properties description and finding a range of application for a particular set "UAV-camera head". For each dynamical element of the examined system, we proposed a method of computing the parameters of the simulation model which corresponded to the behaviour of the real elements. In order to describe the range of the applications for the UAV-camera head set, we defined the space Ω -all combinations of the parameters which characterized the dynamics of the disturbance and object. Moreover, this study developed the method of selecting the subspace Ω s which described acceptable parameters of the object՚s and disturbance՚s dynamics. This paper presented the example of proper object tracking in the case of meeting the dynamical conditions and the example of losing the object in the opposite case.Key words: unmanned aerial vehicles, object tracking, control system, dynamical model. On the one hand, the constantly growing use of applications results in greater and diverse requirements for a camera equipped UAV. On the other hand, the greater development of technical abilities of UAVs, camera heads and cameras increases the possibility of choosing the UAV-camera head set which is better suited for a given task, e.g. tracking, supervision or supporting other civil or military activities. Analysis of dynamical propertiesTherefore, it is of utmost importance to establish the criteria and methods of the equipment selection for the tasks which are to be done. The criteria may take into consideration various requirements such as: the flying range of the UAV, the ability to work not being noticed by a tracked object or to work in difficult atmospherical conditions, the cost of operation, the ability to store the data collected during the flight or other criteria.We will focus on adjusting the possessed equipment to a task which must be carried out. The only criteria which we are going to take into account, are dynamical properties.Hence the goal of the paper will be to determine the dynamical properties of the task (the dynamics of disturbance and a tracked object) which may be correctly carried out by a given UAV-camera head set. This goal will be achieved in two steps. Firstly, we will present the method which will allow to model dynamical properties of a UAV, camera head, disturbances and a tracked object in the scope indispensable for a given task. Secondly, we will put forward the method of describing the dynamical properties of the tracking task on account of the dynamical properties of the tracked object and disturbance.

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Section: Gmentioning

confidence: 99%

Section: Dynamical Propertiesmentioning

confidence: 99%

Section: Dynamical Propertiesmentioning

confidence: 99%

Section: Dynamical Propertiesmentioning

confidence: 99%

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Analysis of dynamical properties of object tracking system elements

Kuś

2016

Bulletin of the Polish Academy of Sciences Technical Sciences

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“…A good example is the system of detecting and recognition objects by a number of cameras observing the same scene. Each of camera is usually mounted in an opto-electronic gimbal [16]. The effectiveness of the method proposed is evaluated using relevant simulation experiments.…”

Section: Introductionmentioning

confidence: 99%

Information Fusion in Multi-agent System Based on Reliability Criterion

Mellado

Skrzypczyk

2013

Vision Based Systemsfor UAV Applications

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SpringerMellado Arteche, M.; Skrzypczyk, K. (2013). Information fusion in multi-agent system based on reliability criterion. En Vision Based Systemsfor UAV Applications. Springer. 207-217. doi:10.1007/978-3-319-00369-6_13. Information Fusion in Multi-agent System Based on Reliability CriterionMartin Mellado and Krzysztof Skrzypczyk * Abstract. The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge of the process state is distributed between agents, the efficiency of the task performance depends on a proper information fusion technique applied to the agents. In this paper we study the case in which each agent has its own sensing device and is able to collect information with some certainty. Since the same information can be detected by multiple agents, the global certainty about the given fact derives from the fusion of information exchanged by interconnecting agents. The key issue in the method proposed, is an assumption that each agent is able to asses its own reliability during the task performance. The method is illustrated by the pick-up-and-collection task example. The effectiveness of the method proposed is evaluated using relevant simulation experiments.

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