1. Chayatat Ratanasawanya May 18, 2011

2. Overview Recalls Progress & Achievement Results 2

3. Recall… Develop a flexible human/machine control system to hover an UAV (6-DOF helicopter) carrying a VDO camera beside an object of interest; e.g. a window. Method: Human control – Joystick Machine control – Visual-servoing 3

4. Recall… Quanser provided height(Y), X&Z position, and yaw controllers Map image info to positional info POSIT algorithm Target object 4

5. Successfully Height is always control by sonar feedback Flexible human/machine control 5 Qball PID IMU Roll, Pitch Optitrack Magnetometer X*, Z* Yaw* Single Camera In-flight modifiable LQR Roll*, Pitch*

6. Reference case: Optitrack 6 VDO

7. Reference case: Optitrack 7 0.02 -0.13 0.29 -0.01 15.5⁰ -5.5⁰

8. Result: Flexible control VDO 8

9. Result: Flexible control 9 0.7 0.3 2.3 2.0 9⁰9⁰ -5⁰

10. Result: Multiple targets VDO 10

11. Result: Multiple targets 11 0.7 0.3 2.3 2.0 9⁰9⁰ -5⁰

12. Conclusion Image information is mapped to positional control inputs via POSIT algorithm Result is position-based visual servoing Error is defined in object frame; NOT world frame Achieved human-machine control flexibility Able to change desired X, Z, Yaw positions in flight Able to hover in front of multiple targets (one at a time). Model of each target must be known. 12

13. Questions? 13