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Development of Micro Air Vehicle Using Aerial Photography for Safe Rowing and Coaching |
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Hirokazu Madokoro, Kazuhito Sato, Nobuhiro Shimoi(Akita Prefectural University, Japan) |
| This study was undertaken to establish basic technologies and knowledge of aerial photography and its application to support safe rowing. For the water sport of rowing, managers and coaches use a motorboat to follow a rowing boat for coaching and safe rowing observation. The aim of this study is to actualize rowing aerial photography using a Micro Air Vehicle (MAV): a radio-controlled small multi-rotor helicopter that has become popularly used for numerous applications recently. We obtained rowing movies using three-camera compositional patterns with changing altitudes and tilt angles. |
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Prototype Development of On-Board Vision Processing Micro Air Vehicle for Wide-Range Monocular SLAM |
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Shinya Ueda, Hirokazu Madokoro, Kazuhito Sato, Nobuhiro Shimoi(Akita Prefectural University, Japan) |
| This study was undertaken to create an indoor environmental map using a monocular camera based on structure from motion (SfM). We used MonoSLAM proposed by Davidson et al., which is a fundamental method using extended Kalman filters (EKFs) for feature tracking and updating with camera position estimation. For this study, we developed our original micro air vehicle (MAV) prototype to obtain time-series images in a wide-range of indoor environments. Using the benchmark dataset, we confirmed the appearance tendencies and their meaning of three color patches: red, blue, and yellow patches. |
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Resource-Constrained Decentralized Active Sensing using Distributed Gaussian Processes for Multi-Robots |
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Kshitij Tiwari(Japan Advanced Institute of Science and Technology, Japan), Valentin Honore(Ecole Normale Superieure de Lyon, France), Sungmoon Jeong, Nak Young Chong(Japan Advanced Institute of Science and Technology, Japan), Marc Peter Deisenroth(Imperial College London, United Kingdom) |
| We consider the problem of modeling a large scale spatially varying and temporally evolving environmental phenomenon using a team of mobile robots operating under resource constraints. The aim is to infer the optimal model of underlying dynamics of target phenomenon while conservatively utilizing the resources. To this end, we proposed a Resource Constrained Decentralized Active Sensing approach which trades-off the model performance to resource utilization allowing us to cover most informative parts of the target phenomenon. |
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Mechanism and Neural Network Based on PID Control of Quadcopter |
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Gilyoung Yoon(Kanagawa University, Japan), Akito Yamamoto(Fujitsu General Limited, Japan), Hinok Lim(Kanagawa University, Japan) |
| This paper describes mechanism the quadcopter with on-board sensors. This quadcopter consists of four rotors, four straight legs, and a disk-shaped body. The body is mainly composed of a lightweight, very rigid carbon fiber reinforced polymer (CFRP) and resin composite. In addition, a robust control method based on a neural network-based PID control method capable of dealing with payload and wind disturbances is proposed. |
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A Method for Measuring the Position of Quadrotors Using a Tether Winder |
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Nao Moritoki, Keigo Watanabe, Isaku Nagai(Okayama University, Japan) |
| It needs to control the position of a Quadrotor to be used inspecting infrastructures such as a tunnel or a bridge. However, it is difficult to realize the position control using GPS in a tunnel or under a bridge, because there is a problem, such as the weakness of the GPS signal or the incomplete reaching. Therefore, the present research is aimed at developing position control without using GPS, and proposes a method for detecting the position of a Quadrotor, from the length and tension of the tether. Especially, a tether winder is produced to measure the length and tension of the tether. |
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