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Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV) to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous(More)
Small unmanned aerial vehicles (UAVs) are becoming popular among researchers and vital platforms for several autonomous mission systems. In this paper, we present the design and development of a miniature autonomous rotorcraft weighing less than 700 g and capable of waypoint navigation, trajectory tracking, visual navigation, precise hovering, and automatic(More)
In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of waypoint navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini and micro rotorcraft, a lightweight/portable and inexpensive Guidance, Navigation, and Control(More)
In this paper, a detailed description of the controller design for a wall-climbing micro-robot using LF2407 DSP chip is presented. Because of its high-speed performance, its support for multi-motor control and its low power consumption, LF2407 DSP from TI demonstrates itself as an ideal candidate for a single chip controller for the wall-climbing(More)
This paper presents the development of vision based autonomous helicopter at Chiba University. The platform is designed to enable autonomous flight of a small-scale helicopter in unstructured environment. 3D vision system is chosen for the perception and measurement purpose. The whole system is designed with the consideration of payload, hardware(More)
New generations of motor control digital signal processors (DSPs) lower their supply voltages from 5V to 3.3V to offer higher performance at lower cost. Replacing traditional 5V digital control circuitry by 3.3V designs introduce no additional system cost and no significant complication in interfacing with TTL and CMOS compatible components, as well as with(More)
An algorithm is proposed to detect abrupt and gradual scene changes in H.264 compressed videos. In H.264, the inter prediction in the encoding process generates the DC component of the prediction residual. In this paper, we use the DC component of inter prediction residuals as well as motion vectors to detect scene changes. Using the proposed algorithm, we(More)
In this paper we try to develop a host-based system and study actual sea trials via rudder based roll control method. To authors' best knowledge, the boat we investigated is the smallest among those reported in the literature. An autonomous boat model is obtained by a system identification approach. The identified system is designed with frequency-shaped(More)