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

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The Moiré target (cont’d)

Existing Draganflyer Projects & Flight Model Simulator Demo

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The system

Existing Draganflyer Projects & Flight Model Simulator Demo

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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