| Author | Nguyen Hoang Liem |
| Call Number | AIT Thesis no.ISE-02-41 |
| Subject(s) | Robots--Control systems
|
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-02-41 |
| Abstract | The paper issues a stereovision system, which can determine 3-D position based on stereovision properties and roll, pitch and yaw attitude of an object based on 3 points on that object. The stereovision system uses two CCD cameras and eight-neighbor pixel algorithm to detect position of a color blob in space. In addition, this system determines orientation of an object based on deviation of three different points on that object. Applying of this system to determine current height and heading of a flying robot is also recommended. Then a control system will control two degrees of freedom height and heading of the flying robot by using PD control. This system uses the electronic horizontal stabilizer to control roll and pitch attitude automatically and micro-controller M68HC11 to control directly servomotors of the RC helicopter. This study is the first step for researching to control automatically the flying robot in six degrees of freedom and fly following a planning path. |
| Year | 2002 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-02-41 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Honda, Kiyoshi; |
| Scholarship Donor(s) | Ministry of Education and Training of Vietnam; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2002 |