Conference Papers

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    Development of Voice Activated Ground Control Station
    (Elsevier B.V., 2016) Rahul, D.K.; Veena, S.; Lokesha, H.; Vinay, S.; Kumar, B.P.; Ananda, C.M.; Durdi, V.B.
    This paper chronicles the development of Automatic Speech Recognition (ASR) system that can be integrated to Ground Control Station (GCS) of MAVs to achieve voice activation. The first part of the paper highlights the nature of aerospace speech signals and hence the issues to be considered while designing a voice activated aerospace application. The second part describes the development and integration of an ASR capability to the GCS. © 2016 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license.
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    Quaternion based pointing algorithm for Two-Axis gimbal of micro aerial vehicles
    (Institute of Electrical and Electronics Engineers Inc., 2017) Selvarajan, M.; Ananda, C.M.
    With the increased use and demand of Unmanned Aerial Vehicle (UAV) and Micro Aerial Vehicle (MAV) for military, societal, security, coast guards, surveillance, entertainment etc., MAVs demand precision payload with well stabilized and controllable gimbal system. The fidelity of the data is directly dependent on the degree of control of the gimbal. Hence an efficient gimbal controller plays an important role in the success of the UAV/MAV mission. This paper uses unit quaternions for rotations and derives an algorithm to point a camera, mounted with a two-Axis (roll-pitch) gimbal on a Micro Aerial Vehicle (MAV), towards a target at a known location on the ground. The use of unit quaternions makes the algorithm more computationally efficient and free of mathematical singularities. The inputs required are the GPS coordinates of the MAV and the target along with the attitude information of the MAV measured using Inertial Measurement Unit (IMU). The algorithm calculates the gimbal roll pitch angles required to point the camera at the target. © 2016 IEEE.