Conference Papers
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Item 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.Item Experimental study on linear displacement measurement sensor using RGB color variation technique with PID controller(Institute of Electrical and Electronics Engineers Inc., 2017) Murthy, A.; Rao, S.S.; Herbert, M.A.; Karanth P, P.This study is based on experimental approach to linear displacement measurement using RGB color coding algorithm. This system is based on the auto-calibration procedure which can be implemented in a circuit, based on the temporal changes in the intensity of light, with the help of a light dependent resistor (LDR). The system consists of two LDRs and an LED placed on one side and an RGB color coded reflective paper on the opposite side. PIC microcontroller is used for powering the LED, processing of data for feedback control and to display the output on an LCD. LDR1 reading is used for displaying the relative linear distance, by mapping the voltage as a function of distance. This reading is used as a feedback to a PID controller to correct for the deviation in the measurement. Extensive experimental observations are conducted to analyze the reliability of the results in accordance to the wavelength of light reflected, the signal voltage and power output of the system. Investigation of the optimum positioning of the LED and the reflective RGB color coded paper is performed by repeatability analysis and hysteresis effects. Furthermore, the efficiency of the system is increased by implementing a PID controller upon investigating the different controller design, viz. P, PI and PID. A high resolution of 0.1 [mm] is obtained for such a simple and economical system, thereby making it highly efficient, in both minute measurements as well as over the entire bandwidth range of the visible light spectrum. © 2017 IEEE.