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|| 7/23/09 ||
X6_testing.avi - Video of X6 Draganflyer test flight. The X6 was tested indoors and outdoors, and with 350 to 600 grams of payload.
|| 4/28/09 ||
MGC_2009.avi - Video of Mini Grand Challenge 2nd Place run. Successful navigation to the 3rd waypoint.
|| 4/21/09 ||
MGC_Testing_042009-2.avi - Video of MGC testing, complete system. Vision, ultrasonic, and GPS control are in use. A whole navigation course is completed. The ultrasonic is used as a protective bumper. However it will be overriden if the obstacle does not move after 30 seconds, to avoid getting hung up on a peripheral object. The only downside is that there is no obstacle avoidance during the last leg of the task, so in a cluttered environment the vehicle will fail (here it is helped around a tree). This is the trade off for the simplicity of the ultrasonic sensor over the SICK LADAR.
|| 2/28/09 ||
MGC09_Initial_Testing.wmv - Video of MGC testing of vision and LADAR. Tests and modifications to the MGC vehicle are ongoing in preparation for this years competition.
|| 4/28/08 ||
MGC_Total_Pretest.avi - Video of successful MGC testing the day before the competition
Software Archive - Preliminary software archive (requires login)

|| 4/14/08 ||
MGC_GPS.avi - MGC vehicle performing GPS waypoint navigation
MGC_Cone_Avoidance.avi - MGC vehicle performing visual cone avoidance.
MGC_VisualPath.avi - MGC vehicle performing visual path following with mostly grass on the sides of the path.
MGC_VisualPath2.avi - MGC vehicle performing visual path following with mostly dirt on the sides of hte path.
|| 4/10/08 ||
SR-20_Crash.html - Pictures and video of the SR-20's crash while under autonomous control.

|| 3/31/08 ||
MGC Updated Work Breakdown Schedule: MGC_Gantt_Update.xls
Preliminary Coop Gantt, for first term only: Co-op08_Gantt.xls

|| 3/23/08 ||

The state of the MGC vehicle before design freeze.

|| 3/12/08 ||
MGC Electric ATV under PC-to-RC control This video shows our Mini Grand Challenge vehicle in an early developmental stage, under computer control using PC-to-RC.

|| 2/19/08 ||
MGC Electric ATV under RC control This video shows our Mini Grand Challenge vehicle in an early developmental stage, under manual radio control. Gantt chart for the MGC project: MGC_Gantt.xls

|| 01/01/08 ||
The cargo pickup system was tested with the target in 9 positions, noted on the graph below. Position 9 is at the average helicopter/arm position during the velocity playback. Positions 1 through 8 are located on a circle around 9 with a radius of 20 cm. These positions were used because the accuracy of the SR-100 GPS is 20 cm, the test was designed to show the success rate of the system assuming the helicopter could hover around a point to within the accuracy of its GPS. In 18 tests, the target was picked up 11 times, and nearly picked up 4 times. These "near-miss" conditions are defined as tests where the hook mechanism struck the target but did not successfully pick it up. In the 3 "miss" conditions the target was either completely missed or the system never choose to swing the arm at the target.


Click for full size image.


PositionTrial 1Trail 2
1SuccessSuccess
2Near-MissSuccess
3SuccessSuccess
4Near-MissSuccess
5Near-MissSuccess
6MissNear-Miss
7SuccessSuccess
8MissMiss
9SuccessSuccess

Click for full size image.

|| 12/17/07 ||
Hovering Video With Full Length Gantry Playback This video shows the SR-20 hovering, and the velocity data being played back on the gantry. The program now uses precision timers for more accurate velocity playback, and shows playback of all the recorded data.

|| 12/13/07 ||
Hovering Video With Partial Gantry Playback This video shows the SR-20 hovering, and a section of the velocity data being played back on the gantry.

|| 12/03/07 ||
Hovering Video With Data This video shows the SR-20 hovering, with both position and velocity data plotted in sync with the video.

|| 11/28/07 ||
Hovering Video This video shows the SR-20 hovering, with titles indicating when the helicopter position/velocity data was being recorded. Data as Excel Spreadsheet

|| 11/21/07 ||
Cargo Pickup Under Ideal Conditions This video shows the visual servoing system track the target and put the hook through the target.

|| 10/03/07 ||
Hook Arm Speed Test The hook arm has been mounted on the gantry via a ServoCity PTU and tested for speed and range of motion. This video shows how responsive the pan tilt unit is.

|| 09/19/07 ||
Hook arm for autonomous cargo pickup:

(click for larger)
|| 08/26/07 ||
SICK Smoke Test 2 Second SR-100 flight over smoke to test SICK landing zone detection through obscurants. Now with multiple views including real time SICK data. 720p HD video in DivX format.
Pictures from the flight (click for full size):

This video requires DivX 6 (21 mb): DivX Download Page

|| 08/23/07 ||
SICK Smoke Test SR-100 flight over smoke to test SICK landing zone detection through obscurants. 720p HD video in DivX format.

This video requires DivX 6 (21 mb): DivX Download Page

|| 08/15/07 ||
2DOF IBVS using a Pan-Tilt unit. Besides the visual tracking of the truck, the control program also automatically compensates for the movement of the gantry, which has been set to move in a square to complicate tracking. 720p HD video in DivX format.

This video requires DivX 6 (21 mb): DivX Download Page

|| 07/30/07 ||
SR-20 Fully Autonomous Flight 720p - Fully-autonomous take off, box pattern (21 feet per side), and landing. During this flight the helicopter was given only one input, clicking the button to run the script. High Definition video is 720p, 1280x720 resolution in DivX format.

SR-20 Wobble 720p - What happens when the blades are not on straight and an aggressive spinup is attempted (in this case auto-takeoff). Video is 1/4 of actual speed. High Definition video is 720p, 1280x720 resolution in DivX format.
SR-20 Wobble 1080p - Previous video in 1080p, 1920x1080 resolution in DivX format.

These videos require DivX 6 (21 mb): DivX Download Page

|| 07/10/07 ||
Safe Landing Zone Algorithm Powerpoint - Review of the safe landing zone algorithms in four papers, selection of an algorithm and then demonstration of it via a MATLAB simulation.

|| 07/10/07 ||
UGV Deployment Video 2 - Semi-autonomous deployment and recovery of a UGV by a UAV, from start to finish with multiple viewpoints. Takeoff and landings are in autonomous mode, and the helicopter navigates to a GPS waypoint in flight before landing to deploy the UGV.

|| 07/05/07 ||
Sick Scan vs Photo - A partially processed SICK scan compared to a photo of the scanned objects shows that the SICK is recognizably showing the scanned objects.

|| 07/02/07 ||
SR-100 Flight with UGV Payload - Manual flight of the SR-100 with payload, and manual UGV deployment.

|| 05/22/07 ||
Flight Log - RC Helicopter Training Log



|| 06/04/07 ||
Photos from Rotomotion Visit:
Jason on ground station
Noah on ground station
SR20 Flying
|| 05/23/07 ||
Visual Servoing Project Current - IBVS with velocity tracking in the Y axis.
Direct Video Link

|| 04/27/07 ||
Visual Servoing Project 3rd Update - Image Based Visual Servoing with the gantry, using position tracking.
Direct Video Link (overhead)
Direct Video Link (in hand)

|| 03/04/07 ||
Visual Servoing Project 2nd Update and WBS - Recentering the camera view using position based visual servoing.
Direct Video Link (overhead)
Direct Video Link (in hand)

|| 02/18/07 ||
Visual Servoing Project 1st Update - Fiducials are identified and marked.


|| 06/04/07 ||
Photos of the tray and new landing gear:
SR100 with landing gear and tray
SR100 with landing gear, tray and UGV
Landing gear with tray and UGV visible
Tray
Landing Gear

|| 05/08/07 ||
Concept models of the tray and new landing gear:
Gear, tray, and UGV with fiducials
Revised landing gear

|| 04/16/07 ||
Concept of Operations and Preliminary Planning - Autonomous Air and Ground Surveillance Unit powerpoint files.






Copyright 2007 Noah Kuntz. nk752@drexel.edu