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In this paper, we present the design of an autopilot embedded system applied to control a four rotor mini helicopter, called X4-flyer. The main goal is to achieve a stable flight, controlling the vehicle attitude; this is done using two control strategies: a linear PD control and nonlinear nested saturations control. The onboard system uses a simplified architecture and the main processor has a structured...
In this paper, we propose an algorithm based on fuzzy control to ensure the stability of the quadrotor. After giving the nonlinear model of the robot, its representation by a Takagi-Sugeno (T-S) fuzzy model is first discussed. Next, a fuzzy controller are synthesized which guarantee desired control performances. The given controller is designed using numerical tools (Linear Matrix Inequalities-LMI)...
We demonstrate a non-invasive bright field imaging technique that optically enhances contrast for any weakly absorbing object. Results are shown on microscopic biomaterial. All-optical image processing and other filtering capabilities are discussed.
Attitude is one of the most important parameters for a UAV during a flight. Attitude computation methods based vision generally use the horizon line as reference. However, the horizon line becomes an inadequate feature in urban environment. We then propose in this paper an omnidirectional vision system based on straight lines (very frequent in urban environment) that is able to compute the roll and...
In this paper, we propose an application of the perceptual organization based on the Dempster-Shafer theory. This method is divided into two parts which respectively rectifies the segmentation mistakes by restoring the coherence of the segments and detects objects in the scene by forming groups of primitives.We show how we apply the Dempster-Shafer theory, usually used in data fusion, in order to...
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