1. Existing Draganflyer Projects and Flight Model Simulator Demo Chayatat Ratanasawanya 5 February 2009

2. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 2 Presentation Overview Existing projects utilizing the Draganflyer “6-DOF estimation using monocular vision and Moiré patterns” thesis review Radio Controller 101 Flight Model Simulator Demo Summary Questions/comments

3. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 3 SWARM Health Management Project Ongoing work at MIT. SWARM = Self-assembling Wireless Autonomously Reconfigurable Modules A group of computer-controlled quad-rotors craft flying together Many real world applications

4. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 4 Object search and track using multiple UAVs Source: http://vertol.mit.edu/videos-2006.html

5. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 5 6-DOF estimation using monocular vision and Moiré patterns Thesis written by Glenn P. Tournier Using one wireless camera and Moiré patterns to estimate the 6-DOF of the Draganflyer Applications: hovering and landing on static and moving platforms

6. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 6 Moiré Patterns French, referring to pattern changes on watered silk when two layers of silk are pressed together and the wearer moves Example: striped T-shirt on TV Moiré effect occurs in 2 ways: 1. When 2 repetitive structures are placed one on top of the other 2. Aliasing when sampling of a repetitive signal

7. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 7 The Moiré target (13.3 cm) Grating

8. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 8 The Moiré target (cont’d)

9. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 9 The system

10. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 10 Algorithm flow Distortion correction is necessary for locating the fringes within the image and computing yaw and altitude Altitude = scale factor x target size

11. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 11 Algorithm flow (cont’d) Yaw angle calculation is achieved by observing how parallel the lines between feature points on the target are to the vertical

12. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 12 Algorithm flow (cont’d)

13. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 13 Result The system successfully hovers over the target, lands on a static platform carrying the target, and lands on a moving platform

14. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 14 Landing on a moving platform Source: http://vertol.mit.edu/videos-2006.html

15. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 15 Radio controller 101 Left stick controls altitude and yaw Right stick controls pitch and roll, i.e. direction 4 trim switches Trainer socket

16. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 16 FMS demo

17. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 17 Summary SWARM Health Management Project Thesis review Radio controller FMS

18. Chayatat RatanasawanyaExisting Draganflyer Projects & Flight Model Simulator Demo 18 Questions/Comments Picture credit: www.rctoys.com