[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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System for Multi-axial Mechanical Stabilization of Digital Camera 183 Perfect open-loop system should provide the perfect stability. However, in reality servos are not infinitely fast. Therefore the control set values have to overtake an ideal set point in order to compensate for the servos delay. The main aim of the prediction is to compensate the servos delays. It is used to improve the speed of servos response. Every servo internally contains closed loop control that introduces regulation delay. Prediction shown in fig. 6 consists of additional block that uses angular velocities along given axis in order to compensate servo response. 4 Experiments Aim of the performed experiments was to measure the dispersion of the center of gravity of the image seen by the camera mounted to the manipulator with three degrees of freedom (fig. 7). Manipulator was used to reorient the camera. Fig. 7. 3-DOF gimbal used for experiments The manipulator has been rigidly connected to the movable part of the dedicated testbed allowing infliction of extortion in the two axes of rotation. Measurements of the manipulator base and the orientation of the camera itself were carried out using inertial measurement unit. Used IMUs were connected by the CAN bus. The CAN bus allowed the transfer of data from IMU to the PC via the USB-to- CAN converter. PC was used for recording the data and measuring the center of gravity of the image. The CAN bus was also used for transmitting the data to the controller responsible for stabilization. The throughput of bus was 500 kbps. Measuring testbed consisted of three parts: a fixed table, helper ring and a movable table. The value of quality of stabilization was computed without stabilization. The quality of stabilization was assumed as ratio of stability angle amplitude of change of the camera angle to change of the angle of the fixed table. The quality index can assume all positive values. However 0 means perfect stability and 1 complete lack of stability.
184 D. Bereska et al. 4.1 Mechanical Stabilization There were three sets of experiments: rotation over Y axis, rotation over X axis and combined rotation over Y and X axes. Each of the experiments was repeated three times for each control system. To make this article more readable, only the most representative results are presented. 4.1.1 System without Stabilization System without any stabilization doesn’t work at all as it is clearly shown on the Figures 8 and 9. All distractions are being moved on camera, so as a result the camera’s shift is big enough to disturb watching images from it, though, presented results may be to compare them with other control systems. Fig. 8. Output from the roll and pitch servomechanisms in the system without stabilization Fig. 9. Shift of x and y components of the center of mass of the tracked shape in the system without any stabilization
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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14 A. Babiarz et al. • The camera
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Recognition and Location of Objects
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Omnidirectional Video Acquisition D
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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