[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 187 4.1.4 Open-Loop Controller with Prediction The system with open-loop controller with prediction gives the best results. The average camera’s rotation is between ±2.5º (Figure 14), which is visually acceptable for human observer. At the same time the centre of mass of the tracked shape shifts on y axis on less than 50 pixels, which can be seen on Figure 15. Fig. 14. Output from the roll and pitch servomechanisms in the system with open-loop control with prediction Fig. 15. Shift of x and y components of the center of mass of the tracked shape in the system with open-loop controller with prediction 4.1.5 Test Conclusions Closed-loop, open-loop and open-loop with prediction stabilization structures were tested. For comparison purposes a test was also carried out without stabilization. The tracked center of gravity of the image observed by the camera without stabilization was sliding around by about 200 pixels. Closed-loop control improved the result. The maximum deflection in the y-axis was reduced to about 125 pixels. Open-loop control yielded better results. The maximum deflection was
188 D. Bereska et al. Fig. 16. Comparison of the acquired shift in x and y direction depending on the control type about 100 pixels. However the best results were obtained for control in an openloop system with prediction. The acquired experimentally best result was reduction of deviation to about 50 pixels (fig. 16). 5 Conclusions In the article it was presented developed multi-axial mechanical stabilization system. Quality of the 3-DOF camera stabilisation system was experimentally measured using dedicated 2-DOF platform and two IMUs used for orientation measurements. The presented experimental results proved that mechanical stabilisation improves low frequency dampening which allows to mount camera on rotary objects like UAV [15]. The image’s shift was reduced from more than 250 pixels to less than 50 for open-loop control with prediction. The main conclusions was that open-loop control is better suitable than closed-loop for mechanical stabilisation. References [1] Masten, M.K.: Inertially stabilized platforms for optical imaging systems. IEEE Control Systems 28(1), 47–64 (2008) [2] Prakah-Asante, K.O., Islam, A.S., Walczyk, D., Craig, K.: Design, Construction and Testing of a Single-axis Servomechanism for Control Experiments involving Coulumb Friction, Backlash and Joint Compliance. Journal of Engineering Design 4(4), 305–329 (1993)
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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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6 A. Babiarz et al. The description
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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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Recognition and Location of Objects
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118 D. Bereska et al. Fig. 2. Image
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120 D. Bereska et al. Fig. 4. Ortho
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Omnidirectional Video Acquisition D
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250 K. Daniec et al. Fig. 2. Applic
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252 K. Daniec et al. by the ability
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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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