[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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68 Z. Kuś and A. Nawrat Fig. 11. Transients and defining the object tracking in the response to the disturbance which impact the helicopter only in the horizontal plane Transients , , and in the response to the camera position changes in the (x, y) plane, which were presented in figure 10, are presented in figure 11. The change of the camera position is equal to the change of the helicopter position which is the result of wind blowing in a horizontal plane. As figure 11 presents the change of the , position caused the change of the required angles , of the camera rotation towards the tracked object. The camera head turns in order to set the camera rotation angles to set values ( and . Transients and have some minor overshoots, however, steady state error approaches zero. We can improve the control quality by means of adding lead compensator PD in close loop in the position where the signals and can be found (cf. fig. 9). The transfer functions of these lead compensators PD, which will also be used in the following examples, are as presented below:
Object Tracking for Rapid Camera Movements in 3D Space 69 10 · 1 1 · 0.01 (6) The compensator was tuned in such way that it is reducing dominant time constant [24]. The transients , , and for the disturbance which was defined in figure 10 for the system with the lead compensator PD are presented in figure 12. Fig. 12. The responses of the system in case of excitation defined in figure 10 for the system with the lead compensator PD As figure 12 presents there is a considerable enhancement of the transients quality and the steady state error remains equal zero. Figure 13 represents the situation after distortion when the camera changes its position only in the (y, z) plane where .In this case the camera sequentially moves upwards, above the object, downwards and finally back to the starting position.
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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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8 A. Babiarz et al. a) b) Fig. 5. T
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10 A. Babiarz et al. o o o “micvo
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12 A. Babiarz et al. a) b) Fig. 7.
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120 D. Bereska et al. Fig. 4. Ortho
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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Vision System for Group of Mobile R
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A Distributed Control Group of Mobi
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178 D. Bereska et al. The aim of th
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180 D. Bereska et al. 3 Control Alg
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182 D. Bereska et al. Fig. 5. Schem
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184 D. Bereska et al. 4.1 Mechanica
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186 D. Bereska et al. 4.1.3 Open-Lo
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188 D. Bereska et al. Fig. 16. Comp
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Probabilistic Approach to Planning
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206 Practical Applications of Class
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208 M. Mellado and K. Skrzypczyk an
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216 M. Mellado and K. Skrzypczyk 6
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Prototyping the Autonomous Flight A
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Feature Extraction and HMM-Based Cl
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248 K. Daniec et al. In this articl
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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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254 K. Daniec et al. The idea of us
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274 A. Nawrat et al. alia weather c
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280 A. Nawrat et al. • 1-phase el
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282 A. Nawrat et al. The phase cond
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284 A. Nawrat et al. Table 1. Compa
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288 A. Nawrat et al. S, VA 4,510 4,
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290 A. Nawrat et al. Comparison dif
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Technology Development of Military
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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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