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- しおり めいこ
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1 2011 Future University Hakodate 2011 System Information Science Practice Group Report Project Name Applied Embedded System Group Name Radio-controlled model helicopter Group /Project No. 15-B /Project Leader b Mayuki Komaki /Group Leader b Yoshitaka Ono /Group Member b Yoshitaka Ono b Humiya Yokoi b Tatsuya Kon b Koutarou Yoshida Advisor Takeshi Nagasaki assaociate professor Date of Submission Janualy 18, 2012 Hideki Sato professor
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4 Abstract We developed an automous control program of radio-controlled helicopter, which contains image processing program for detecting a destination, a communication program to connect a host computer and a radio-controlled helicopter, a physical model of a radio-controlled helicoputer based on nonlinear multivariate analysis, and an automous control program using simple optimal control. Keyword radio-controlled helicopter, image processing, autonomous control, nonlinear multivariate analysis, simple optimal control : - ii -
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9 ,. OpenCV, C, C++,,,,,.. : 2.1.1, 1.,.,.,,. : ,,, (1). (2). (3),,. Parrot AR.Drone. 2.1 AR Drone. AR.Drone, (1), AR.Drone Parrot,,. (2), , 3. (3), Group Report of 2011 SISP Group Number 15-B
10 AR.Drone,. (4), 300g. : OS windows Vista 32bit. Microsoft Visual C Express Edition. AR.Drone SDK 1.5 version. OpenCV 1.1 pre. Wi-Fi : IEEE b/g. : 2.2.3,,,, AR.Drone,. 18km/h 6m. 15W 3500rpm. AR.Drone ,,., ,., 6m 20cm. 3, 2, 1. Group Report of 2011 SISP Group Number 15-B
11 : (1),. (2), Microsoft Visual C Express edition. (3),, 4. (4),. (5), Microsoft Visual C Express edition. OS, Windows Vista 32bit., OS., OS., OS,. : ,.. : ,,,. ON OFF..,,.,., ON, OFF., 1 2,. C++, C. : Group Report of 2011 SISP Group Number 15-B
12 2.2.7 AR.Drone open API platform[3]. 3. 3, 2, 1..,., 2.2. switch 2.3. switch 2.3,..,. : switch DirectX.,.,., OpenCV., DirectX OpenCV. [6]. 6., DirectX OpenCV., 2.4. OpenCV. : Group Report of 2011 SISP Group Number 15-B
13 DirectX., OpenCV., OpenCV. DirectX OpenCV., OpenCV,., DirectX OpenCV.,., OpenCV DirectX.,, 1 2,. C++, C, OpenCV. : ,,, 2 4.,,.,.,..,,,.,..,, Group Report of 2011 SISP Group Number 15-B
14 1 2,. C++, C, OpenCV. : ,..,,, 2. 2,,,., 1 2,. C++, C. : , checksum failed.,.,.,.., 2.3 switch. ((uint8 t ) navdata option ptr) + (navdata option ptr->size)., 2.6. : Group Report of 2011 SISP Group Number 15-B
15 ,..,.,, 1.., Group Report of 2011 SISP Group Number 15-B
16 ,.,,..,. C++, C, OpenCV. : ,. X, Y, X Y.,,.,.,, 1 2,. C++, C, OpenCV. : 2.3.3,.,.,.,,..,,...,.,, web.,., web,.,, 1 2,. C++, C, OpenCV. : Group Report of 2011 SISP Group Number 15-B
17 2.3.4,, 3,..,,,,, 5., , 1 0..,.,., ,, 1 2,. C++, C, OpenCV. : ,.,, H 3., ,.., 8 Group Report of 2011 SISP Group Number 15-B
18 Applied Embedded System いためである. グレースケール化した画像から円形が検出されるが, その際, 値は円の半径と中心点 の 2 次元座標 XY としてエンコードされる. 検出した円は元の画像に円と中心点の 2 つを描写す る (図 2.8). 検出は円として認識した部分はすべて描写するため初期状態では多量で大小様々な円 形が検出される (図 2.9). 多量の誤認識を防ぐために検出する円形の最大半径と最小半径を設定し て明らかに違う円形を除外する. しかしこの方法にも限界があり, 近似の円形は誤認識してしまう. 図 2.10 は実際に使用したプログラムの例である. この課題に関係する講義は, 画像工学, プログラ ミング演習 1 2, 情報アーキテクチャ演習の講義である. また C++ 言語, C 言語, OpenCV ライ ブラリの技術が必要である. 文責: 今 竜也 図 2.8 成功例 図 2.9 失敗例 Group Report of 2011 SISP Group Number 15-B
19 , 2., 1 0,., 2, Group Report of 2011 SISP Group Number 15-B
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27 1 2,. C++, C. : , x.,. 6, 7.5cm, 18, 4cm.,,,., 18.,., 0.,. C++, C. : PID. PID,,,., ON/OFF. ON/OFF Bang-Bang Group Report of 2011 SISP Group Number 15-B
28 . Bang-Bang,, ON/OFF.,. 20, 25.,.,., t. t+1,.. 4., t+1, ,. : 2.5.,.,,, ,,., 1 2,. C++, C. : 2.5.1,.,.., Windows API,., old time. new time., new time old time, time. if... 5, , , Group Report of 2011 SISP Group Number 15-B
29 .,.,,.,,.. : 2.5.2, web. web.,.,,, 4,.. (1),. (2),. (3),. (4), (3),.,. (5),. (6), (3).,. (7),, (2). (8),, xx yy. pitch roll. copy altitude. ardrone tool set ui pad start().. (1).,. (2). xx, 10,, roll -0.06f., -10, roll +0.06f. (3). (2), yy, 10, pitch -0.06f., -10 pitch +0.06f. (4). copy altitude,. (5). (2) (3), (4),. (2) (3) xx yy 10, 600. Group Report of 2011 SISP Group Number 15-B
30 ardrone tool set ui pad start() 0..,,,,.,, 1 2,. C++, C, OpenCV. : ,., 9, 81.,, Group Report of 2011 SISP Group Number 15-B
31 . 0.4., (6), (1),. 9 2,. 9, (6) 9. (1),. 81 2, (1),. (2),. (3),. (4),. (5),. (6), (5) 0.8. (7), (9).. (8),. (9),. (10),. (11),., (1). (1) (2). (2) (3). (3) (4) (5). (5) (6), (7). (8) (9). (8) (9) (10). (10) (8) (9). (10) (11)., 1 2,. C++, C. : Group Report of 2011 SISP Group Number 15-B
32
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34 , Web.,. [17]. [11] : 4..,.,. Microsoft Visual C Express edition (VC++2008). Microsoft Windows SDK Microsoft DirectX SDK. VC , SDL-devel VC8.zip., VC ArDrone properties.vsprops, 2 Value., OpenCV. VC ,.,,. : 5. C++ C C., C C C++. : 6. OpenCV OpenCV. OpenCV. OpenCV C, C++, Python. OpenCV Image Processing, Structural Analysis, Motion Analysis and Object Tracking, Pattern Recognition, Camera Calibration and 3D Reconstruction, Machine learning, Group Report of 2011 SISP Group Number 15-B
35 User Interface.,.,,,,,. : 7...,..., 2.,.,,.,,., AR.Drone open API platform[3].,., checksum failed.. : 8., C/C++.,,.,.,,..,,, : (1),. (2),. (3),. 1, 0.3. Group Report of 2011 SISP Group Number 15-B
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37 3.5cm, 3.8cm. x , 3.7cm, 6.9cm, 2.6cm, 2.8cm. 3.1 : ,,,.,,. : Group Report of 2011 SISP Group Number 15-B
38 ,,.,.,,,,. : m 10m.. 0m,., 1m, 2m, 3m, 6m 4, 0m, 1, 1 10.,, 160.,.,., 0.25m 4m.. 0m,., 0m 4m 5 1., 2.,. : 15. Group Report of 2011 SISP Group Number 15-B
39 m m , , , , : (m) (m) (m) (m) (m) Group Report of 2011 SISP Group Number 15-B
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59 [1] Herbert Schildt. C [2]. Essential OpenCV programming [3] ARDRONE open API platform. ardrone. org/ [4] OpenCV. jp. jp/ [5] opencv. jp - OpenCV pre. jp/opencv /document/index. html [6]. blog20.fc2. com/ [7]. [8] BlueSky lab. plavox. info/blog/2008/06/ c. html [9] AR.Drone. com Japan. parrot. com/parrot-ar-drone/jp [10] AR.Drone Flyers. ardrone-flyers. com/ [11] Fenrir s Blog. naruoka. org/ [12] microsoft corporation [13] Microsoft Visual Studio Express [14] Simple DirectMedia Layer [15] TBS. [16] STANFORD UNIVERSITY. [17]. Group Report of 2011 SISP Group Number 15-B
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2017 Future University Hakodate 2017 System Information Science Practice Group Report Project Name Manga engineering Group Name Literacy Manga /Project No. 19 /Project Leader 1015131 Kiyomasa Murakami
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2015 Future University Hakodate 2015 System Information Science Practice Group Report Boat Map Project Name Development of Boat map to display the position of boats A Group Name Group A /Project No. 14-A
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2015 Future University-Hakodate 2015 System Information Science Practice Group Report - Project Name HAKODATE - SORACAM, UMICAM, YAMACAM - Part SORACAM Program production and tool development Group Name
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2015 Future University Hakodate 2015 System Information Science Practice Group Report Project Name Improvement of Environment for Learning Mathematics at FUN C (PR ) Group Name GroupC (PR) /Project No.
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2013 Future University-Hakodate 2013 System Information Science Practice Group Report Project Name Exploring recipe for a new concept of food B Group Name Group B /Project No. 1-B /Project Leader 1011013
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22 Web Research of a Web search support system based on individual sensitivity 1135117 2011 2 14 Web Web Web Web Web, i Abstract Research of a Web search support system based on individual sensitivity
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2012 Future University Hakodate 2012 System Information Science Practice Group Report Project Name Discovery and Solution of Problems of The Medical Field TMTTM Group Name TMTTM /Project No. 11-A /Project
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