| 摘要(英) |
Taiwan is on a seismic belt and belongs to the tropics island climate so there are many calamities like earthquake and typhoon in this island. And sometimes mountain climbing will take out some people‟s lives. But there is not enough human resource of rescue to speedily find these survivors and provide the adequate support. When a catastrophe occurs, the main problem is: First, the communication between survivor and savor is isolated. Second, the survivors searching on the ground is not efficient.
In order to solve the problems, we proposed a WISH system - wireless image surveillance helicopter. It contains two key components: Immediate cross range communication deploys and real time high resolution image capturing & transmitting. So we combine the Wireless ad hoc network and 3G & DSLR to do this. It has the following three components: 1.a PC/104 embedded control center, 2.a digital camera, 3.a 3G communication interface. On the plane we used some single chip to get the sensors‟ data, and then they will send the data to the embedded
control center to get the flight status. And the ground station can send command to capture image, control flight, and receive the flight status. This paper is a part of the WISH project. A ground base station software system that would provide the following functions:
3G real time communication interface.
Remote picture capturing & showing.
Flight controlling.
Graphical flight displaying & data collecting.
Web/local GIS support, flight path record.
Finally, we also did some experiment to check each function. The result showed that the idea of system is workable and still need to be continuously improved. |
| 參考文獻 |
[1] “BEAR: Berkeley Aerobot Team”, http://robotics.eecs.berkeley.edu/bear/
[2]”USC AVATAR project”, http://www-robotics.usc.edu/~avatar/
[3]”COMETS Project”, http://www.comets-uavs.org/
[4]”WITAS Project”, http://www.ida.liu.se/~patdo/auttek/introduction/index.html
[5]“Gphoto2”, http://www.gphoto.org/
[6]”ALIGN Corp.” http://www.align.com.tw/html/en/e_company.htm
[7] Lewis, M.A., Fagg, A.H., Bekey, G.A., “The USC autonomous flying vehicle: an experiment in real-time behavior-based control”, In Proceedings of IEEE International Conference on Robotics and Automation, 1993.
[8] Kim, H. J., & Shim, D. H., A flight control system for aerial robots:Algorithms and experiments. Control Engineering Practice 2003.
[9] La Civita, M., Papageorgiou, G., Messner, W. C., & Kanade, T. , “Design and flight testing of a gain-scheduled H-infinity loop shaping controller for wide-envelope flight of a robotic helicopter”, In Proceedings of the 2003 American Control Conference.
[11] Montgomery, J. F., & Bekey, G. A., “Learning helicopter control through ‘‘teaching by showing’’”, In Proceedings of the IEEE Conference on Decision and Control, 1998.
[12] Buskey, G., Wyeth, G., & Roberts, J., “Autonomous helicopter hover using an artificial neural network”, In Proceedings of the IEEE International Conference on Robotics & Automation, 2001 |
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