This report proposes an algorithm for planning the aiming direction of a vision sensor with limited field-of-view for tracking of multiple targets. The sensor is mounted in an actuated gimbal on an unmanned aerial vehicle (UAV). Dynamic constraints of the gimbal are included implicitly and a genetic algorithm is used to solve the optimization problem.

A new form of the equations of motion for a spacecraft with single gimbal control-moment gyros (CMG) is developed using a momentum approach. This set of four vector equations describing the rotational motion of the system is of order 2N + 7, where N is the number of CMGs. The control input is an N £ 1 column vector of torques applied to the gimbal axes. A modiŽ cation to a singularity robust Ly...

This paper presents the development of a vision-based neuro-fuzzy controller for a two axes gimbal system mounted on a small Unmanned Aerial Vehicle (UAV). The controller uses vision-based object detection as input and generates pan and tilt motion and velocity commands for the gimbal in order to keep the interest object at the center of the image frame. A readial basis function based neuro-fuz...

Integrating the advantage of magnetic bearings with a double gimble control moment gyroscope (DGCMG), a magnetically suspended DGCMG (MSDGCMG) is an ideal actuator in high-precision, long life, and rapid maneuver attitude control systems. The work presented here mainly focuses on performance testing of a MSDGCMG independently developed by Beihang University, based on the single axis air bearing...

Seeker optimization algorithm (SOA) is a novel search algorithm based on simulating the act of human searching, which has been shown to be a promising candidate among search algorithms for unconstrained function optimization. In this article we propose a modified seeker optimization algorithm. In order to enhance the performance of SOA, our proposed approach uses two search equations for produc...

x0. Introduction. Consider a game played by 2 players, whom we call the hider and the seeker. Let S be a simplex of dimension n, with vertices x 0 , x 1 ; : : :; x n , and M a subcomplex of S, known to both the hider and the seeker. Let be a simplex of S, known only to the hider. The seeker is permitted to ask questions of the sort \Is vertex x i in ?" The seeker's goal is to determine whether ...

In this paper a new practical Attitude Control System is proposed, based on Control Moment Gyroscopes (CMG). These actuators can provide unique torque, angular momentum and slew rate capabilities to small satellites without any increase in power, mass or volume. This will help small satellites become more agile and maneuverable. Agility considerably increases the operational envelope and effici...