Vision-based autonomous hovering for a miniature quad-rotor

International audienceIn this paper, a vision-based scheme for the autonomous hovering of a miniature quad-rotor is developed. Cameras are used to estimate the position and the translational velocity of the vehicle. The dynamic model of the miniature quad-rotor is developed using the Newton-Euler approach. A nonlinear controller based on a separated saturation control strategy for a miniature quad-rotor is presented. To validate the theoretical results, an embedded control system for the miniature quad-rotor has been developed. Thus, the analytic results are supported by experimental tests. Experimental results have validated the proposed control strategy

Vision Based Autonomous Hover of a Mini-Rotorcraft

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Vision Based Tracking for a Mini-Rotorcraft Using Vanishing Points

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Vision based tracking for a quadrotor using vanishing points

International audienceIn this paper, a vision based line tracking control strategy for mini-rotorcraft is presented. In order to estimate the 3-D position of the mini-rotorcraft over the trajectory a vanishing points technique is used. A dynamic model is derived employing the Newton-Euler approach and a nonlinear controller to stabilize, in closed-loop system, this mathematical model is proposed. To validate the theoretical results, a real-time embedded control system has been developed. The performance of the vision and control algorithms has been tested when the helicopter has tracked a line painted in a wall. The experimental results have shown the good behavior of the control laws

Characterization of phenotypic and genotypic drug resistance patterns of Mycobacterium tuberculosis isolates from a city in Mexico

Introduction The emergence of multidrug-resistant (MDR) Mycobacterium tuberculosis strains has become a worldwide health care problem, making treatment of tuberculosis difficult. The aim of this study was to determine phenotypic resistance and gene mutations associated with MDR of clinical isolates of Mycobacterium tuberculosis from Guadalajara, Mexico. Methods One hundred and five isolates were subjected to drug susceptibility testing to first line drugs using the proportion and Mycobacteria Growth Indicator Tube (MGIT) methods. Genes associated with isoniazid (inhA, katG, ahpC) and rifampicin (rpoB) resistance were analyzed by either pyrosequencing or PCR-RFLP. Results Resistance to any drug was detected in 48.6% of isolates, of which 40% were isoniazid-resistant, 20% were rifampicin-resistant and 19% were MDR. Drug-resistant isolates had the following frequency of mutations in rpoB (48%), katG (14%), inhA (26%), ahpC (26%). Susceptible isolates also had a mutation in ahpC (29%). Conclusions This is the first analysis of mutations associated with MDR of M. tuberculosis in Guadalajara. Commonly reported mutations worldwide were found in rpoB, katG and inhA genes. Substitution C to T in position -15 of the ahpC gene may possibly be a polymorphism. © 2015 Elsevier España, S.L.U