Chapter No

TABLE OF CONTENTS ABSTRACT TABLES OF CONTENTS LIST OF FIGURES LIST OF TABLES INTRODUCTION
1.1 OBJECTIVE OF STUDY 1.2 SCOPE OF STUDY 1.3RELATED WORK

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IV V IX X 1 2 3 3 6

LITERATURE REVIEW
2.1 VISION-BASED AUTONOMOUS HELICOPTER RESEARCH AT CARNEGIE MELLON ROBOTICS INSTITUTE 2.1.1 OUTLINE 2.1.2 LIMITATION 2.2 COMPUTER VISION FACE TRACKING FOR USE IN A PERCEPTUAL USER INTERFACE 2.2.1 OUTLINE 2.2.2 LIMITATION 2.3 EXISTING SYSTEM 2.3.1 LIMITATION 2." PROPOSED SYSTEM

! ! ! # 11 11 12 1"

VISION-BASED TARGET DETECTION AND TRACKING

3.1 VISION-BASED FLIGHT CONTROL 3.2 CHALLENGES IN VISION-BASED UAVS 3.3 RADIO CONTROLLED HELICOPTER
1

3." FLIGHT CONTROL SYSTEM 3.".1 COMMUNICATION UNIT 3.".2 VISION SYSTEM 3.".3 VISION SENSOR 3.$ TARGET DETECTION AND TRACKING IN THE IMAGE 3.$.1 TARGET DETECTION 3.$.2 SEGMENTATION 3.6 ADVANTAGE 3. APPLICATION

16 16 1 1 1! 1! 1# 2% 2% 22 23 2" 2$ 2$ 2$ 26 26

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MICROCONTROLLER
".1 INTRODUCTION ".2 LIST OF COMMON MICROCONTROLLERS ".3 MICRO CONTROLLER OPERATION "." ARCHITECTURE ".$ MEMORY ORGANI&ATION ".$.1 READ ONLY MEMORY 'ROM( ".$.2 RANDOM ACCESS MEMORY 'RAM( ".$.3 ELECTRICALLY ERASABLE PROGRAMMABLE 'EEPROM( ".6 SPECIAL FUNCTION REGISTERS 'SFR( ". PROGRAM COUNTER ".! CENTRAL PROCESSOR UNIT 'CPU( ".# INPUT)OUTPUT PORTS 'I)O PORTS( ".1% OSCILLATOR
2

26 2 2 2! 2!

".11 TIMERS)COUNTERS ".11.1 WATCHDOG TIMER ".12 POWER SUPPLY CIRCUIT

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METHODOLOG
$.1 BLOCK DIAGRAM

COMMUNICATION TECHNOLOGIES
6.1 DATA LINKS

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RFID TAG AND COB DEVELOPMENT GUIDE

.1 INTRODUCTION .2 BLOCK DIAGRAM .3 PIN CONFIGURATION AND DESCRIPTION .3.1 PIN CONFIGURATION .3.2 DESCRIPTION .3.3 FEATURES .3." SIGNAL DESCRIPTION ." MOT 'M*+, S,-,./( .$ S0W 'S1234, W35, O2/62/( .6 COORDINATE FRAMES USED IN UNMANNED
3

"2 "3 "3 "" "" ""

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VISION

SYSTEMS.

WORK MODEL
!.1 VISUAL SENSOR7 VIDEO CAMERA !.2 IMAGE AC0UISITION MODULE7 FRAME GRABBER !.3 VISION PROCESSING MODULE7 VISION COMPUTER !." PAN)TILT SERVOMECHANISM !.$ WIRELESS DATA LINK AND VIDEO LINK

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FIGURE NO "#$

LIST OF FIGURES O%er%&e' o( the %&)&o*-+a)e, -*.a**e, he/&0opter1 SheL&o*

4

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Ra,&o 0o*tro//e, he/&0opter1 Raptor 45 SE# O*-+oar, %&)&o* )e*)or Pa*8t&/t )er%o .e0ha*&). Ar0h&te0ht-re o( !52$ M&0ro0o*tro//er O)0&//ator T&.er 9Co-*ter Po'er S-pp/: U*&t B/o0; D&agra. B/o0; D&agra. Rotor0ra(t Top %&e'< )&,e %&e'< (ro*t %&e' RFID Tag 9 Co+ De%e/op.e*t 37 p&* e*0ap)-/ate, pa0;age Coor,&*ate (ra.e) -)e, &* -*.a**e, %&)&o* ):)te.)

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TABLE NO "#$

LIST OF TABLES Ma&* )pe0&(&0at&o*) o( Raptor 45 SE

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