Sensorless attitude estimation of three-degree-of-freedom actuator for image stabilization

2021 ◽  
pp. 1-15
Author(s):  
Akira Heya ◽  
Katsuhiro Hirata
Keyword(s):  
Autonomous Systems ◽  
Estimation Method ◽  
System Size ◽  
Attitude Estimation ◽  
Position Estimation ◽  
Degree Of Freedom ◽  
Field Analysis ◽  
Walking Robots ◽  
Image Stabilization ◽  
Three Degree Of Freedom

Space recognition is a crucial issue for autonomous systems such as unmanned aerial vehicles, walking robots, and autonomous cars. These systems are necessary to obtain information using a camera while moving. However, reduction in recognition accuracy and system size increase has created problems. To solve these problems, we proposed the three-degree-of-freedom (DOF) actuator for image stabilization. This paper proposes a novel initial position estimation method and sensorless attitude estimation method for the three-DOF actuator to further downsize and reduce weight. The effectiveness of the proposed methods is verified by a magnetic field analysis, using a three-dimensional finite element method and numerical simulations.

scholarly journals Experimental Verification of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization

Sensors ◽  
2020 ◽  
Vol 20 (9) ◽  
pp. 2485
Author(s):  
Akira Heya ◽  
Katsuhiro Hirata
Keyword(s):  
Experimental Verification ◽  
Dynamic Performance ◽  
Autonomous Systems ◽  
Degree Of Freedom ◽  
Electromagnetic Actuator ◽  
Image Stabilization ◽  
Three Phase ◽  
Autonomous Cars ◽  
Three Degree Of Freedom ◽  
And Control

Image deteriorations due to vibrations have become a problem in autonomous systems such as unmanned aerial vehicles, robots, and autonomous cars. To suppress the vibration, a camera stabilizer using a gimbal mechanism is widely used. However, the size and weight of the system increase because the conventional image stabilization systems require some actuators and links to drive in multi-axes. In order to solve these problems, we proposed a novel three-degree-of-freedom (3DOF) electromagnetic actuator for image stabilization. The actuator can be driven by only three-phase and has a simple structure and control system. This paper describes the experimental verification of the proposed actuator. The torque characteristics are clarified, and the analysis and measured torque characteristics are compared to verify the analysis validity. For verifying the dynamic performance, the frequency characteristics are measured. The effectiveness of the proposed magnetic structure and operating principle are investigated.

scholarly journals Analytical Investigation on Torque of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization

2021 ◽  
Vol 11 (15) ◽  
pp. 6872
Author(s):  
Chien-Sheng Liu ◽  
Yi-Hsuan Lin ◽  
Chiu-Nung Yeh
Keyword(s):  
Power Efficiency ◽  
Rotation Angle ◽  
Analytical Investigation ◽  
Degree Of Freedom ◽  
Electromagnetic Actuator ◽  
3D Fem ◽  
Image Stabilization ◽  
Large Rotation ◽  
Spherical Motor ◽  
Three Degree Of Freedom

In keeping with consumers’ preferences for electromagnetic motors of ever smaller power consumption, it is necessary to improve the power efficiency of the electromagnetic motors used in unmanned aerial vehicles and robots without sacrificing their performance. Three-degree-of-freedom (3-DOF) spherical motors have been developed for these applications. Accordingly, this study modifies the 3-DOF spherical motor proposed by Hirata’s group in a previous study (Heya, A.; Hirata, K.; Niguchi, N., Dynamic modeling and control of three-degree-of-freedom electromagnetic actuator for image stabilization, IEEE Transactions on Magnetics 2018, 54, 8207905.) to accomplish a 3-DOF spherical motor for camera module with higher torque output in the large rotation angle. The main contribution of this study is to improve the static torque in the X- and Y-axes with an improved electromagnetic structure and a particular controlling strategy. In the structural design, eight symmetrical coils with specific coil combination are used instead of conventional four symmetrical coils. In this study, the development of the proposed 3-DOF spherical motor was constructed and verified by using a 3D finite-element method (3D FEM). The simulation results show that the proposed 3-DOF spherical motor has higher torque output in the large rotation angle when compared to the original 3-DOF spherical motor.

Dynamic Analysis of a New Three-Degree-of-Freedom Actuator for Image Stabilization

2017 ◽  
Vol 53 (6) ◽  
pp. 1-4
Author(s):  
Akira Heya ◽  
Katsuhiro Hirata ◽  
Shota Ezaki ◽  
Tomohiro Ota
Keyword(s):  
Dynamic Analysis ◽  
Degree Of Freedom ◽  
Image Stabilization ◽  
Three Degree Of Freedom

Dynamic Analysis of High-Speed Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization

2017 ◽  
Vol 53 (11) ◽  
pp. 1-4 ◽  
Author(s):  
Akira Heya ◽  
Katsuhiro Hirata ◽  
Noboru Niguchi ◽  
Takamichi Yoshimoto ◽  
Tomohiro Ota
Keyword(s):  
Dynamic Analysis ◽  
High Speed ◽  
Degree Of Freedom ◽  
Electromagnetic Actuator ◽  
Image Stabilization ◽  
Three Degree Of Freedom

scholarly journals Dynamic Modeling of Three-Degree-of-Freedom Actuator for Image Stabilization

2018 ◽  
Vol 26 (2) ◽  
pp. 280-285
Author(s):  
Akira HEYA ◽  
Katsuhiro HIRATA ◽  
Noboru NIGUCHI ◽  
Takamichi YOSHIMOTO ◽  
Tomohiro OTA
Keyword(s):  
Dynamic Modeling ◽  
Degree Of Freedom ◽  
Image Stabilization ◽  
Three Degree Of Freedom

scholarly journals Monocular Visual Position and Attitude Estimation Method of a Drogue Based on Coaxial Constraints

Sensors ◽  
2021 ◽  
Vol 21 (16) ◽  
pp. 5673
Author(s):  
Kedong Zhao ◽  
Yongrong Sun ◽  
Yi Zhang ◽  
Hua Li
Keyword(s):  
Spatial Structure ◽  
Estimation Method ◽  
Attitude Estimation ◽  
Position Estimation ◽  
Normal Vector ◽  
Angle Error ◽  
Fusion Algorithm ◽  
Aerial Refueling ◽  
The Matrix ◽  
The Mean

In aerial refueling, there exists deformation of the circular feature on the drogue’s stabilizing umbrella to a certain extent, which causes the problem of duality of position estimation by a single circular feature. In this paper, a monocular visual position and attitude estimation method of a drogue is proposed based on the coaxial constraints. Firstly, a procedure for scene recovery from one single circle is introduced. The coaxial constraints of the drogue are proposed and proved to be useful for the duality’s elimination by analyzing the matrix of the spatial structure. Furthermore, we came up with our method, which is composed of fitting the parameters of the spatial circles by restoring the 3D points on it, using the two-level coaxial constraints to eliminate the duality, and optimizing the normal vector of the plane where the inner circle is located. Finally, the effectiveness and robustness of the method proposed in this paper are verified, and the influence of the coaxial circle’s spatial structure on the method is explored through simulations of and experiments on a drogue model. Under the interference of a large amount of noise, the duality elimination success rate of our method can also be maintained at a level that is more than 10% higher than others. In addition, the accuracy of the normal vector obtained by the fusion algorithm is improved, and the mean angle error is reduced by more than 26.7%.

scholarly journals Proposal of Three-Degree-of-Freedom Actuator for Image Stabilization

2017 ◽  
Vol 25 (2) ◽  
pp. 273-278
Author(s):  
Akira HEYA ◽  
Katsuhiro HIRATA ◽  
Takamichi YOSHIMOTO ◽  
Tomohiro OTA
Keyword(s):  
Degree Of Freedom ◽  
Image Stabilization ◽  
Three Degree Of Freedom
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