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Sazali Yaacob
Development of attitude control system on RCM3400 microcontroller for Nano-satellite applications
Simultaneous localization and map building – a guided tour
2009-10-11
,
Muhyi Yaakop
,
Sazali Yaacob
,
Abdul Rahman Mohd Saad
,
M Harihran
,
R. Nagarajan
This paper describes the development of a nano-satellite attitude control system (ACS) which employ a Kalman filter based controller and a simple adaptive predictive fuzzy logic controller (APFLC) for a 1, 2 and 3 axis orientation using RCM3400 microcontroller. This paper presents the performance comparison of the APFLC and Kalman filter based controller implemented in the hardware. The physical interface module, configuration with several key features, communication protocol and data handling for the micro-controller are also described.
2009-10-11
,
William Low
,
R. Nagarajan
,
Sazali Yaacob
Simultaneous Localization and Mapping (SLAM) has been one of the active research areas in robotic community for the past decade of years. SLAM addresses the problem of a robot navigating and building a map of an unknown environment, without an initial map or an absolute localization means. This paper attempts to provide a comprehensive overview of the SLAM problem. Successful SLAM implementations using laser, sonar and radar can be found in the literature. However, recent extensions to the general SLAM problem has looked into the possibility of using 3-dimensional features and the use of vision sensors. We will focus on these two approaches to the SLAM problem using vision: one with single or monocular camera and another with stereovision. Current applications and future challenges will also be discussed.