. The Biological bulletin. Biology; Zoology; Biology; Marine Biology. HONEYBEE LANDING STRATEGIES. upon whether the measured image velocity is lower or higher than the set image velocity. Specifically, the forward speed Vf(i + 1) of the camera during the next step is related to the current speed V/(i) by Vf(i Figure 3. View of robotic gantry, showing camera head and visual texture on the floor. Adapted from Srinivasan er a/. (2000). gantry head, which can be translated in three dimensions (,v, v, and ;). For the purpose of implementing the landing strategy, translatory motion of the camera is
. The Biological bulletin. Biology; Zoology; Biology; Marine Biology. HONEYBEE LANDING STRATEGIES. upon whether the measured image velocity is lower or higher than the set image velocity. Specifically, the forward speed Vf(i + 1) of the camera during the next step is related to the current speed V/(i) by Vf(i Figure 3. View of robotic gantry, showing camera head and visual texture on the floor. Adapted from Srinivasan er a/. (2000). gantry head, which can be translated in three dimensions (,v, v, and ;). For the purpose of implementing the landing strategy, translatory motion of the camera is restricted to the forward (.v) and downward (-;) directions. There is no rotary motion about the z axis. The system is placed under closed-loop control by using a computer to analyze the motion in the image sequence captured by the camera, and to control the motion of the gantry. A view of the gantry and camera is shown in Figure 3. The floor, defined to be the landing surface, is covered with a spatially random, black-and-white visual texture. The camera faces downwards and views the floor. The velocity of image motion is measured by using an image interpola- tion algorithm, details of which are given in Srinivasan (1994). Landing is controlled as follows. The system is required to maintain a constant descent angle (tan^'fVyV,)) and a constant image angular velocity, u>sel, as it descends. In the first time step, the gantry moves the camera head along the direction of descent at an arbitrarily chosen initial speed. The image velocity is measured during this step, using the image interpolation algorithm. Let us denote the measured image velocity by w,m.(M. In the next step, the speed of motion of the head is increased or decreased, depending The speed of descent is also corrected by the same factor, since the forward and descent speeds are proportional to each other and linked by the desired angle of descent. This speed correction ensures that the image velocity during the n
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Keywords: ., bookauthorlilliefrankrat, booksubjectbiology, booksubjectzoology
