Biomedical Engineering Reference
In-Depth Information
1.5
Right opponent signal
Left opponent signal
1
0.5
0
-0.5
-1
-1.5
0
2
4
6
8
10
12
14
Time (s)
FIGURE 9.21
Opponent signals computed using the scaled difference between the ultraviolet and green photodiodes
on respective sides of the aircraft. The difference between the two signals is small after the transient during manual-to-
automatic handover at 1 s and before the transient during automatic-to-manual takeover at 11 s.
70
Trajectory 1
Trajectory 2
Trajectory 3
60
50
40
30
20
10
0
0
10
20
30
40
50
60
70
80
90
100
X (m)
FIGURE 9.22
The GPS trajectories of the aircraft during three periods in which the ocelli controlled roll and pitch for
up to 12 s.
