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Introduction

This document is about the project that I made for the Center of Self Organizing and Intelligent

Systems (CSOIS), Utah State University, Logan, Utah, USA, during the fall semester 2005. The

project was about a robot called Gimbal and using it for implementing some parts of Lili Ma’s PhD

thesis [4]. In this project Gimbal is used for implementing Iterative Learning Control in visual based

control.

The files used and produced in this project can be found on the project CD.

Contents of the CD:

/Gimbal/ All necessary files for using ILCprocess.m. Cleaned up from

/Sakari/gimbal_interface/.

/Gimbal/ImageAcquire/ Files for image acquisition program. (Cleaned up)

/Matlab/ Working folder for image acquisition program.

/Sakari/ Working folder for controlling Gimbal.

/Sakari/gimbal_interface/ Includes the program used in the demo. original version of the model

created by LingHong Zhu [3].

I want to thank everyone who gave me their help and support.

Especially I want to thank

Professor YangQuan Chen

PhD Lili Ma

LingHong Zhu

Jan 24th in Helsinki, Finland

Sakari Kettunen

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Pulnix TMC-7DSP Manuale Utente Pagina 3