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ZMART

浙江大学空中机器人队|FACT Lab

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ZMART is the abbreviation for the ZJU Micro-Aerial Robotics Team, majorly for the International Aerial Robotics Competition in the Asia-Pacific Venue. ZMART won the Best System Design Award (2015 in Beihang University) and the First Prize Award (2016 in Beihang University).

Team Structure for 2017

  • 总体组:王宏达、翁一桢、邱炜、万旭东、郭磊、叶鸿凯
  • 感知组:朱疆成、崔粲、茹祥宇、朱均、汪哲培、王琦

ZMART featured in media

ZMART Performance video


Award

  • 2015 - the Best System Design Award 最佳系统设计
  • 2016 - the First Prize (the Asia-Pacific Venue) 亚太赛区冠军
  • 2017 - the First Prize (the Asia-Pacific Venue) 亚太赛区冠军

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Competition

2016 the First Prize in the Asia-Pacific Venue

  • 指导老师:许超、张宇
  • 队员:王宏达、翁一桢、叶波、茹祥宇、朱均、万旭东、朱疆成、崔粲、邱炜、郭磊
  • Technical Progress: Visual Odometry, Boundary Detection (SVM), Dynamic Approaching (DP), Reinforcement Learning
    • Platform: DJI M100
    • Task Computer: Intel NUC i5
    • Navigation: DJI Guidance / Hokuyo UTM-30LX
    • Vision: Bluefox

2016

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2015 Best System Design Award in the Asia-Pacific Venue

  • 指导老师:许超、王伟、张宇
  • 队员:崔粲、叶长春、王宏达、翁一桢、叶波、邱炜、朱疆成、茹祥宇、黄永斌
  • Technical Progress: Visual Tracking to Moving Target
    • Platform: X650 Carbon
    • Flight Controller: Pixhawk
    • Propulsion: T-Motor
    • Power: ACE
    • Navigation: Hokuyo URG-04LX / PX4-Flow
    • Vision: Bluefox

2015

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2014

  • 指导老师:许超
  • 队员:秦通、翁一桢、娄常绪、黄夏楠、刘昊俣、王钟雷、陈乙宽、叶长春、朱疆成、韩滔
  • Technical Progress: 3D printing, ROS
    • Platform: X650 Carbon
    • Flight Controller: DJI Wookong
    • Task Computer: Intel NUC i5
    • Propulsion: HLY / HobbyWing
    • Power: ACE
    • Navigation: Hokuyo UTM-30LX / Ultrosonic Sensor
    • Vision: USB camera

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2012

  • 指导老师:许超
  • 队员:崔粲、朱疆成、邱炜、俞中杰、王文龙、韩滔、张泉泉
  • Technical Progress: Flight Control, SLAM, Auto-exploration, Visual Tracking
    • Platform: X650
    • Task Computer: ARM cortex A9
    • Flight Computer: Yutu
    • Propulsion: 新西达(XXD) / (好盈)HobbyWing
    • Navigation: Hokuyo UTM-30LX / Ultrosonic Sensor
    • Power: ACE

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Research Prototype

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Battlecruiser

"Battlecruiser operational."

IARC 2016 and 2017 main competition platform.

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Science Vessel

"Explorer reporting."

Human In The Loop (HITL) research, keyboard operation (get out of RC controller), video and sensor data real-time transmission, manipulator installed.

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Wraith

"Wraith awaiting launch orders."

Flight control, servo, formation, basic HITL, aerial carrier.

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Observer

"I sense a soul in search of answers."

Indoor formation, swarm, aerial carrier,

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Overlord

“Hmm.....”

Parallel arm, manipulator.


Research Area

Dynamics and Control: Design and Modelling, Disturbance Control, Trajectory Generation, Formation

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Environment Sensing: Computer Vision, Machine Learning, Detection and Tracking, Visual Odometry, SLAM

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Artificial Intelligence: Reinforcement Learning, Deep Learning, Human in the Loop, Situation Awareness

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