We present a quadrotor Micro Aerial Vehicle (MAV) equipped with four cameras, which are arranged in two stereo configurations. The MAV is able to perform stereo matching for each camera pair on-board and in real-time, using an efficient sparse stereo method. In case of the camera pair that is facing forward, the stereo matching results are used for a reduced stereo SLAM system. The other camera...

This paper develops and evaluates methods for performing auto-retrieval of a MAV using fast 6D relocalisation from visual features. Auto-retrieval involves a combination of guided operation to direct the vehicle through obstacles using a human pilot and autonomous operation to navigate the vehicle on its return or during re-exploration. This approach is useful in tasks such as industrial inspec...

This paper describes the research into the flight dynamics modelling and flight control of a flapping wing micro aerial vehicle (MAV). The equations of motion based on a multi-body representation of the vehicle and the flapping wings were derived and form the basis for the simulation program, which was developed using MATLAB and SIMULINK. The aerodynamic forces were obtained through experimenta...

Conventionally Micro/Nano scaled hovering flight presents a myriad of challenges and unique design opportunities. The culmination of microelectronics and state of the art measuring devices has enabled the creation of a Micro-air-vehicle (MAV 1 ) resembling one of nature’s most efficient fliers, the seed of the Maple tree. The planform design of the VTOL mechanical samara is based on previous wo...

Despite strong support for the study of how implicit beliefs emotion and achievement goals affect emotion, none have studied these in context teaching. This aims to examine emotions teaching through goal orientation. study, wherein a total 428 teachers from public elementary high schools Iligan City, Lanao Del Norte were chosen cluster random sampling, gathered data use questionnaires: question...

A geometric dynamic modeling framework for generic multirotor aerial vehicles (MAV), based on a modern Lie group formulation of classical screw theory, is presented. Our allows broad range rotor-wing configurations: any number rotors can be attached in arbitrary configurations to either the body or wings, with and wings also tiltable. takes into account all masses inertias MAV rotors, accounts ...

The problem of developing a reliable system for sensing and controlling the hover of a Micro Air Vehicle (MAV) using visual snapshots is considered. A new algorithm is proposed that uses a stored image of the ground, a snapshot taken of the ground directly under the MAV, as a visual anchor point. The absolute translation of the aircraft and its velocity are then calculated by comparing the subs...

Despite the fact that the deployment of sensor networks and target tracking could both be managed by taking full advantage of Voronoi diagrams, very little few have been made in this regard. In this paper, we designed an optimized barrier coverage and an energy-efficient clustering algorithm for forming Vonoroi-based Wireless Sensor Networks(WSN) in which we proposed a mobile target tracking sc...

Chirality is one of the ubiquitous phenomena in biological systems. The left handed (L-) amino acids and right handed (D-) sugars are normally found in proteins, and in RNAs and DNAs, respectively. The effect of chiral surfaces at the nanoscale on cellular uptake has, however, not been explored. This study reveals for the first time the molecular chirality on gold nanoparticles (AuNPs) function...

This article describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). The aim was to develop robust outdoor platforms with the autonomous capabilities required for the competition, by applying and integrating knowledge from various fields, including computer vision...