Deck; Albert Einstein's Weekend Home; Caputh, near Berlin Architecture; Residences; Exterior

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Study; Albert Einstein's Weekend Home; Caputh, near Berlin Architecture; Residences; Interior

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Staircase; Albert Einstein's Weekend Home; Caputh, near Berlin Architecture; Residences; Interior

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Albert Einstein's Weekend Home; Caputh, near Berlin Architecture; Residences; Exterior

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Deck; Albert Einstein's Weekend Home; Caputh, near Berlin Architecture; Residences; Exterior

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View from Deck; Albert Einstein's Weekend Home; Caputh, near Berlin Architecture; Residences; Exterior

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Elsa Einstein with unidentified woman sitting on the porch of Albert Einstein's Weekend Home; Caputh, near Berlin Architecture; Residences; Exterior

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Gottschalk residence; Zeppelinstrasse 2, Hannover, Germany. architecture residences

Verso: Possibly the Gottschalk house at Zeppelinstrasse 2 in Hannover, Germany, dated 1911. Removed from an unknown scrapbook.

Interior of Aenny Catzenstein's apartment; Onslo Court (?), London Architecture Residences Interior

Aenny Catzenstein is seen sitting on a sofa in the left corner of the picture

Interior of Aenny Catzenstein's apartment; Onslo Court (?), London Architecture Residences Interior

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Interior of Aenny Catzenstein's apartment; Onslo Court (?), London Architecture Residences Interior

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Interior of Aenny Catzenstein nee Gottschalk's cottage during WW II; Ascona, Switzerland Architecture Residences Interiors

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"Klo-KU-BA", Hans and Elizabeth Krakauer's first marital apartment in the basement of the Jewish Hospital; Hannover, Germany Architecture; Residences; Interior

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Exterior view of expressionist painter Emil Luethy's home; Gotthardstr. 41 (Basel?) Architecture Residences Exterior

Handwritten on verso: zu obest mein Atelier (My studio on the top floor)

MPC controlled multirotor with suspended slung load: System architecture and visual load detection

There is an increased interest in the use of Unmanned Aerial Vehicles for load transportation from environmental remote sensing to construction and parcel delivery. One of the main challenges is accurate control of the load position and trajectory. This paper presents an assessment of real flight trials for the control of an autonomous multi-rotor with a suspended slung load using only visual feedback to determine the load position. This method uses an onboard camera to take advantage of a common visual marker detection algorithm to robustly detect the load location. The load position is calculated using an onboard processor, and transmitted over a wireless network to a ground station integrating MATLAB/SIMULINK and Robotic Operating System (ROS) and a Model Predictive Controller (MPC) to control both the load and the UAV. To evaluate the system performance, the position of the load determined by the visual detection system in real flight is compared with data received by a motion tracking system. The multi-rotor position tracking performance is also analyzed by conducting flight trials using perfect load position data and data obtained only from the visual system. Results show very accurate estimation of the load position (~5% Offset) using only the visual system and demonstrate that the need for an external motion tracking system is not needed for this task.