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.

Villa Vogelweide; Bussum, Holland Architecture; Residences; Exterior

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goldschmidt house, stolzenau ? Architecture; Residences

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Bedroom; Mosse family residence; Berlin Architecture; Residences; Interior

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Kitchen; Mosse family residence; Berlin Architecture; Residences; Interior

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Dining room; Mosse family residence; Berlin Architecture; Residences; Interior

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Dressing room, door open into bedroom; Mosse family residence; Berlin Architecture; Residences; Interior

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Entryway and staircase; Mosse family residence; Berlin Architecture; Residences; Interior

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Study and library; Mosse family residence; Berlin Architecture; Residences; Interior

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Salon with door open to garden; Mosse family residence; Berlin Architecture; Residences; Interior

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Desk; Mosse family residence; Berlin Architecture; Residences; Interior

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Library; Mosse family residence; Berlin Architecture; Residences; Interior

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Dining room; Mosse family residence; Berlin Architecture; Residences; Interior

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Staircase and first floor landing; Steinharter residence; Munich Architecture; Residences; Interior

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