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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Resting sites, edge effects and dispersion of a polyphagous Bactrocera fruit fly within crops of different architecture

The spot or strip application of poisoned protein bait is a lure-and-kill technique used for the management of fruit flies. Knowledge of where flies occur in the crop environment is an important part of maximizing the efficacy of this tool. Bactrocera tryoni is a polyphagous pest of horticulture for which very little is known about its distribution within crops. With particular reference to edge effects, we monitored the abundance of B. tryoni in two crops of different architecture; strawberry and apple. In strawberries, we found more flies on the crop edge early in the fruiting season, which lessened gradually and eventually disappeared as the season progressed. In apple orchards, no such edge effect was observed and flies were found equally throughout the orchard. We postulated these differences may be due to differences in crop height (high vs. short) and/or crop canopy architecture (opened and branched in apple, dense and closed in strawberry). In a field cage trial, we tested these predictions using artificial plants of different height and canopy condition. Height and canopy structure type had no significant effects on fly oviposition and protein feeding, but the ‘apple’ type canopy significantly influenced resting. We thus postulate that there was an edge effect in strawberry because the crop was not providing resting sites and flies were doing so in vegetation around the field margins. The finding that B. tryoni shows different resting site preferences based on plant architecture offers the potential for strategic manipulation of the fly through specific border or inter-row plantings.

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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