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Quadrotor Using Minimal Sensing For Autonomous Indoor Flight

Publications associées (42)

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Sensorless Position Control of Piezoelectric Ultrasonic Motors

Markus Flückiger

This dissertation considers mechatronic systems driven by piezoelectric ultrasonic motors (PUM). The focus is set on optimal system design and sensorless position control. Mechatronic industry faces the challenge to deliver ever more efficient and reliable ...

EPFL2010

Very high-speed slotless permanent-magnet motors

Pierre-Daniel Pfister

The development of very high-speed motors has evolved fascinatingly in the last few years. Due to their speed, their low weight and their high power density, the need for such motors has recently increased for various different applications. Among them, su ...

EPFL2010

SwissCube Inertial Wheel Assembly Electronics

Laurenz Notter

The overall goal is the development of a new control software for the inertial wheel assembly of the SwissCube project. SwissCube is an educational project of several Swiss universities and technical colleges under the supervision of the Space Center of EP ...

2010

Modeling and Control of a Magnetically Levitated Planar Motor

Alireza Karimi, Roland Longchamp, Marc Kunze, Vincent Reymond

This paper deals with the modeling and control of a magnetically levitated planar motor. The actuator considered has moving coils and stationary magnets. The principal objective is to develop a model which can be implemented in simulation. Therefore, the d ...

2009

Vision-based control of near-obstacle flight

Antoine Beyeler

Lightweight micro unmanned aerial vehicles (micro-UAVs) capable of autonomous flight in natural and urban environments have a large potential for civil and commercial applications, including environmental monitoring, forest fire monitoring, homeland securi ...

EPFL2009

A Minimalist Control Strategy for Small UAVs

Dario Floreano, Jean-Christophe Zufferey, Severin Leven

Most autopilots of existing Miniature Unmanned Air Vehicles (MUAVs) rely on control architectures that typically use a large number of sensors (gyros, accelerometers, magnetometers, GPS) and a computationally demanding estimation of flight states. As a con ...

IEEE2009

Modelisation and optimisation of a mechatronic system

The objective of this Master Project is the modelisation, simulation and optimisation of a mechatronic system with Matlab/Simulink. The mechatronic system comprises the following parts: three-phase Brushless DC motor, driving electronics and mechanics. The ...

2008

Self-sensing methods to drive micro-machines

Yves Perriard, Omar Scaglione, Jan Persson

Synchronous motors require sensors in order to control these devices in speed and/or position. Basically, the auto-commutation needs 3 sensors for a 3-phase type actuator. In micro-motors, as there is no more room to place the sensors, self-sensing approac ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2007

A two-motor centre-driven winder drive fed by a five-leg voltage source inverter

Drazen Dujic

Recent research has shown that it is possible to independently control two three-phase induction machines while supplying them via a single five-leg voltage source inverter (VSI). In such a two-motor drive system one phase of each motor is connected to a c ...

IEEE2007

A 10-gram Vision-based Flying Robot

Dario Floreano, Jean-Daniel Nicoud, Jean-Christophe Zufferey, Antoine Beyeler, Adam Klaptocz

We aim at developing ultralight autonomous microflyers capable of freely flying within houses or small built environments while avoiding collisions. Our latest prototype is a fixed-wing aircraft weighing a mere 10 g, flying around 1.5 m/s and carrying the ...

2007