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This paper investigates the behavior of piezoelectric elements as strain sensors. Strain is measured in terms of the charge generated by the element as a result of the direct piezoelectric effect. Strain measurements from piezoceramic (PZT) and piezofilm (PVDF) sensors are compared with strains from a conventional foil strain gage and the advantages of each(More)
Ground effect on hovering rotor performance has been widely studied both experimentally and theoretically, yet most applications have focused on global thrust and power values. Motivated by the Sikorsky Human Powered Helicopter Challenge (HPH), an attempt to further study ground influence on a hovering rotor of highly elastic blades in extreme ground(More)
A new solution for the SLAM problem is presented which makes use of a scan matching algorithm, and does not rely on bayesian filters. The virtual map is represented in the form of an occupancy grid, which stores laser scans based on the estimated position. The occupancy grid is scanned by means of ray casting to get a scan of the virtual world, called "(More)
This paper presents the status and progress of the ongoing work directed towards the development and implementation of autonomous navigation algorithms for Micro Aerial Vehicles (MAV). The method proposed is founded on a mapping methodology, which is supported by a laser scan matching algorithm and virtual occupancy grid method. Navigation and path planning(More)
Rotor hover performance can be enhanced by enclosing it in a shroud. This paper describes the design and testing of a quad rotor vehicle with a shroud structure incorporated, and the resulting improvements in aerodynamic efficiency over a conventional micro quad rotor are demonstrated. Parametric studies were conducted to study the effect of number of(More)