Phillip J. McKerrow

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The Draganflyer is a radio-controlled helicopter. It is powered by 4 rotors and is capable of motion in air in 6 degrees of freedom and of stable hovering. For flying it requires a high degree of skill, with the operator continually making small adjustments. In this paper, we do a theoretical analysis of the dynamics of the Draganflyer in order to develop a(More)
The echo of a chirp of ultrasonic energy from an object contains information about the geometry of that object: relative depth of surfaces and approximate area of those surfaces. A human face has complex geometry that produces a distinctive echo. In this paper, we report initial research into whether there is sufficient information in the echo to recognize(More)
Control of a helicopter is complex, and includes cross coupling of forces and balancing of forces. While sophisticated and advanced controllers can achieve stable control, good mechanical design can reduce the problems and hence make tuning the control loops easier. In this paper, we argue that a coaxial-rotor design solves a number of problems that make(More)
This paper describes the design and modeling of a robot that swings on the end of a tether. Its height above the ground is controlled by the length of the tether. Its location on a spherical shell at the end of the tether is controlled by a pair of ducted fans. The vertical orientation of its body is determined by the point at which the horizontal thrust(More)
When a mobile robot is constructed the odometry must be calibrated. Calibrating a 4-wheel robot requires the accurate measurement of steering angle as well as translation and rotation. Some measurements are made with a tape measure and some with ultrasonic sensors. The measurements are used to determine the parameters of the odometry calibration matrix and(More)