The quadrotor helicopter is a unique flying vehicle which uses the thrust from four motors to provide hover flight capability. The uncoupled nature of the longitudinal and lateral axes and its ability to support large payloads with respect to its size make it an attractive vehicle for autonomous vehicle research. In this thesis, the quadrotor is modeled based on first principles and a proportional-derivative control method is applied for attitude stabilization and position control. A unique means of using an optic flow sensor for velocity and position estimation in an indoor setting is presented with flight results. Reliable hover flight and hallway following capabilities are exhibited in GPS-denied indoor flight using only onboard sensors. Attitude angles can be reliably estimated in the short run by integrating the angular rates from MEMS gyros, but noise on the signal leads to drift which renders the measurement unsuitable to attitude estimation. Typical methods of providing vector attitude corrections such as accelerometers and magnetometers have inherent weaknesses on hovering vehicles. Thus, an additional vector measurement is necessary to correct attitude readings for long-term flights. Two methods of using image processing to determine vanishing points in a hallway are demonstrated. The more promising of the two uses a Hough transform to detect lines in the image and forms a histogram of the intersections to detect likely vanishing point candidates. Once the vanishing point is detected, it acts as a vector measurement to correct attitude estimates on the quadrotor vehicle. Results using onboard vision to estimate heading are demonstrated on a test stand. Together, these capabilities improve the utility of the quadrotor platform for flight without the need of any external sensing capability.

Autonomous miniature air vehicles (MAVs) are becoming increasingly popular platforms for the collection of data about an area of interest for military and commercial applications. Two challenges that often present themselves in the process of collecting this data. First, winds can be a significant percentage of the MAV's airspeed and can affect the analysis of collected data if ignored. Second, the majority of MAV's video is transmitted using RF analog transmitters instead of the more desirable digital video due to the computational intensive compression requirements of digital video. This two-part thesis addresses these two challenges. First, this thesis presents an innovative method for estimating the wind velocity using an optical flow sensor mounted on a MAV. Using the flow of features measured by the optical flow sensor in the longitudinal and lateral directions, the MAV's crab-angle is estimated. By combining the crab-angle with measurements of ground track from GPS and the MAV's airspeed, the wind velocity is computed. Unlike other methods, this approach does not require the use of a “varying” path (flying at multiple headings) or the use of magnetometers. Second, this thesis presents an efficient and effective method for video compression by drastically reducing the computational cost of motion estimation. When attempting to compress video, motion estimation is usually more than 80% of the computation required to compress the video. Therefore, we propose to estimate the motion and reduce computation by using (1) knowledge of camera locations (from available MAV IMU sensor data) and (2) the projective geometry of the camera. Both of these methods are run onboard a MAV in real time and their effectiveness is demonstrated through simulated and experimental results.

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Aiming at applications in space exploration as well as for monitoring natural hazards, this thesis focuses on understanding and overcoming the challenges of extending the applicability of microsystems to temperatures above 600°C as well as chemically harsh environments. Alumina and zirconia high-temperature co-fired ceramics (HTCC) with platinum as the conductor material, have in this thesis, been used to manufacture a wide range of high-temperature tolerant miniaturized sensors and actuators, including pressure and flow sensors, valves, a combustor, and liquid monopropellant microthrusters. Interfacing for high temperatures is challenging. One solution is to transfer the signal wirelessly. Here, therefor, wireless pressure sensors have been developed and characterized up to 1000°C. It is usually unwanted that material properties change with temperature, but by using smart designs, such changes can be exploited to sense physical properties as in the gas flow sensor presented, where the temperature-dependent electrical conductivity of zirconia has been utilized. In the same manner, various properties of platinum have been exploited to make temperature sensors, heaters and catalytic beds. By in-situ electroplating metals after sintering, even more capabilities were added, since many metals that do not tolerate HTCC processing can be added for additional functionality. An electroplated copper layer that was oxidized and used as an oxygen source in an alumina combustor intended for burning organic samples prior to sample analysis in a lab on a chip system, and a silver layer used as a catalyst in order to decompose hydrogen peroxide in a microthuster for spacecraft attitude control, are both examples that have been explored here. Ceramics are both high-temperature tolerant and chemically resistant, making them suitable for both thrusters and combustors. The corresponding applications benefit from miniaturization of them in terms of decreased mass, power consumption, integration potential, and reduced sample waste. Integrating many functions using as few materials as possible, is important when it comes to microsystems for harsh environments. This thesis has shown the high potential of co-fired ceramics in manufacturing microsystems for aggressive environments. However, interfacing is yet a major challenge to overcome.

The air seeding cart is an important piece of farming equipment used in the seeding process. Three factors which are necessary to monitor during the seeding process are the seeding rate (material mass flow rate), air flow rate, and blockages. In current practice, there are systems that monitor and report air flow and blockages but not the actual seeding rate. Presently, the seeding rate is based on the metering calibration before the seeding process starts, which requires a lot of time and energy from the operator. If that goes wrong, it not only takes longer, but also costs more money and increases the already significant stress and fatigue which farmers and operators have during the seeding period. Therefore, the development of reliable, and easily calibrated, on-line sensors for flow monitoring would be beneficial. Further, such sensors would facilitate closed-loop control of the flow rate itself. In order to develop a laboratory prototype for mass flow measurement, a model for mass flow estimation was established. This was accomplished by using pressure transducers to determine the pressure drop across an elevation in the primary air cart run (between the air seeding cart and the air hoe drill). An air seeding test station was designed and developed for the study. Three different types of seeds and a granular fertilizer were chosen and tested. These tested materials were canola, wheat, chickpea and urea fertilizer (46-0-0). The general form of the model was developed using data from the canola tests. The input parameters for this mass flow estimation model were pressure drop and air flow information. The average percent error of the material mass flow rate’s full range was under 10%, except for the highest rate which tested up to 20%. Overall, more than 75% of the estimations had percent errors being less than 5%. The form of the model was also applicable to other individual tested materials with the percent error of their full ranges up to 20%. However, their average of their median error was around 5% of their full ranges. The general model was also applied to the combined data from all tested materials. The results were not as accurate as when the model was applied to the individual tested material. The median of the percent error (of material mass flow rate full range) varied from as low as 1% to as high as 30%, depending on the tested materials. Nevertheless, it demonstrated that there were consistencies between the behaviour of the four tested materials.

The work presented in this dissertation was aimed at understanding biology's application of soft materials to enhance sensing abilities and initiate innovative bio-inspired material-based approaches for flow (fluidic and air) sensors and photo-thermal sensors. A key aim is to help strengthen this niche of functional materials science referred to, here, as bio-inspired materials in sensing roles. The work aspires to traverse the boundaries of the subject in order to provide a strong foundation for future scientific explorations of the subject. The studies presented here, include studies of flow sensing in fish and implementing a bio-mimetic approach to microfabricated flow sensors. The work also includes studies of material based signal filtering in spiders, as well as, bio-inspired photo-thermal transduction mechanisms. The capabilities of the methodology are demonstrated with successful engineering studies.

Práce se zabývá návrhem stabilního a rychlého bezdrátového spojení mezi dvěma body. K vytvoření tohoto spojení bude použita technologie Bluetooth a nebo její moderní alternativy vzhledem k tomu, že tato technologie již byla v daném pracovním prostředí testována a byla prokázána její stabilita. V této práci a v navazující diplomové práci budou diskutovány výsledky časových analýz zvolených senzorů, komunikace mezi senzorem a zvoleným mikrokontrolerem a nakonec návrh kompletního řešení, na jehož základě bude vytvořen funkční prototyp požadovaného zařízení.

Automating tasks and processes are becoming more and more common in both corporate and everyday life. The aim of this project is to assist the company Hotswap in the development of a safety system for an existing automatic flagpole. The safety system should be able to monitor wind velocity and, optionally, wind direction as well as communicate the data to the flagpole’s main control unit. The thesis describes and discusses the different possible mechanisms, solutions for measuring wind, and a possible implementation. A method for measuring wind velocity by utilizing an FS5 thermal mass flow sensor was selected and a prototype was developed for testing the performance of the implementation. The tests showed that the thermal mass flow sensor fulfilled the requirements regarding wind velocity measurement and accuracy with an average deviation of 0.19 m/s from the reference value. The solution was then discussed and compared with Hotswap’s existing prototype. The comparison showed that the prototype was a viable alternative. Finally, some suggestions for further development were presented along with the conclusion that the prototype provides a proof of concept for a fully realizable solution. / Automatisering av arbetsuppgifter och processer blir mer och mer vanligt både på företag och i vardagslivet. Detta projekt hade som mål att bistå företaget Hotswap med utvecklingen av ett säkerhetssystem för en befintlig automatisk flaggstång. Säkerhetssystemet ska kunna mäta vindstyrka och vindriktning och kommunicera den uppmätta datan till flaggstångens kontrollenhet. Rapporten beskriver och diskuterar de olika möjliga mekanismer och lösningar som finns för att mäta vindhastighet samt en möjlig implementering. En metod för mätning av vindhastighet där en hot-wire flödessensor valdes och en prototyp utvecklades sedan för att testa den implementerade metodens prestanda. Testen visade att användning av flödessensorn tillfredsställde de ställda kraven på prototypen gällande vindhastighetsmätning och mätprecision med en medelavvikelse på 0.19 m/s från referensvärdet. Lösningen diskuterades och jämfördes sedan med Hotswaps befintliga prototyp. Jämförelsen visade att prototypen var ett rimligt alternativ. Slutligen presenterades några förslag på vidareutveckling tillsammans med slutsatsen att prototypen är en konceptvalidering för en fullt realiserbar lösning.