Flying Insects and Robots Symposium 2007, August 12-17 2007, Monte Verità, Ascona, Switzerland





Monte Verità





Co-financed by



MAV 07


Monte Verità

Confirmed Demos

Demonstrations will be run informally during the afternoons in parallel to posters and workshops. Special emphasis will be made on Thursday afternoon during the public event.


Ultra-thin artificial compound eye camera

Jacques DuparrÈ
Discover what was referenced as a highlight of the Photonics West Exhibition in San Jose, California 2007! "Researchers at Fraunhofer - Institut f¸r Angewandte Optik und Feinmechanik (Germany) have developed what is essentially the first artificial compound eye camera. The vertebrate eye - which is the paradigm for conventional cameras - uses a single lens to focus the image on the retina which contains many photoreceptor cells. An insect eye in contrast is composed essentially of many eyes, each of which contains its own cornea, lens, and some photoreceptor cells. Each eye collects light from a specific and different object direction, and a complete image is produced from this data. While the images captured by such a system are of lower resolution than what would normally be acceptable for a modern digital camera system, the compact nature of such a design has applications in machine vision, security, medical imaging, and transportation."


Insect inspired odometry by flow measurements

Hj. Dahmen
We would like to present a fast, light and cheap odometer driven solely by flow measurements in eight (sixteen) directions in space using optical mouse chips.


Swarmanoid Project: Preliminary Demonstration of "The Eyebots"

James F. Roberts, Timothy Stirling, Dario Floreano
This project involves the design and prototyping of the Eyebots, a new swarm of indoor flying robots capable of operating in synergy with swarms of foot-bots and hand-bots. This demonstration is aimed at providing a inside view of the current progress of the Eyebots and unveil their unique capabilities.


High performance gaze control system equipped with a "vestibulo-ocular reflexî

Stephane Viollet, Nicolas Franceschini
Stabilizing the line-of-sight (gaze) is a crucial issue for any sighted, natural or artificial creature. We present a bio-inspired gaze control system that owes its high accuracy and short reaction time to the merging of two, visual and inertial sensory modalities, as follows: ï a visual micro-scanning sensor that delivers a retinal angular position signal. It is based on a high bandwidth piezo-bender ï an inertial sensor that delivers an angular head velocity signal. It is based on a micro rate gyro. The miniature (30-gram), 1-degree-of-freedom oculomotor mechanism involves a feedback control system based on the retinal position error measurement and a feedforward control system based on the angular head velocity measurement. The demo aims at showing an inside view of the eyeís wiggling retina and the high performance gaze stabilization when the eye is subjected to head rotational perturbations.


Insect size flapping MAV

Y. Kawamura
We have been developed an insect-size flapping MAV. The whole span is 10 cm and the total weight is 2.3g, which are nearly close to those of the Hawk moth. Not only these specifications, but also the flight of the MAV has shown similar characteristics to those of Hawk moth. You will feel something of "living souls" from the flight of this MAV. The details will be appeared in the book of "Bio-mechanisms of Animals in Swimming and Flying-ISABMC2006" edited by N. Kato and S. Kamimura and published from Springer-Verlag this summer.


Flight demo Delfly II: a flapping microplane

David Lentink
I intend to give a short flight demo with our flapping MAV Delfly II to illustrate its flight capabilities. Delfly II can fly both and hover. It is a very easy plane to fly, after 20 minutes of training I performed my first successful vertical take off and landing, although I am (still) an inexperienced pilot. Delfly II has been developed in the Netherlands by TU Delft, Wageningen University and Ruijsink Dynamic Engineering with support of TNO. More information can be found at


Self Deploying Microglider

Mirko Kovac
The Self Deploying Microglider is a novel palm sized robot of around 10g that will be able to deploy itself autonomously from ground or walls, recover from every position in midair and perform stable goal directed gliding and attachment to walls. In this demonstration we will present our latest hardware realization of a Bat-inspired SMA actuated wing folding mechanism and a jumping mechanism for self deployment. In addition, we will display our 1.5g SMA actuated Microglider and a preliminary version of the complete Self Deploying Microglider.


MALV - Micro Air and Land Vehicle

Roger Quinn, Timothy Witushynsky, Richard Bachmann, Peter Ifju, Ravi Vaidyanathan
We will demonstrate a small vehicle (30.5cm wingspan and 30.5cm length) capable of both aerial and terrestrial locomotion while transmitting video from one of two on board cameras. The Micro Air-Land Vehicle (MALV) implements abstracted biological inspiration in both flying and walking. The propeller driven MALV employs a chord-wise compliant bat-like wing design to achieve improved aerial stability over rigid wing MAVs of similar size. MALV walks on the ground using compliant wheel-leg running gear, inspired by animal legs, that enables Mini-Whegsô robots to run rapidly and climb. Its two independently actuated wheel-legs are differentially activated to perform turning. The vehicle successfully performs the transition from flight to walking. Furthermore, MALV is able to transition from terrestrial to aerial locomotion by walking off the roof of a two story or higher building. Fabricated of lightweight carbon fiber it has a payload of 8% of its 118g weight. The payload includes two cameras, a video transmitter, and an electronic switch to control which image is transmitted. Video from MALV is stable and clear enough to identify objects from an altitude of 33m.


Flapping-Wing MAV

Naval Postgraduate School
The unconventional platform uses a large fixed wing to develop most of the vehicle lift, followed by a bi-plane pair of wings flapping in counterphase to produce thrust. However, the really interesting aerodynamics comes about through the interaction between these three wings. The symmetry of the flapping wings emulates a single wing flapping in ground effect, producing better performance, while providing an aerodynamically and mechanically balanced system. The downstream placement of the flapping wings helps prevent flow separation over the main wing, allowing the aircraft to fly efficiently at very low speeds with high angles of attack without stall. As with most birds and insects, the model depends on aeroelastic deformations to provide additional degrees of freedom.


Passively Stable Hovering Flapping MAV

Floris van Breugel
I will demo the machine I'll be presenting at the conference. It is passively stable and capable of untethered hovering flapping flight.


2D and 3D Highspeed Video Systems

Videal AG - Herzogenbuchsee - Switzerland
Many movements and process workflows are much too fast to see with the naked human eye. However,should you record these with highspeed cameras, what was hidden now become visible. The TroubleShooterô is a portable, point and shoot digital highspeed camera for motion analysis in research, engineering and sports. Combined with the motion analysis software ProAnalystÆ, the TroubleShooterô becomes a non-contact test instrument. ProAnalystÆ is the premier software package for measuring motion from video. It is used worldwide by researchers, engineers, product designers, doctors and scientists in a variety of 2D or 3D applications.


Flying in Virtual T¸bingen with Autonomous Quadrocopters

Heinrich H. B¸lthoff
Demonstration of autonomous flying Quadrocopters with position control in a large tracking space. Multiple Quadrocopters are tracked by a VICON(tm) tracking system. A specific control system controls the movement and orientation of each individual Quadrocopter in the tracking area autonomously. The position of each Quadrocopter can be controlled remotely via a Teleoperator Interface. This allows us to render remote-controlled fly-throughs through virtual environments such as Virtual T¸bingen.

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