Magnetic levitated drone: "Insector Gadget"

The Senior Design Project I was assigned was to build a Magnetic Levitated Drone System to be used in Dr. Faraques Research of the dynamics of winged insects. The challenge was to move a small object (the size of a prey or predator) with 6 degrees of Freedom using magnets. Our team proposed to use an array of electromagnetic solenoids to levitate a small neodymium magnet. The system uses a camera and computer vision to track the magnet and uses a PID controller to levitate the object