The focus of this research is to use flying insects, coupled with lightweight electronics, to develop cyborg MAVs, or CMAVs. The premise isn't simply to build telemetry devices on the insects, but to embed controls and power systems within the insects to create MAVs that are alive yet manipulated in their actions. The model insect implemented is the Manduca sexta moth, which has a wingspan up to 10cm, a body mass up to 2 grams, and can withstand payloads up to 1 gram. The technique used to create these CMAVs is an integration of MEMS and CMOS devices onto a single silicon device that is surgically inserted into the moth. The control and sensor systems are powered by harvesting energy from the vibration of the insect flight by means of piezoelectric material and inductor-coils. Methods for controlling the insect flight include reactionary responses to visual and direct stimulation. Guidance is achieved through an ultra-wideband communication system and a micro GPS system. The primary discussion topics of this paper are the power harvesting devices employed and the control schemes used to manipulate the flight of the CMAVs.