Analysis And Control Of Flapping Flight
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Analysis And Control Of Flapping Flight
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Author : Luca Schenato
language : en
Publisher:
Release Date : 2003
Analysis And Control Of Flapping Flight written by Luca Schenato and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003 with categories.
Stability And Control Of Flapping Flight
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Author : Song Chang
language : en
Publisher:
Release Date : 2013
Stability And Control Of Flapping Flight written by Song Chang and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
We study the stability and control of flapping flight of insects. To quantify the stability and to assess the control, we build a 3D dynamic flight model, which takes into account the instantaneous coupling between the insect body and the wings. To compare with published results, we also implement a time-averaged model where aerodynamic forces are averaged over every wing-beat. To stabilize hovering flight, we design a control algorithm that incorporates a discrete sampling and a time delay within neural feedback circuits. Our study suggests conditions that the sampling interval and the delay time should satisfy so as to actively stabilize flapping flight. We also investigate how passive stability can be achieved for flapping flight by tuning wing attachment points. Finally, we extend our stability analysis and controller design to ascending flight.
Flapping Wing Vehicles
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Author : Lung-Jieh Yang
language : en
Publisher: CRC Press
Release Date : 2021-09-30
Flapping Wing Vehicles written by Lung-Jieh Yang and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-09-30 with Technology & Engineering categories.
Flapping wing vehicles (FWVs) have unique flight characteristics and the successful flight of such a vehicle depends upon efficient design of the flapping mechanisms while keeping the minimum weight of the structure. Flapping Wing Vehicles: Numerical and Experimental Approach discusses design and kinematic analysis of various flapping wing mechanisms, measurement of flap angle/flapping frequency, and computational fluid dynamic analysis of motion characteristics including manufacturing techniques. The book also includes wind tunnel experiments, high-speed photographic analysis of aerodynamic performance, soap film visualization of 3D down washing, studies on the effect of wing rotation, figure-of-eight motion characteristics, and more. Features Covers all aspects of FWVs needed to design one and understand how and why it flies Explains related engineering practices including flapping mechanism design, kinematic analysis, materials, manufacturing, and aerodynamic performance measures using wind tunnel experiments Includes CFD analysis of 3D wing profile, formation flight of FWVs, and soap film visualization of flapping wings Discusses dynamics and image-based control of a group of ornithopters Explores indigenous PCB design for achieving altitude and attitude control This book is aimed at researchers and graduate students in mechatronics, materials, aerodynamics, robotics, biomimetics, vehicle design and MAV/UAV.
Evolution And Analysis Of Neuromorphic Flapping Wing Flight Controllers
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Author : Sanjay Kumar Boddhu
language : en
Publisher:
Release Date : 2010
Evolution And Analysis Of Neuromorphic Flapping Wing Flight Controllers written by Sanjay Kumar Boddhu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Micro air vehicles categories.
The control of insect-sized flapping-wing micro air vehicles is attracting increasing interest. Solution of the problem requires construction of a controller that is physically small, extremely power efficient, and capable. In addition, process variation in the creation of very small wings and armatures as well as the potential for accumulating damage and wear over the course of a vehicle's lifetime suggest that controllers be able to self-adapt to the specific and possibly changing nature of the vehicles in which they are embedded. Previous work with Evolvable Hardware Continuous Time Recurrent Neural Networks (CTRNNs) as applied to adaptive control of walking in legged robots suggests that CTRNNs may provide a suitable control solution for flapping-wing micro air vehicles. However, upon complete analysis, it can be seen that perceived similarities between the two problems are somewhat superficial, and that flapping-wing vehicle control requires its own study. This dissertation constitutes the first attempt to apply evolved CTRNN devices to the control of a feasible flapping-wing micro air vehicle. It is organized as a sequence of control experiments of increasing difficulty and explores the following issues, development of behavior-based analog circuit modules, architectures to combine those modules into multi-functional controllers, low-level circuit analyses to explain how evolved modules operate and interact. Also included are experiments in the creation of physically polymorphic behavior modules that combine multiple flight functions into a monolithic analog device. In addition to providing first-of-its-kind feasibility results, this dissertation develops a new frequency-grouping based analysis method to explain the operation of evolved devices.
Fixed And Flapping Wing Aerodynamics For Micro Air Vehicle Applications
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Author : Thomas J. Mueller
language : en
Publisher: AIAA
Release Date : 2001
Fixed And Flapping Wing Aerodynamics For Micro Air Vehicle Applications written by Thomas J. Mueller and has been published by AIAA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001 with Aerodynamics categories.
This title reports on the latest research in the area of aerodynamic efficency of various fixed-wing, flapping wing, and rotary wing concepts. It presents the progress made by over fifty active researchers in the field.
Experimental Characterization Design Analysis And Optimization Of Flexible Flapping Wings For Micro Air Vehicles
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Author : Pin Wu
language : en
Publisher:
Release Date : 2010
Experimental Characterization Design Analysis And Optimization Of Flexible Flapping Wings For Micro Air Vehicles written by Pin Wu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with categories.
ABSTRACT:This work has advanced the understanding of flapping flight of flexible wings designed to be used in micro air vehicles. A complete new experimental setup that includes a wing actuation mechanism, a customized digital image correlation system, a control system, a load sensor and a vacuum chamber is realized for this study. The technique of digital image correlation has also been developed so that complicated wing kinematics and deformation can be measured. The flapping wing effectiveness and efficiency have been evaluated in different conditions. The results indicate that passive wing deformation can be utilized to enhance aerodynamic performance, under certain inertial loading mainly dictated by flapping frequency, amplitude, wing compliance and mass distribution. The wing deformation reflects the aeroelastic effect produced by the coupled aerodynamic loading as well as the inertial loading. Critical parameters extracted from the deformation data are used to characterize the structural properties of the wings and correlate with the aerodynamic performance. The correlation shows that for one-degree-of-freedom kinematics, wing deformation can be directly used to predict time averaged thrust. The intrinsic relationship between kinematics and inertial loading enables the design and optimization of wing structure based on the correlation results.
Characterization Of Flapping Wing Aerodynamics And Flight Dynamics Analysis Using Computational Methods
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Author : Alok Ashok Rege
language : en
Publisher:
Release Date : 2016
Characterization Of Flapping Wing Aerodynamics And Flight Dynamics Analysis Using Computational Methods written by Alok Ashok Rege and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with Aerodynamics categories.
Insect flight comes with a lot of intricacies that cannot be explained by conventional aerodynamics. Even with their small-size, insects have the ability to generate the required aerodynamic forces using high frequency apping motion of their wings to perform different maneuvers. The maneuverability obtained by these flyers using apping motion belies the classical aerodynamics theory and calls for a new approach to study this highly unsteady aerodynamics. Research is on to find new ways to realize the flight capabilities of these insects and engineer a micro- flyer which would have wide range of applications, including but not limited to Autonomous Pollination of crop fields; High Resolution Weather and Climate Mapping; Traffic Monitoring; Oil & Gas Exploration; and Area Surveillance, Detection & Rescue Missions In this research, a parametric study of apping trajectories is performed using a two-dimensional wing to identify the factors that affect the force production. These factors are then non-dimensionalized and used in a design of experiments set-up to conduct sensitivity analysis. A procedure to determine an aerodynamic model comprising cycle-averaged force coefficients is described. This aerodynamic model is then used in a nonlinear dynamics framework to perform flight dynamics analysis using a micro- flyer with model properties based on Drosophila. Stability analysis is conducted to determine different steady state flight conditions that could achieved by the micro- flyer with the given model properties. The effect of scaling the mass properties is discussed. An LQR design is used for closed-loop control. Open and closed-loop simulations are performed. The results show that nonlinear dynamics framework can be used to determine values for model properties of a micro-flyer that would enable it to perform different flight maneuvers.
Magnetically Levitated Insect Flight Mill For Forward Flight Control Analysis
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Author : Carl Delacato
language : en
Publisher:
Release Date : 2016
Magnetically Levitated Insect Flight Mill For Forward Flight Control Analysis written by Carl Delacato and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
Insects are able to achieve unprecedented flight maneuverability and stability in highly dynamic and uncertain environments. This unique flight ability is made possible due to the intricate control of flapping wing motion and the use of unsteady aerodynamics through fast coordination of neural sensing, control, and muscular actuation systems. Gaining a better understanding of these highly stable, maneuverable and arguably energy efficient flying machines and how they interact with nature will be a key factor in developing future generations of unparalleled biomimetic robots with greater adaptability and maneuverability in complex and unstructured environments. Currently, there are limited resources available for conducting research that is capable of producing the analysis needed to develop engineering models of these complex flying machines in forward flight. The purpose of this thesis is to develop a magnetically levitated insect flight mill that will serve as a platform for acquiring the data necessary to conduct the analysis of insect forward flight. The novel magnetically levitated insect flight mill design is presented in the following thesis. In addition, sample data is presented to show the capabilities of using a magnetically levitated insect flight mill for extracting insect forward flight dynamics and control mechanisms.
Wing Trajectory Optimization And Modelling For Flapping Flight
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Author : Yagiz Bayiz
language : en
Publisher:
Release Date : 2021
Wing Trajectory Optimization And Modelling For Flapping Flight written by Yagiz Bayiz and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing aerodynamics are characterized by highly unsteady and three-dimensional flows difficult to model or control, and accurate aerodynamic force predictions often rely on expensive computational or experimental methods. As a result, optimal flapping wing trajectories are often difficult to identify. Moreover, the vast wing trajectory space available to flapping fliers renders this optimization problem even more arduous. This dissertation aimed to develop the necessary tools to pursue flapping wing trajectory optimization through modeling, optimization, machine learning, and robotics. To achieve this goal, first, a dimensionless and multi-objective wing trajectory optimization framework based on a quasi-steady aerodynamic model was developed. With this framework, the family of optimal wing trajectories maximizing lift generation and minimizing power consumption was identified together with the corresponding Pareto fronts. This optimization was repeated at various Reynolds numbers (Re, from 100 to 8000) and aspect ratios (from 2 to 8) to reveal the sensitivity of the optimal wing trajectories and Pareto fronts to these control variables. These results were later compared with the performance of rotary wings. This study showed that the rotary flight is more power-efficient when the lift requirement is low, whereas the flapping flight is more capable and efficient in generating a high lift. Furthermore, it was also observed that as Reynolds number drops, the flapping wings become more and more preferable compared to the rotary wings. Next, a policy gradient algorithm was implemented on a dynamically scaled robotic wing to train the robot to (locally) optimal wing trajectories for flapping wings at the low Re. This model-less learning scheme avoided the issues observed in model-based trajectory optimization, and it was applied to two distinct scenarios. The first scenario was designed as an efficiency maximization problem for wing trajectories with simple parameterization and two degrees of freedom. In order to investigate the effects of stroke amplitude on the maximal efficiency, the wing was trained repeatedly with various prescribed stroke amplitudes while Re was kept constant. It was observed that as stroke amplitudes increased, the optimum efficiency increased. In the second application, a lift maximization problem at Re =1200 hovering flight was solved. In comparison to the first problem, this application included all three degrees of freedom of the wing kinematics in the learning problem and allowed the significant amount of trajectory space available to flapping fliers. Additionally, the locomotion control was performed by a central pattern generator (CPG) network. The CPG provided a biologically inspired means to generate rhythmic wing trajectories, enabling the application of the algorithms to even more complex problems and reducing the time span of the learning experiments by improving the sample generation speed. The results implied that the deviation from the stroke plane, which was often overlooked in the literature on wing kinematics optimization, might play an important role in lift generation. These studies were among the first to demonstrate that robotic systems can be trained in real-time to find high-performing locomotion strategies in complex fluid environments. As the final contribution of this dissertation, a computationally efficient and data-driven model of flapping wing aerodynamics was developed using Gaussian Process State-Space Models. The developed model dynamically mapped the local wing kinematics to aerodynamic forces/moments, and it was trained and validated using a large dataset of flapping-wing motions collected from a dynamically scaled robotic wing. This dynamic model surpassed the accuracy and generality of the existing data-driven quasi-steady models and captured the unsteady and nonlinear fluid effects pertinent to force generation without explicit information of fluid flows. Furthermore, the existence of this model implied that the unsteadiness of the flapping aerodynamics might pose a lesser problem to fliers' control systems than originally postulated. In addition, using this model, a comprehensive assessment of the control authority of key wing kinematic variables was provided through a cross-correlation analysis. This analysis revealed that the instantaneous aerodynamic forces/moments are largely predictable by the wing motion history within a half-stroke cycle. Moreover, the angle of attack, normal acceleration, and pitching motion had the strongest effects on the aerodynamic force/moment generation. Combined with the previous contribution, it was concluded that the flapping flight inherently offers high force control authority and predictability, which can be key to developing agile and stable aerial robots.
Modeling Optimal Kinematics And Flight Control Of Bio Inspired Flapping Wing Micro Air Vehicles
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Author : Zaeem Khan
language : en
Publisher:
Release Date : 2009
Modeling Optimal Kinematics And Flight Control Of Bio Inspired Flapping Wing Micro Air Vehicles written by Zaeem Khan and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with Airplanes categories.
?Pub Inc Micro air vehicles (MAV) provide an attractive solution for carrying out missions such as searching for survivors inside burning buildings or under collapsed structures, remote sensing of hazardous chemical and radiation leaks and surveillance and reconnaissance. MAVs can be miniature airplanes and helicopters, however, nature has micro air vehicles in the form of insects and hummingbirds, which outperform conventional designs and are therefore, ideal for MAV missions. Hence, there is a need to develop a biomimetic flapping wing micro air vehicle (FWMAV). In this work, theoretical and experimental research is undertaken in order to reverse engineer the complicated design of biological MAVs. Mathematical models of flapping wing kinematics, aerodynamics, thorax musculoskeletal system and flight dynamics were developed and integrated to form a generic model of insect flight. For experimental work, a robotic flapper was developed to mimic insect wing kinematics and aerodynamics. Using a combination of numerical optimization, experiments and theoretical analysis, optimal wing kinematics and thorax dynamics was determined. The analysis shows remarkable features in insect wings which significantly improve aerodynamic performance. Based on this study, tiny flapping mechanisms were developed for FWMAV application. These mechanisms mimic the essential mechanics of the insect thorax. Experimental evaluation of these mechanisms confirmed theoretical findings. The analysis of flight dynamics revealed the true nature of insect flight control which led to the development of controllers for semi-autonomous flight of FWMAV. Overall, this study not only proves the feasibility of biomimetic flapping wing MAV but also proves its advantages over conventional designs. In addition, this work also motivates further research in biological systems.