Modeling Optimal Kinematics And Flight Control Of Bio Inspired Flapping Wing Micro Air Vehicles
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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.
Wing Shape Design And Kinematic Optimization Of Bio Inspired Nano Air Vehicles For Hovering And Forward Flight Purposes
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Author : Mostafa Hassanalian
language : en
Publisher:
Release Date : 2016
Wing Shape Design And Kinematic Optimization Of Bio Inspired Nano Air Vehicles For Hovering And Forward Flight Purposes written by Mostafa Hassanalian 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.
Nowadays, there is a growing need for flying drones with diverse capabilities for both civilian and military applications. There is also a significant interest in the development of novel drones that can autonomously fly in different environments and locations, and can perform various missions. In the past decade, the broad spectrum of applications of these drones has received great attention, which has subsequently led to the invention of various types of drones with different sizes and weights. One type of drone that has received attention by drone researchers is flapping wing nano air vehicles (NAVs). In design of these micro drones, shape and kinematics of the wing have been identified as important factors in the assessment of flight performance. As such, this work will focus on the wing shape and kinematics of flapping wing nano air vehicles with hovering and forward flight capability. These factors require an optimal design in terms of decreasing the needed aerodynamic and input power, and increasing the propulsive efficiency. This research evaluates bioinspired wing designs to determine the best shape for hovering and forward flight applications, with a particular focus on insects, which are regarded as ideal natural avian flier in hovering flight. Specifically, this research will focus on seven insect wings, and because of the difference in the original bio-inspired shape of these wings, two scenarios are studied, namely, considering the same wingspan and same wing surface. Using quasi-steady approximation to model aerodynamic loads and the gradient method approach to optimize the kinematics of the wing, the optimum Euler angles, required aerodynamic power, and hence the best wing shape for each scenario are analytically determined in hovering flight mode. It is demonstrated that the twisted parasite wing shape is a good candidate for minimizing the required aerodynamic power during hovering. Also, for forward flight application, strip theory is utilized to model and optimize the kinematics of the seven wings with a particular investigation on the impacts of the dynamic twist on the performance of bio-inspired nano air vehicles. A parametric study is then carried out to determine the optimum wing shape and associated dynamic twist of the flapping wing nano air vehicle when considering two scenarios same as hovering mode. Findings from this research show that for the same wingspan and wing surface, the honeybee and bumble bee wing shapes have the optimum performances, respectively. The performed analysis gives guidelines on the optimum design of flapping wing nano air vehicles for hovering and forward flight applications.
The Delfly
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Author : G.C.H.E. de Croon
language : en
Publisher: Springer
Release Date : 2015-11-26
The Delfly written by G.C.H.E. de Croon and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-26 with Technology & Engineering categories.
This book introduces the topics most relevant to autonomously flying flapping wing robots: flapping-wing design, aerodynamics, and artificial intelligence. Readers can explore these topics in the context of the "Delfly", a flapping wing robot designed at Delft University in The Netherlands. How are tiny fruit flies able to lift their weight, avoid obstacles and predators, and find food or shelter? The first step in emulating this is the creation of a micro flapping wing robot that flies by itself. The challenges are considerable: the design and aerodynamics of flapping wings are still active areas of scientific research, whilst artificial intelligence is subject to extreme limitations deriving from the few sensors and minimal processing onboard. This book conveys the essential insights that lie behind success such as the DelFly Micro and the DelFly Explorer. The DelFly Micro, with its 3.07 grams and 10 cm wing span, is still the smallest flapping wing MAV in the world carrying a camera, whilst the DelFly Explorer is the world's first flapping wing MAV that is able to fly completely autonomously in unknown environments. The DelFly project started in 2005 and ever since has served as inspiration, not only to many scientific flapping wing studies, but also the design of flapping wing toys. The combination of introductions to relevant fields, practical insights and scientific experiments from the DelFly project make this book a must-read for all flapping wing enthusiasts, be they students, researchers, or engineers.
Design Of Bio Inspired Flexible Flapping Wing For Mav Application
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Author : Arun Agrawal
language : en
Publisher: ProQuest
Release Date : 2008
Design Of Bio Inspired Flexible Flapping Wing For Mav Application written by Arun Agrawal and has been published by ProQuest this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Airplanes categories.
Motivated by the demands for indoor reconnaissance in confined, hazardous, or inaccessible spaces, like tunnels, machine rooms, staircases etc., there has been much interest, over the past decade towards the design of hand-held- micro air vehicles (MAVs). However, the flapping flight of insects shows an unmatched performance. A key aspect of the insect flight, responsible for the generation of the aerodynamic forces in an efficient manner, is the flexibility of their wings. Insect wings are actuated only at the root, and undergo large deformations with passive shape adaptation during flapping. Bio-inspired design of a flexible mechanical wing for micro-air vehicle application is the focus of the current work, which is motivated by the superlative flight performance of hawkmoths. The distinguishing feature of an insect wing is the arrangement and the stiffness distribution of various veins. For the design of a mechanical wing, a two step procedure is followed: (i) the static load-deflection characteristics are measured experimentally for a real hawkmoth wing using a camera vision system; (ii) finite element analysis coupled with an optimization solver is used to design the mechanical wing whose overall static-load-deflection characteristics match with the observed load-deflection of the hawkmoth wing. The moduli of various veins in the design wing are selected as optimization variables in the finite element model to manipulate the stiffness distribution of the mechanical wing. The objective function in the optimization scheme is decoupled based on various observations from the design of insect wing found in nature, the finite element analysis, and the structural mechanics based on cantilever beam theory. Based on the design, a scaled mechanical wing is constructed. Finally, the aerodynamic performance of the bio-inspired flexible mechanical wing is tested on a robotic flapper, with commonly observed kinematics of flying insects, and compared with that of a similar geometry rigid wing.
Modeling And Nonlinear Control Of Highly Maneuverable Bio Inspired Flapping Wing Micro Air Vehicles
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Author : Mubarak Alkitbi
language : en
Publisher:
Release Date : 2015
Modeling And Nonlinear Control Of Highly Maneuverable Bio Inspired Flapping Wing Micro Air Vehicles written by Mubarak Alkitbi and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
Over the past decade, the promise of achieving the level of maneuverability exhibited in insect flight has prompted the research community to develop bio-inspired flapping-wing micro air vehicles (FW-MAVs) . Flying insects employ their wings to produce lift to perform complex maneuvers. Mimicking insect capabilities could enable FW-MAVs to perform missions in tight spaces and cluttered environments, otherwise unattainable by fixed- or rotary-wing UAVs. The inherent mechanism of flapping-wing flight requires periodically-varying actuation, requiring the use of averaging methods for analysis and design of controllers for flapping-wing MAVs. The main objective of this research is establishing a rigorous theoretical framework from a control theory point of view that combines averaging theory and robust nonlinear control theory towards the design of flight controllers for general models of FW-MAVs. The point of departure of this work is the adoption of Kane's method to obtain equations of motion for multi-actuated, multi-body flapping-wing MAVs. The first contribution of the present work is the formulation of a framework which investigates the effect of multiple actuation, including the presence of a movable appendage (abdomen), on vehicle controllability. The resulting formulation establishes a mathematically precise framework which lays the groundwork for the development of theoretically sound control design strategies.
Recent Progress Towards Developing An Insect Inspired Flapping Wing Micro Air Vehicle
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Author :
language : en
Publisher:
Release Date : 2007
Recent Progress Towards Developing An Insect Inspired Flapping Wing Micro Air Vehicle written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with categories.
This paper presents an overview of the on-going research activities at Shrivenham, aimed at the design of an autonomous flapping-wing micro air vehicle. After introducing the problem of insect wing kinematics and aerodynamics, we describe our quasi-three-dimensional aerodynamic model for flapping wings. This is followed by a brief discussion of some aerodynamic issues relating to the lift-generating leading-edge vortex. New results are then presented on modelling of wing aeroelastic deflections. Finally, some brief observations are made on flight control requirements for an insect-inspired flapping-wing micro air vehicle. Overall, it is shown that successful development of such a vehicle will require a multi-disciplinary approach, with significant developments in a number of disciplines. Progress to date has largely been concerned with hover. Little is known about the requirements for successful manoeuvre.
Modern Flexible Multi Body Dynamics Modeling Methodology For Flapping Wing Vehicles
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Author : Cornelia Altenbuchner
language : en
Publisher: Academic Press
Release Date : 2017-09-15
Modern Flexible Multi Body Dynamics Modeling Methodology For Flapping Wing Vehicles written by Cornelia Altenbuchner and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-15 with Science categories.
Modern Flexible Multi-Body Dynamics Modeling Methodology for Flapping Wing Vehicles presents research on the implementation of a flexible multi-body dynamic representation of a flapping wing ornithopter that considers aero-elasticity. This effort brings advances in the understanding of flapping wing flight physics and dynamics that ultimately leads to an improvement in the performance of such flight vehicles, thus reaching their high performance potential. In using this model, it is necessary to reduce body accelerations and forces of an ornithopter vehicle, as well as to improve the aerodynamic performance and enhance flight kinematics and forces which are the design optimization objectives. This book is a useful reference for postgraduates in mechanical engineering and related areas, as well as researchers in the field of multibody dynamics. Uses Lagrange equations of motion in terms of a generalized coordinate vector of the rigid and flexible bodies in order to model the flexible multi-body system Provides flight verification data and flight physics of highly flexible ornithoptic vehicles Includes an online companion site with files/codes used in application examples
Modelling And Controlling A Bio Inspired Flapping Wing Micro Aerial Vehicle
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Author : David Everett Smith
language : en
Publisher:
Release Date : 2012
Modelling And Controlling A Bio Inspired Flapping Wing Micro Aerial Vehicle written by David Everett Smith and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012 with Airplanes categories.
The objective of this research is to verify the three degree of freedom capabilities of a bio-inspired quad flapping-wing micro aerial vehicle in simulation and in hardware. The simulation employs a nonlinear plant model and input-output feedback linearization controller to verify the three degree of freedom capabilities of the vehicle. The hardware is a carbon fiber test bench with four flapping wings and an embedded avionics system which is controlled via a PD linear controller. Verification of the three degree of freedom capabilities of the quad flapping-wing concept is achieved by analyzing the response of both the simulation and test bench to pitch, roll, and yaw attitude commands.
Optirob 2013
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Author : Adrian Olaru
language : en
Publisher: Trans Tech Publications Ltd
Release Date : 2013-07-15
Optirob 2013 written by Adrian Olaru and has been published by Trans Tech Publications Ltd this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-07-15 with Technology & Engineering categories.
The main objective for this collection of 80 peer reviewed papers was to provide a platform for researchers, engineers, academicians as well as industrial professionals to present their latest experiences and developments activities in the field of Smart Systems and their Applications in Aerospace, Robotics, Mechanical Engineering, Manufacturing Systems, Biomechatronics and Neurorehabilitation.
Batmav A Biologically Inspired Micro Air Vehicle For Flapping Flight Kinematic Modeling
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Author :
language : en
Publisher:
Release Date : 2004
Batmav A Biologically Inspired Micro Air Vehicle For Flapping Flight Kinematic Modeling written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with categories.
The main objective of the BATMAV project is the development of a biologically inspired bat-like Micro-Aerial Vehicle with flexible and foldable wings, capable of flapping flight. This phase of the project starts with an analysis of several small-scale natural flyers from an engineering point of view with the objective to identify the most suitable platform for such a vehicle. Bats are shown to be very agile and efficient flyers with mechanical parameters well-suited to be realized with currently available muscle wire actuators allowing for close bio-inspired actuation. The second part of this thesis focuses on the kinematical analysis of the wing motion with the intent to develop a smart material (shape memory alloy) driven actuator system mimicking the functionality of the bat's relevant muscle groups in the future. In the past decade Micro-Aerial Vehicles (MAV's) have drawn a great interest to military operations, search and rescue, surveillance technologies and aerospace engineering in general. Traditionally these devices use fixed or rotary wings actuated with electric DC motor-transmission, with consequential weight and stability disadvantages. SMA wire actuated flexible wings for flapping flight are promising due to increased energy density while decreasing weight, increased maneuverability and obstacle avoidance, easier navigation in small spaces and better wind gust stability. While flapping flight in MAV has been previously studied and a number of models were realized using light nature-inspired rigid wings, this paper presents a platform that features bat-inspired wings with flexible joints and muscle-wire actuation to allow mimicking the kinematics of the real flyer. The bat was chosen after an extensive analysis of the flight physics of birds, bats and large insects. Typical engineering parameters such as wing loading, wing beat frequency etc. were studied and it was concluded that bats are a suitable platform that can be actuated efficiently using micro.