Computational and Experimental Investigation of a Flapping-Wing Micro Air Vehicle in Hover

Badrya, Camli; Govindarajan, Bharath; Baeder, James D.; Harrington, Aaron; Kroninger, Christopher

doi:10.2514/1.c035239

Cited by 10 publications

(7 citation statements)

References 28 publications

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“…Based on the above studies, the dynamic model of the robot under the disturbances was established for studying the dynamic performances of the robot. Specially, I have tried to establish the dynamic model of the robot under randomly uncertain disturbances by using the Reynolds-averaged Navier-Stokes (RANS) equation [41][42][43]. However, it is difficult to obtain simulation results as the calculation amount is very large.…”

Section: Plos Onementioning

confidence: 99%

Dynamic performances of a bird-like flapping wing robot under randomly uncertain disturbances

Ding

2020

PLoS ONE

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The nonlinear dynamics of a bird-like flapping wing robot under randomly uncertain disturbances was studied in this study. The bird-like flapping wing robot was first simplified into a two-rod model with a spring connection. Then, the dynamic model of the robot under randomly uncertain disturbances was established according to the principle of moment equilibrium, and the disturbances were modeled in the form of bounded noise. Next, the energy model of the robot was established. Finally, numerical simulations and experiments were carried out based on the above models. The results show that the robot is more likely to deviate from its normal trajectory when the randomly uncertain disturbances are applied in a chaotic state than in a periodic state. With the increase of the spring stiffness under the randomly uncertain disturbances, the robot has a stronger ability to reject the disturbances. The mass center of the robot is vital to realize stable flights. The greater the amplitude of randomly uncertain disturbances, the more likely it is for the robot to be in a divergent state.

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Section: Plos Onementioning

confidence: 99%

Dynamic performances of a bird-like flapping wing robot under randomly uncertain disturbances

Ding

2020

PLoS ONE

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“…Computational fluid dynamics modelling. We performed three-dimensional Reynolds-averaged Navier-Stokes (RANS) simulations of the aerodynamics of the right wing of Calliphora using the OVERTURNS solver [60,61]. We simulated a reference condition of level symmetric forward flight with a freestream velocity of 𝑈 ∞ = 0.8509 m s -1 and a wingbeat frequency of 𝑓 = 166.188 Hz, corresponding to the mean values measured for these variables over the 2,708 wingbeats whose kinematics we had recorded (see above).…”

Section: Aerodynamic Modelling Of Stability and Control Derivativesmentioning

confidence: 99%

Motion vision is tuned to maximize sensorimotor energy transfer in blowfly flight

Humbert,

Krapp,

Baeder

et al. 2024

Preprint

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Biological sensors have evolved to act as matched filters that respond preferentially to the stimuli they expect to receive during ecologically relevant tasks. For instance, insect visual systems are tuned to detect stimuli ranging from the small-target motion of mates or prey to the polarization pattern of the sky. In flies, individually identified neurons called lobula plate tangential cells respond to optic flow fields matched to specific self-motions, forming the output layer of what is presently nature's best-understood deep convolutional neural network. But what functional principle does their tuning embed, and how does this aid motor control? Here we test the hypothesis that evolution co-tunes physics and physiology by aligning the preferred directions of an animal's sensors to the most dynamically-significant directions of its motor system. We build a state-space model of blowfly flight by combining visual electrophysiology, synchrotron-based X-ray microtomography, high-speed videogrammetry, and computational fluid dynamics. We then apply control-theoretic tools to show that the tuning of the fly's widefield motion vision system maximizes the flow of energy from control inputs and disturbances to sensor outputs, rather than optimizing state estimation as is the conventional approach to sensor placement in engineering. We expect the same functional principle to apply across sensorimotor systems in other organisms, with implications for the design of novel control architectures for robotic systems combining high performance with low computational load and low power consumption.

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“…Therefore, it is evident that due to vortices at the tip and root that interfere with the wing during the flapping period, unsteady lift and drag are produced. For assessing the performance of geometry and kinematic parameters of flapping-wing vehicles, power loading is more appropriate than the lift-to-drag ratio [ 73 ].…”

Section: Lift Generation Mechanismsmentioning

confidence: 99%

Study of Mosquito Aerodynamics for Imitation as a Small Robot and Flight in a Low-Density Environment

et al. 2021

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In terms of their flight and unusual aerodynamic characteristics, mosquitoes have become a new insect of interest. Despite transmitting the most significant infectious diseases globally, mosquitoes are still among the great flyers. Depending on their size, they typically beat at a high flapping frequency in the range of 600 to 800 Hz. Flapping also lets them conceal their presence, flirt, and help them remain aloft. Their long, slender wings navigate between the most anterior and posterior wing positions through a stroke amplitude about 40 to 45°, way different from their natural counterparts (>120°). Most insects use leading-edge vortex for lift, but mosquitoes have additional aerodynamic characteristics: rotational drag, wake capture reinforcement of the trailing-edge vortex, and added mass effect. A comprehensive look at the use of these three mechanisms needs to be undertaken—the pros and cons of high-frequency, low-stroke angles, operating far beyond the normal kinematic boundary compared to other insects, and the impact on the design improvements of miniature drones and for flight in low-density atmospheres such as Mars. This paper systematically reviews these unique unsteady aerodynamic characteristics of mosquito flight, responding to the potential questions from some of these discoveries as per the existing literature. This paper also reviews state-of-the-art insect-inspired robots that are close in design to mosquitoes. The findings suggest that mosquito-based small robots can be an excellent choice for flight in a low-density environment such as Mars.

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Computational and Experimental Investigation of a Flapping-Wing Micro Air Vehicle in Hover

Cited by 10 publications

References 28 publications

Dynamic performances of a bird-like flapping wing robot under randomly uncertain disturbances

Dynamic performances of a bird-like flapping wing robot under randomly uncertain disturbances

Motion vision is tuned to maximize sensorimotor energy transfer in blowfly flight

Study of Mosquito Aerodynamics for Imitation as a Small Robot and Flight in a Low-Density Environment

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