Design, Mathematical Modeling, and Stability of a Reconfigurable Multirotor Aerial Vehicle

Kumar, Yasasvi Harish; Tripathi, Utkarsh; Singh, Balbir

doi:10.1061/(asce)as.1943-5525.0001102

Cited by 5 publications

(2 citation statements)

References 12 publications

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“…High sweep amplitude is more beneficial for power requirements than low amplitudes that need higher frequencies, resulting in higher inertial forces to generate a similar vertical force [ 184 ]. The modern Robobee from Harvard University or Robofly by UoW had been manufactured with proven MEMS piezo-based mechanisms, powerful miniaturized controllers, and laser power and at a large scale, reconfigurable multi-rotor using a novel active-passive motor scheme have already been proposed [ 185 ].…”

Section: Improvement In Future Wing Architecture and Miniaturized Drone Designsmentioning

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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Section: Improvement In Future Wing Architecture and Miniaturized Drone Designsmentioning

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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“…Several studies have previously been conducted on real mosquitos and their exact computation models, both experimentally and through computational analysis, to better understand these mosquito mechanisms ( Nakata et al, 2015 ; Bomphrey et al, 2017 ; Zhang and Huang, 2019 ; Liu et al, 2020 ). Researchers are also interested to see if there is any possibility of reconfigurable bio-inspired robots, even though it has been successfully tested on small drones ( Harish Kumar et al, 2020 ). It is also critical to understand how the energy cost of small-sized insects varies with flight speed, as this is critical for performance ( Zhu and Sun, 2020 ).…”

Section: Introductionmentioning

confidence: 99%

Quasi-steady aerodynamic modeling and dynamic stability of mosquito-inspired flapping wing pico aerial vehicle

Singh,

Ahmad,

Murugaiah

et al. 2024

Front. Robot. AI

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Recent exploration in insect-inspired robotics has generated considerable interest. Among insects navigating at low Reynolds numbers, mosquitoes exhibit distinct flight characteristics, including higher wingbeat frequencies, reduced stroke amplitudes, and slender wings. This leads to unique aerodynamic traits such as trailing edge vortices via wake capture, diminished reliance on leading vortices, and rotational drag. This paper shows the energetic analysis of a mosquito-inspired flapping-wing Pico aerial vehicle during hovering, contributing insights to its future design and fabrication. The investigation relies on kinematic and quasi-steady aerodynamic modeling of a symmetric flapping-wing model with a wingspan of approximately 26 mm, considering translational, rotational, and wake capture force components. The control strategy adapts existing bird flapping wing approaches to accommodate insect wing kinematics and aerodynamic features. Flight controller design is grounded in understanding the impact of kinematics on wing forces. Additionally, a thorough analysis of the dynamic stability of the mosquito-inspired PAV model is conducted, revealing favorable controller response and maneuverability at a small scale. The modified model, incorporating rigid body dynamics and non-averaged aerodynamics, exhibits weak stability without a controller or sufficient power density. However, the controller effectively stabilizes the PAV model, addressing attitude and maneuverability. These preliminary findings offer valuable insights for the mechanical design, aerodynamics, and fabrication of RoboMos, an insect-inspired flapping wing pico aerial vehicle developed at UPM Malaysia.

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Trajectory tracking control of a morphing UAV using radial basis function artificial neural network based fast terminal sliding mode: Theory and experimental

Derrouaoui,

Bouzid,

Doula

et al. 2024

Aerospace Science and Technology

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Design, Mathematical Modeling, and Stability of a Reconfigurable Multirotor Aerial Vehicle

Cited by 5 publications

References 12 publications

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

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

Quasi-steady aerodynamic modeling and dynamic stability of mosquito-inspired flapping wing pico aerial vehicle

Trajectory tracking control of a morphing UAV using radial basis function artificial neural network based fast terminal sliding mode: Theory and experimental

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