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A Study On The Dynamic Effects Of Active Pitch Control In An Flapping Wing Robot With Elastic Element
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Book Synopsis A Study on the Dynamic Effects of Active Pitch Control in an Flapping Wing Robot with Elastic Element by : David Zhu
Download or read book A Study on the Dynamic Effects of Active Pitch Control in an Flapping Wing Robot with Elastic Element written by David Zhu and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Elastic components in flapping wing micro-aerial vehicles, or FWMAV, have been a topicof interest for their high dynamic efficiency and energy storage. Previous work has looked at the use of a dynamically scaled robo-physical model to analyze the energetics of a spring-wing system. Both the simulation and experimental analysis reaffirm the advantages of resonance behavior in high-frequency wing stroke motion. However, this system, similar to its biological counterparts, suffers from significant energy loss due to damping. A method to accelerate the system's transition into stable resonance is needed. In this vein, the effect of active pitch control during the emergence of resonance behavior in a spring-wing system is analyzed and studied. Simulation of the dynamic model was constructed for kinematic analysis. To validate the hypothesis, a physical robotic apparatus is used to experimentally observe the behavior of the system. We determine the variation in kinematic phase difference between the stroke and pitch angle will result in changes in the effective drag coefficient. The results of this paper can be applied in furthering the development of active pitch locomotion of a FWMAV and studies of insect flight behavior.
Download or read book The DelFly written by G.C.H.E. de Croon and published by Springer. This book was released on 2015-11-26 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Design of Hybrid Passive and Active Mechanisms for Control of Insect-Scale Flapping-Wing Robots by : Zhi Ern Teoh
Download or read book Design of Hybrid Passive and Active Mechanisms for Control of Insect-Scale Flapping-Wing Robots written by Zhi Ern Teoh and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Flying insects exhibit a remarkable ability to fly in environments that are small, cluttered and highly dynamic. Inspired by these animals, scientist have made great strides in understanding the aerodynamic mechanisms behind insect-scale flapping-wing flight. By applying these mechanisms together with recent advances in meso-scale fabrication techniques, engineers built an insect-scale flapping-wing robot and demonstrated hover by actively controlling the robot about its roll and pitch axes. The robot, however, lacked control over its yaw axis preventing control over its heading angle.
Download or read book Springs and Wings written by James Lynch and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decade, roboticists have had significant success building centimeter-scale flapping wing micro aerial vehicles (FWMAVs) inspired by the flight of insects. Evidence suggests that insects store and release energy in the thoracic exoskeleton to improve energy efficiency by flapping at resonance. Insect-inspired micro flying robots have also leveraged resonance to improve efficiency, but they have discovered that operating at the resonant frequency leads to issues with flight control. This research seeks to investigate the roles that elasticity, aerodynamics, and muscle dynamics play in the emergent dynamics of flapping flight by studying elastic flapping spring-wing systems using dynamically-scaled robophysical models of spring-wings. Studying the dynamics of a robot with comparable features enables the validation of models from biology that are otherwise difficult to test in living insects, the generation of new hypotheses, and the development of novel FWMAV designs. In Chapter 1, the spring-wing system is characterized as a nonlinear spring-mass-damper model. A robophysical model validates that such systems gain energetic benefits from operating at resonance, but reveals that the benefit scales with an underappreciated dimensionless ratio of inertial to aerodynamic forces, the Weis-Fogh number. We show through dimensional analysis that any real system, living or robotic, must balance the mechanical advantage gained from operating at resonance with diminishing returns in efficiency. Chapter 2 further explores the impact of the Weis-Fogh number on flapping dynamics, showing that responsiveness to control inputs is reduced and resistance to environmental perturbations is increased as the dimensionless ratio increases. Together with calculations of Weis-Fogh number in insects, these studies illustrate tradeoffs that drive evolution of resonant flight in nature and guide development of future FWMAVs with elastic energy exchange. In the second half of the thesis, muscle dynamics are introduced in the form of a simplified model of self-excited asynchronous insect muscle. In Chapter 3, a linear feedback model adapted from experiments on insect flight muscle is developed and integrated with the spring-wing model, producing a system that generates steady flapping via limit-cycle oscillations despite the absence of periodic control inputs. The model is explored analytically, in simulation, and via implementation on the robotic spring-wing. Novel dynamic characteristics that enable adaptation to damage and passive response to wing collisions are described. Chapter 4 leverages the asynchronous feedback model as part of an interdisciplinary study of the evolution of asynchronous muscle. Phylogenetic analysis, direct measurement of insect muscle dynamics, and experiments on the robophysical system show that evolutionary transitions between periodically forced and self-excited insect muscle were likely made possible by a "bridge" in the dynamic parameter space that could be traversed under specific conditions. The asynchronous spring-wing model provides new insight into the flight and evolution of some of the most agile insects in nature, and presents a novel adaptive control scheme for future FWMAVs.
Book Synopsis Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation by : Burak Yüksel
Download or read book Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation written by Burak Yüksel and published by Logos Verlag Berlin GmbH. This book was released on 2017-06-10 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.
Book Synopsis A Study on the Control, Dynamics, and Hardware of Micro Aerial Biomimetic Flapping Wing Vehicles by : Siara Hunt
Download or read book A Study on the Control, Dynamics, and Hardware of Micro Aerial Biomimetic Flapping Wing Vehicles written by Siara Hunt and published by . This book was released on 2017 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biological flight encapsulates 400 million years of evolutionary ingenuity and thus is the most efficient way to fly. If an engineering pursuit is not adhering to biomimetic inspiration, then it is probably not the most efficient design. An aircraft that is inspired by bird or other biological modes of flight is called an ornithopter and is the original design of the first airplanes. Flapping wings hold much engineering promise with the potential to produce lift and thrust simultaneously. In this research, modeling and simulation of a flapping wing vehicle is generated. The purpose of this research is to develop a control algorithm for a model describing flapping wing robotics. The modeling approach consists of initially considering the simplest possible model and subsequently building models of increasing complexity. This research finds that a proportional derivative feedback and feedforward controller applied to a nonlinear model is the most practical controller for a flapping system. Due to the complex aerodynamics of ornithopter flight, modeling and control are very difficult. Overall, this project aims to analyze and simulate different forms of biological flapping flight and robotic ornithopters, investigate different control methods, and also acquire understanding of the hardware of a flapping wing aerial vehicle.
Book Synopsis Exploratory Studies in Generalized Predictive Control for Active Aeroelastic Control of Tiltrotor Aircraft by :
Download or read book Exploratory Studies in Generalized Predictive Control for Active Aeroelastic Control of Tiltrotor Aircraft written by and published by DIANE Publishing. This book was released on 2000 with total page 37 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Design of an Insect-Scale Flapping-Wing Robot with Concomitant Piezoelectric Velocity Sensing for Flight by : Edward I. Lan
Download or read book Design of an Insect-Scale Flapping-Wing Robot with Concomitant Piezoelectric Velocity Sensing for Flight written by Edward I. Lan and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Current bioinspired flapping-wing micro aerial robots incorporate numerous capabilities pulled from the study of insect morphologies, and have utilized these designs to improve flight stability, time, and energy efficiency. However, this approach to design of robotic systems draws unidirectionally from the threshold of biology into robotics, pulling from the mechanisms and mechanics that evolutionary biology has spent millennia iterating, without utilizing these robots to further study insect and animal traits. In this research we develop a flapping-wing micro-aerial robot, scaled up in size from the Harvard RoboBee, designed as a platform for studying the control mechanisms inherent in insect muscle physiology. A concomitant velocity sensing circuit is implemented in a piezoelectric actuator, to self-sense the velocity of the actuator tip and feed it into a control feedback loop. The loop simulates antagonistic delay-stretch activation muscles, mimicking insects that fly asynchronously. Using the concomitant sensing and Upscaled Robobee, the system generates stable oscillatory flapping-wing motion without the use of large off-board displacement sensors across a range of control parameters, and performs as a platform for future DSA control studies.
Book Synopsis Smart Structures and Materials by : Aurelio L. Araujo
Download or read book Smart Structures and Materials written by Aurelio L. Araujo and published by Springer. This book was released on 2016-12-20 with total page 293 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work was compiled with expanded and reviewed contributions from the 7th ECCOMAS Thematic Conference on Smart Structures and Materials, that was held from 3 to 6 June 2015 at Ponta Delgada, Azores, Portugal. The Conference provided a comprehensive forum for discussing the current state of the art in the field as well as generating inspiration for future ideas specifically on a multidisciplinary level. The scope of the Conference included topics related to the following areas: Fundamentals of smart materials and structures; Modeling/formulation and characterization of smart actuators, sensors and smart material systems; Trends and developments in diverse areas such as material science including composite materials, intelligent hydrogels, interfacial phenomena, phase boundaries and boundary layers of phase boundaries, control, micro- and nano-systems, electronics, etc. to be considered for smart systems; Comparative evaluation of different smart actuators and sensors; Analysis of structural concepts and designs in terms of their adaptability to smart technologies; Design and development of smart structures and systems; Biomimetic phenomena and their inspiration in engineering; Fabrication and testing of smart structures and systems; Applications of smart materials, structures and related technology; Smart robots; Morphing wings and smart aircrafts; Artificial muscles and biomedical applications; Smart structures in mechatronics; and Energy harvesting.
Book Synopsis An Introduction to Flapping Wing Aerodynamics by : Wei Shyy
Download or read book An Introduction to Flapping Wing Aerodynamics written by Wei Shyy and published by Cambridge University Press. This book was released on 2013-08-19 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is an ideal book for graduate students and researchers interested in the aerodynamics, structural dynamics and flight dynamics of small birds, bats and insects, as well as of micro air vehicles (MAVs), which present some of the richest problems intersecting science and engineering. The agility and spectacular flight performance of natural flyers, thanks to their flexible, deformable wing structures, as well as to outstanding wing, tail and body coordination, is particularly significant. To design and build MAVs with performance comparable to natural flyers, it is essential that natural flyers' combined flexible structural dynamics and aerodynamics are adequately understood. The primary focus of this book is to address the recent developments in flapping wing aerodynamics. This book extends the work presented in Aerodynamics of Low Reynolds Number Flyers (Shyy et al. 2008).
Book Synopsis Aerial Manipulation by : Matko Orsag
Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Book Synopsis A Closed Loop Research Platform that Enables Dynamic Control of Wing Gait Patterns in a Vertically Constrained Flapping Wing - Micro Air Vehicle by : Hermanus Van Niekerk Botha
Download or read book A Closed Loop Research Platform that Enables Dynamic Control of Wing Gait Patterns in a Vertically Constrained Flapping Wing - Micro Air Vehicle written by Hermanus Van Niekerk Botha and published by . This book was released on 2016 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research in Flapping Wing - Micro Air Vehicles(FW-MAVs) has been growing in recent years. Work ranging from mechanical designs to adaptive control algorithms are being developed in pursuit of mimicking natural flight. FW-MAV technology can be applied in a variety of use cases such a military application and surveillance, studying natural ecological systems, and hobbyist commercialization. Recent work has produced small scale FW-MAVs that are capable of hovering and maneuvering. Researchers control maneuvering in various ways, some of which involve making small adjustments to the core wing motion patterns (wing gaits) which determine how the wings flap. Adaptive control algorithms can be implemented to dynamically change these wing motion patterns to allow one to use gait based modification controllers even after damage to a vehicle or its wings occur. This thesis will create and present a hardware research platform that enables hardware-in-the-loop experimentation with core wing gait adaptation methods.
Book Synopsis A Compliant Thorax Design for Robustness and Elastic Energy Exchange in Flapping-wing Robots by : Hang Gao
Download or read book A Compliant Thorax Design for Robustness and Elastic Energy Exchange in Flapping-wing Robots written by Hang Gao and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flapping wing insects benefit from a compliant thorax that provides elastic energy exchange and resiliency to wing collisions. In this thesis, we present a flapping wing robot that uses an underactuated, compliant, transmission inspired by the insect thorax. We developed a novel fabrication method that combines carbon fiber (CF) laminate and soft robotics fabrication techniques for transmission construction. The transmission design is optimized to achieve desired wingstroke requirements and to allow for independent motion of each wing. We validate these design choices in benchtop tests measuring transmission compliance and kinematics. We integrate the transmission with laminate wings and two types of actuation, demonstrating elastic energy exchange and limited lift-off capabilities. Lastly, we tested collision mitigation through flapping wing experiments that obstructed the motion of a wing. These experiments demonstrate that an underactuated compliant, transmission can provide resilience and robustness to flapping wing robots.
Book Synopsis Distinct Aerodynamics of Insect-Scale Flight by : Csaba Hefler
Download or read book Distinct Aerodynamics of Insect-Scale Flight written by Csaba Hefler and published by Cambridge University Press. This book was released on 2021-05-27 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt: Insect-scale flapping wing flight vehicles can conduct environmental monitoring, disaster assessment, mapping, positioning and security in complex and challenging surroundings. To develop bio-inspired flight vehicles, systematic probing based on the particular category of flight vehicles is needed. This Element addresses the aerodynamics, aeroelasticity, geometry, stability and dynamics of flexible flapping wings in the insect flight regime. The authors highlight distinct features and issues, contrast aerodynamic stability between rigid and flexible wings, present the implications of the wing-aspect ratio, and use canonical models and dragonflies to elucidate scientific insight as well as technical capabilities of bio-inspired design.
Book Synopsis Flapping Flight for Biomimetic Robotic Insects by : Xinyan Deng
Download or read book Flapping Flight for Biomimetic Robotic Insects written by Xinyan Deng and published by . This book was released on 2004 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Nature's Flyers by : David E. Alexander
Download or read book Nature's Flyers written by David E. Alexander and published by JHU Press. This book was released on 2004-11-17 with total page 390 pages. Available in PDF, EPUB and Kindle. Book excerpt: 'Nature's Flyers' is a detailed account of the current scientific understanding of the primary aspects of flight in nature. The author explains the physical basis of flight, drawing upon bats, birds, insects, pterosaurs and even winged seeds.
Book Synopsis Dual Optimization of Contact-Aided Compliant Mechanisms and Spatial Distribution for Passive Shape Change by : Joseph Calogero
Download or read book Dual Optimization of Contact-Aided Compliant Mechanisms and Spatial Distribution for Passive Shape Change written by Joseph Calogero and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Flapping wing unmanned aerial vehicles, known as ornithopters, are of interest for both civilian applications, such as search and rescue, and military applications, such as surveillance. Their designs are inspired by nature: birds have evolved to fly and maneuver at varying speeds, from hovering to high speed flight, while remaining agile, precise, and efficient. Part of their abilities stem from asymmetric wing morphing throughout their flapping cycles. This asymmetry can manifest as flexibility of the wing structure in one direction during part of the flapping cycle, then inflexibility in the opposing direction during another part of the flapping cycle. In some avian gaits, such as the steady level Continuous Vortex Gait, the nonlinear stiffness is primarily located at discrete joints, similar to human elbows and wrists. It is hypothesized that the flight performance of an avian scale ornithopter can be improved by introducing compliant joints with nonlinear stiffness at specific spatial locations, emulating the wing gait found in nature. The overall goal of this research is to develop optimization methodologies for modifying a stiff structure, specifically a wing structure, by means of discrete compliant mechanisms to allow desired passive shape change, i.e., without the assistance of active components, such as motors and actuators, or a control system.Contact-aided compliant mechanisms (CCMs) are mechanisms that allow large localized deformations, typically in thin and/or flexible members, and are designed to come in contact with themselves. Self-contact causes a strong nonlinearity in the stiffness of CCMs. Inserting CCMs in the wing structure of an ornithopter passively introduces asymmetry throughout the flapping cycle, therefore inducing passive shape change. In this work, a dual optimization approach is developed to determine the optimal configuration of flexible compliant joints in a dynamic ornithopter wing structure to increase free flight pitch agility, then to design and optimize a CCM that realizes the optimal configuration. First, a three degree-of-freedom CCM called the Bend-Twist-and-Sweep Compliant Mechanism (BTSCM) is presented, and its design parameters are optimized to maximize flexibility while minimizing peak stress and mass. A large set of optimal designs called the Aggregated Pareto-Optimal Front is solved for using an enhanced multi-objective genetic algorithm. This set of optimal designs can be used by a designer to select a configuration which allows desirable flexibility within chosen constraints. However, several assumptions are made about the boundary conditions in the finite element model, such as quasi-static loading to estimate resultant aerodynamic lift and drag loads. Furthermore, a designer may not know the desired flexibility or spatial distribution of CCMs in a dynamic structure.The Dynamic Spar Numerical Model (DSNM) is a computationally efficient numerical rigid-body dynamics model that models CCMs in the wing structure as compliant joints: spherical joints with distributed mass and three-axis nonlinear torsional spring-dampers. First, the model is developed, then the model is validated using a bench top experiment with high speed motion tracking cameras. Model parameters are tuned using a genetic algorithm to minimize the error between the model and the experiment. Finally, the DSNM is used as an optimization tool to determine the optimal spatial location and stiffness to induce desirable wing morphing that increases free flight pitch agility. The results of the optimization provide the desired stiffness and coupling of the CCM, as well as the optimal spatial location.A new CCM called the Forward-Swept Compliant Mechanism (FSCM) is optimized to induce forward sweep at the wing tip during the ornithopters downstroke, thereby increasing its pitch agility. An optimal design was chosen for fabrication and flown in free flight. Motion tracking cameras tracked the wing kinematics of the ornithopter with the FSCM inserted in the spar structure of the ornithopter with an equivalent mass inserted in the same location as the FSCM. The experimental kinematic data shows that the FSCM induces the desired forward sweep and therefore increases the pitch agility.Finally, a finite element model of CCMs in the dynamic flapping wing structure is developed and validated using the benchtop test data. The DSNM and dynamic finite element model with the FSCM inserted are used to determine the sensitivity of the wing morphing to changes in the design parameters. Then, they are compared to the optimization results to show which variables are the most important and which are the most sensitive to changes in the variables. The numerical dynamics and finite element models can be extended in the future to include aerodynamic loading and body motion incurred during free flight.
