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A Study Of Evolvable Hardware Adaptive Oscillators For Augmentation Of Flapping Wing Micro Air Vehicle Altitude Control
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Book Synopsis A Study of Evolvable Hardware Adaptive Oscillators for Augmentation of Flapping-wing Micro Air Vehicle Altitude Control by : Bharath Venugopal Chengappa
Download or read book A Study of Evolvable Hardware Adaptive Oscillators for Augmentation of Flapping-wing Micro Air Vehicle Altitude Control written by Bharath Venugopal Chengappa and published by . This book was released on 2010 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: The control of insect-sized flapping-wing micro air vehicles is fraught with difficulties. Even when adequate control laws are known, limits on computational precision and floating-point processing can render it difficult to field implementations that provide sufficiently accurate and precise vehicle body placement and pose. Augmentation of an existing altitude controller with an Evolvable Adaptive Hardware (EAH) oscillator has been proposed as a means for an on-board altitude controller to correct control precision and accuracy difficulties during normal flight. This thesis examines a range of setting of the internal learning algorithms for the EAH oscillator and provides empirical evidence about which setting are most optimal for the control of a flapping-wing micro air vehicle (FW-MAV) based on the Harvard MicroFly. Implications for future multi-degree of freedom control are also considered.
Book Synopsis A Hardware Compact Genetic Algorithm for Hover Improvement in an Insect-scale Flapping-wing Micro Air Vehicle by : Kathleen M. Timmerman
Download or read book A Hardware Compact Genetic Algorithm for Hover Improvement in an Insect-scale Flapping-wing Micro Air Vehicle written by Kathleen M. Timmerman and published by . This book was released on 2012 with total page 54 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wing and airframe damage to insect scale micro air vehicles potentially cause significant losses in pose and position control precision. Although one can imagine many possible means of adapting the flight controllers to restore precise pose and position control, severe limits on computational resources available on-board an insect sized vehicle render many of them impractical. Additionally, limits on sensory capability degrade any such vehicle's ability to critique its own performance. Any adaptive solutions one would propose to recover flight trajectory precision, therefore, would require a resource light implementation, preferably without need for relatively expensive floating-point operations, along with the capability to assess control quality via relatively infrequent and possibly imprecise point estimates of vehicle pose and position. This thesis will expand on previous work that employed an adaptive oscillator as a component of an altitude controller inside a simulated insect-scale flapping-wing micro air vehicle. In that work, it was demonstrated that an adaptive oscillator could learn novel wingbeat patterns unique to the capability of specific, possibly damaged, wings. These wingbeat patterns would restore the relationships between control outputs and wing motion; and thus; restore correct whole-vehicle action. In that earlier work, the core of the adaptive oscillator was an evolutionary algorithm (EA) that operated as a mutation driven stochastic hill climber. In this work, we explore the use of and the potential benefits of an EA variant that operates as a crossover driven schema/hyperplane sampler. For this work we selected the Compact Genetic Algorithm (cGA), as it possess an efficient hardware-level implementation and is clearly a crossover-driven hyperplane sampler. The thesis will present experimental results from which one may assess the relative performance of this style of genetic search as well as speculate upon its potential utility for more complex flight control problems.
Book Synopsis Evolution and Analysis of Neuromorphic Flapping-wing Flight Controllers by : Sanjay Kumar Boddhu
Download or read book Evolution and Analysis of Neuromorphic Flapping-wing Flight Controllers written by Sanjay Kumar Boddhu and published by . This book was released on 2010 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Islands of Fitness Compact Genetic Algorithm for Rapid In-Flight Control Learning in a Flapping-Wing Micro Air Vehicle by : Kayleigh E. Duncan
Download or read book Islands of Fitness Compact Genetic Algorithm for Rapid In-Flight Control Learning in a Flapping-Wing Micro Air Vehicle written by Kayleigh E. Duncan and published by . This book was released on 2019 with total page 46 pages. Available in PDF, EPUB and Kindle. Book excerpt: On-going effective control of insect-scale Flapping-Wing Micro Air Vehicles could be significantly advantaged by active in-flight control adaptation. Previous work demonstrated that in simulated vehicles with wing membrane damage, in-flight recovery of effective vehicle attitude and vehicle position control precision via use of an in-flight adaptive learning oscillator was possible. Most recent approaches to this problem employ an island-of-fitness compact genetic algorithm (ICGA) for oscillator learning. The work presented provides the details of a domain specific search space reduction approach implemented with existing ICGA and its effect on the in-flight learning time. Further, it will be demonstrated that the proposed search space reduction methodology is effective in producing an error correcting oscillator configuration rapidly, online, while the vehicle is in normal service.
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.
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 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 Adapting the Search Space While Limiting Damage During Learning in a Simulated Flapping Wing Micro Air Vehicle by : Monica Sam
Download or read book Adapting the Search Space While Limiting Damage During Learning in a Simulated Flapping Wing Micro Air Vehicle written by Monica Sam and published by . This book was released on 2017 with total page 75 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cyber-Physical Systems (CPS) are characterized by closely coupled physical and software components that operate simultaneously on different spatial and temporal scales; exhibit multiple and distinct behavioral modalities; and interact with one another in ways not entirely predictable at the time of design. A commonly appearing type of CPS are systems that contain one or more smart components that adapt locally in response to global measurements of whole system performance. An example of a smart component robotic CPS system is a Flapping Wing Micro Air Vehicle (FW-MAV) that contains wing motion oscillators that control their wing flapping patterns to enable the whole system to fly precisely after the wings are damaged in unpredictable ways. Localized learning of wing flapping patterns using meta-heuristic search optimizing flight precision has been shown effective in recovering flight precision after wing damage. However, such methods provide no insight into the nature of the damage that necessitated the learning. Additionally, if the learning is done while the FW-MAV is in service, it is possible for the search algorithm to actually damage the wings even more due to overly aggressive testing of candidate solutions. In previous work, a method was developed to extract estimates of wing damage as a side effect of the corrective learning of wing motion patterns. Although effective, that method lacked in two important respects. First, it did not settle on wing gait solutions quickly enough for the damage estimates to be created in a time acceptable to a user. Second, there were no protections against testing excessively aggressive wing motions that could potentially damage the system even further during the attempted behavior level repair. This work addresses both of those issues by making modifications to the representation and search space of wing motion patterns potentially visited by the online metaheuristic search. The overarching goals were to lessen the time to required to achieve effective repair and damage estimates and to avoid further damage to wings by limiting the search's access to overly aggressive wing motions. The key challenge was understanding how to modify representations and search space to provide the desired benefits without destroying the method's ability to find solutions at all. With the recent emergence of functional insect-sized and bird-sized FW-MAV and an expected need to modify wing behavior in service, this study, believed to be the first of its kind, is of contemporary relevance.
Book Synopsis Attitude and Position Control of Flapping-wing Micro Aerial Vehicles by : Ning Che
Download or read book Attitude and Position Control of Flapping-wing Micro Aerial Vehicles written by Ning Che and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Compared with the fixed-wing and rotor aircraft, the flapping-wing micro aerial vehicle is of great interest to many communities because of its high efficiency and flexible maneuverability. However, issues such as the small size of the vehicles, complex dynamics and complicated systems due to uncertainty, nonlinearity, and multi-coupled parameters cause several significant challenges in construction and control. In this thesis, based on Euler angle and unit quaternion representations, the backstepping technique is used to design attitude stabilization controllers and position tracking controllers for a good control performance of a flapping-wing micro aerial vehicle. The attitude control of a apping{wing micro aerial vehicle is achieved by controlling the aerodynamic forces and torques, which are highly nonlinear and time{varying. To control such a complex system, a dynamic model is derived by using the Newton{Euler method. Based on the mathematical model, the backstepping technique is applied with the Lyapunov stability theory for the controller design. Moreover, because a flapping-wing micro aerial vehicle has very exible wings and oscillatory flight characteristics, the adaptive fuzzy control law as well as H1 control strategy are also used to estimate the unknown parameters and attenuate the impact of external disturbances. What is more, due to the problem of the gimbal lock of Euler angles, the unit quaternion representation is used afterwards. As for position control, the forward movement is controlled by the thrust and lift force generated by the wings of flapping-wing micro aerial vehicles. To make the actual position and velocity follow the desired trajectory and velocity, the backstepping scheme is used based on a unit quaternion representation. In order to reduce the complexity of differentiation of the virtual control in the design process, a dynamic surface control method is then used by the idea of a low-pass filter. Matlab simulation results prove the mathematical feasibility and also illustrate that all the proposed controllers have a stable control performance.
Author :National Aeronautics and Space Adm Nasa Publisher :Independently Published ISBN 13 :9781723827488 Total Pages :42 pages Book Rating :4.8/5 (274 download)
Book Synopsis Development of Micro Air Vehicle Technology with In-Flight Adaptive-Wing Structure by : National Aeronautics and Space Adm Nasa
Download or read book Development of Micro Air Vehicle Technology with In-Flight Adaptive-Wing Structure written by National Aeronautics and Space Adm Nasa and published by Independently Published. This book was released on 2018-09-19 with total page 42 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a final report on the research studies, "Development of Micro Air Vehicle Technology with In-Flight Adaptrive-Wing Structure." This project involved the development of variable-camber technology to achieve efficient design of micro air vehicles. Specifically, it focused on the following topics: 1) Low Reynolds number wind tunnel testing of cambered-plate wings. 2) Theoretical performance analysis of micro air vehicles. 3) Design of a variable-camber MAV actuated by micro servos. 4) Test flights of a variable-camber MAV.Waszak, Martin R. (Technical Monitor) and Shkarayev, Sergey and Null, William and Wagner, MatthewLangley Research CenterADAPTATION; AERODYNAMICS; TECHNOLOGY ASSESSMENT; LOW REYNOLDS NUMBER; RELIABILITY ANALYSIS; CAMBERED WINGS; WIND TUNNEL TESTS; SERVOMOTORS; FLIGHT TESTS
Book Synopsis A Multi-Agent System for Adaptive Control of a Flapping-Wing Micro Air Vehicle by :
Download or read book A Multi-Agent System for Adaptive Control of a Flapping-Wing Micro Air Vehicle written by and published by . This book was released on 2016 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biomimetic flapping-wing vehicles have attracted recent interest because of their numerous potential military and civilian applications. In this dissertation is described the design of a multi-agent adaptive controller for such a vehicle. This controller is responsible for estimating the vehicle pose (position and orientation) and then generating four parameters needed for split-cycle control of wing movements to correct pose errors. These parameters are produced via a subsumption architecture rule base. The control strategy is fault tolerant. Using an online learning process, an agent continuously monitors the vehicle's behavior and initiates diagnostics if the behavior has degraded. This agent can then autonomously adapt the rule base if necessary. Each rule base is constructed using a combination of extrinsic and intrinsic evolution. Details of the vehicle, the multi-agent system architecture, agent task scheduling, rule base design, and vehicle control are provided.
Book Synopsis Toward Improving Learning on a Simulated Flapping Wing Micro Air Vehicle by : Monica Sam
Download or read book Toward Improving Learning on a Simulated Flapping Wing Micro Air Vehicle written by Monica Sam and published by . This book was released on 2015 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: Evolutionary algorithms (EAs) have come to be widely used in the past few decades to solve complex problems involving high dimensionality and / or non-differentiability. They usually target optimized solutions that are quality rated based on problem-dependent criteria. Work done previously has demonstrated that augmenting flight controllers of Flapping-Wing Micro Air Vehicles (FW-MAVs) with in-situ evolutionary algorithms to adjust wing motion trajectories could restore correct flight behavior after wing damage. Further, it has been demonstrated that such recovery could be accomplished in reasonable time with very modest on-board computational resources. An EA is said to perform better for this problem when the amount of vehicle flight time required to restore correct flight behavior is minimized. This thesis explores ideas to improve learning times on this problem by proposing ways to reduce the search space and by surveying the performance of some of the most widely used, relevant EAs on this problem and attempting to learn lessons from them to improve the learning process.
Book Synopsis Development of Micro Air Vehicle Technology with In-Flight Adaptive-Wing Structure by : Martin R. Waszak
Download or read book Development of Micro Air Vehicle Technology with In-Flight Adaptive-Wing Structure written by Martin R. Waszak and published by BiblioGov. This book was released on 2013-07 with total page 44 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a final report on the research studies, "Development of Micro Air Vehicle Technology with In-Flight Adaptrive-Wing Structure." This project involved the development of variable-camber technology to achieve efficient design of micro air vehicles. Specifically, it focused on the following topics: 1) Low Reynolds number wind tunnel testing of cambered-plate wings. 2) Theoretical performance analysis of micro air vehicles. 3) Design of a variable-camber MAV actuated by micro servos. 4) Test flights of a variable-camber MAV.
Book Synopsis Recent Progress Towards Developing an Insect-Inspired Flapping-Wing Micro Air Vehicle by :
Download or read book Recent Progress Towards Developing an Insect-Inspired Flapping-Wing Micro Air Vehicle written by and published by . This book was released on 2007 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Modelling and Controlling a Bio-inspired Flapping-wing Micro Aerial Vehicle by : David Everett Smith
Download or read book Modelling and Controlling a Bio-inspired Flapping-wing Micro Aerial Vehicle written by David Everett Smith and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Development of a Tandem-wing Flapping Micro Aerial Vehicle Prototype and Experimental Mechanism by : Christopher DiLeo
Download or read book Development of a Tandem-wing Flapping Micro Aerial Vehicle Prototype and Experimental Mechanism written by Christopher DiLeo and published by ProQuest. This book was released on 2007 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the field of micro-aerial vehicles (MAVs), simplicity of design is an important design characteristic. Simplicity in this context implies light weight, a prerequisite for flapping flight, and from a practical standpoint it aids in the manufacture and operation of the mechanism on such a small scale. However, simplicity comes at a price: as mechanisms are simplified they have fewer degrees of freedom, lower controllability, less power output. All of these will effect the ability of the mechanism to generate lift, but the losses can be minimized through proper design and implementation. This thesis describes the design and fabrication of a flapping-wing MAV deriving inspiration from the biological mechanisms of a dragonfly. Dragonflies flap with an inclined stroke plane for hovering flight, which in conjunction with their two pairs of wings, presents an unexplored area of research for MAVs. Small changes in the hovering-flight wing kinematics create large simplifications in their mechanical reproduction. The MAV utilizes these simplifications while maintaining the most important characteristics of dragonfly hovering flight, including passive rotation of the wings, reliance on drag forces to generate lift, and the fluid interactions between adjacent wings flapping out-of-phase. Two successive prototypes are presented, focusing on component design and fabrication techniques. These prototypes allow for easy modification of kinematic variables (phase shift between the fore-and hind-wings and factors that affect wing angle-of-attack) and component variables (most importantly, wing characteristics: size, shape, flexibility), important for future optimization. Initial experimental validation of the prototypes is presented. To facilitate the experimental validation, a mechanical flapping wing mechanism has been designed and fabricated which is able to reproduce the high-stroke-plane kinematics utilized by dragonflies, an ability lacking in present flapping mechanisms. This flapping wing mechanism allows for the measurement of the instantaneous forces on a wing for a particular kinematics, by driving the wing with dynamically similar kinematics in a tank of oil. These experiments will be used in the future to analyze and optimize the lift generated by flapping-wing MAVs.
Book Synopsis Modeling and Control of a Flapping Wing Micro Air Vehicle at Hover Condition by : Zhuo Yan
Download or read book Modeling and Control of a Flapping Wing Micro Air Vehicle at Hover Condition written by Zhuo Yan and published by . This book was released on 2016 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis a mathematical model of a flapping wing MAV is discussed. Aerodynamic forces and moments due to some key unsteady aerodynamic mechanisms are studied to derive the vehicle's longitudinal equations of motion under symmetric flapping assumption. The dynamic model is then simplified and linearized about a hover condition. With the assumption that the frequency of wing flapping motion is much higher than the body's natural frequency of motion, averaging theory is applied to the system. Two types of averaging methods are applied, full cycle averaging and quarter cycle averaging, to obtain a linear time invariant system (LTI) and a jump-style linear time varying (LTV) system respectively. Stability analysis and controller design are based on the linear time invariant system. A linear controller with eigenstructure assignment technique is designed and attached to the nonlinear system to stabilize the vehicle at hover condition under perturbations.
