Flapping Wing Micro Research Articles

Design and Flight Performance of a Bio-Inspired Hover-Capable Flapping-Wing Micro Air Vehicle with Tail Wing

A key challenge in flapping-wing micro air vehicle (FWMAV) design is to generate high aerodynamic force/torque for improving the vehicle’s maneuverability. This paper presents a bio-inspired hover-capable flapping-wing micro air vehicle, named RoboFly.S, using a cross-tail wing to adjust attitude. We propose a novel flapping mechanism composed of a two-stage linkage mechanism, which has a large flapping angle and high reliability. Combined with the experimentally optimized wings, this flapping mechanism can generate more than 34 g of lift with a total wingspan of 16.5 cm, which is obviously superior to other FWMAVs of the same size. Aerodynamic force/torque measurement systems are used to observe and measure the flapping wing and aerodynamic data of the vehicle. RoboFly.S realizes attitude control utilizing the deflection of the cross-tail wing. Through the design and experiments with tail wing parameters, it is proved that this control method can generate a pitch torque of 2.2 N·mm and a roll torque of 3.55 N·mm with no loss of lift. Flight tests show that the endurance of RoboFly.S can reach more than 2.5 min without interferences. Moreover, the vehicle can carry a load of 3.4 g for flight, which demonstrates its ability to carry sensors for carrying out tasks.

Intelligent finite-time formation control for flapping wing micro aerial vehicles

This paper investigates the intelligent finite time formation control for multiple Flapping wing micro aerial vehicles (FWMAVs) system. Firstly, the translational and the rotational attitude motion equations are proposed based on the Lagrangian equation for FWMAVs. The motion system is decouple into an internal and an external dual loop subsystems. An adaptive neural network estimation algorithm is proposed based on the internal and external double loop system of the coupled model to effectively estimate the uncertainties and the external disturbances of the model. In addition, two effective intelligent control protocols are presented for the translational and the rotational attitude motion subsystem, respectively, by utilizing potential energy function, generalized inverse matrix, and finite-time stability. The main contribution of this paper is the case that, four control objectives are achieved for multiple FWMAVs system, including the estimation of uncertainties, collision avoidance, connectivity preservation, and finite time convergence. Finally, a simulation example of formation tracking control is given by using matlab software in the numerical simulation part, and the effectiveness of the obtained results and the superiority of the control protocol are verified.

Unsteady Aerodynamic Characteristics of The Flapping Wing Micro Air Vehicle (MAV)

Flapping wing propulsion is center of attention in the field of micro air vehicle research in recent years. Knowledge in unsteady aerodynamics is insufficient to design an efficient wing that produces the required lift and thrust force for the flapping wing micro air vehicle. The unsteady aerodynamic effects on aerodynamic wing design parameters were discussed in this paper. The effect of aspect ratio and the wing planform shape on lift and thrust force were determined experimentally. The experiments were conducted in an open jet low speed wind tunnel having test section 350 mmx350 mm. A rack and gear type new flapping mechanism was designed and fabricated and this was used as test bed for all the experiments. Also an experiment was conducted to determine the effect of torsional flexibility of the wing. The result shows that the chord wise flexible wing produces more lift and thrust than the other wing.

Detection of Hindwing Landmarks Using Transfer Learning and High-Resolution Networks.

Hindwing venation is one of the most important morphological features for the functional and evolutionary analysis of beetles, as it is one of the key features used for the analysis of beetle flight performance and the design of beetle-like flapping wing micro aerial vehicles. However, manual landmark annotation for hindwing morphological analysis is a time-consuming process hindering the development of wing morphology research. In this paper, we present a novel approach for the detection of landmarks on the hindwings of leaf beetles (Coleoptera, Chrysomelidae) using a limited number of samples. The proposed method entails the transfer of a pre-existing model, trained on a large natural image dataset, to the specific domain of leaf beetle hindwings. This is achieved by using a deep high-resolution network as the backbone. The low-stage network parameters are frozen, while the high-stage parameters are re-trained to construct a leaf beetle hindwing landmark detection model. A leaf beetle hindwing landmark dataset was constructed, and the network was trained on varying numbers of randomly selected hindwing samples. The results demonstrate that the average detection normalized mean error for specific landmarks of leaf beetle hindwings (100 samples) remains below 0.02 and only reached 0.045 when using a mere three samples for training. Comparative analyses reveal that the proposed approach out-performs a prevalently used method (i.e., a deep residual network). This study showcases the practicability of employing natural images-specifically, those in ImageNet-for the purpose of pre-training leaf beetle hindwing landmark detection models in particular, providing a promising approach for insect wing venation digitization.

Wing Kinematics-Based Flight Control Strategy in Insect-Inspired Flight Systems: Deep Reinforcement Learning Gives Solutions and Inspires Controller Design in Flapping MAVs.

Flying insects exhibit outperforming stability and control via continuous wing flapping even under severe disturbances in various conditions of wind gust and turbulence. While conventional linear proportional derivative (PD)-based controllers are widely employed in insect-inspired flight systems, they usually fail to deal with large perturbation conditions in terms of the 6-DoF nonlinear control strategy. Here we propose a novel wing kinematics-based controller, which is optimized based on deep reinforcement learning (DRL) to stabilize bumblebee hovering under large perturbations. A high-fidelity Open AI Gym environment is established through coupling a CFD data-driven aerodynamic model and a 6-DoF flight dynamic model. The control policy with an action space of 4 is optimized using the off-policy Soft Actor-Critic (SAC) algorithm with automating entropy adjustment, which is verified to be of feasibility and robustness to achieve fast stabilization of the bumblebee hovering flight under full 6-DoF large disturbances. The 6-DoF wing kinematics-based DRL control strategy may provide an efficient autonomous controller design for bioinspired flapping-wing micro air vehicles.

Takeoff of a 2.1 g Fully Untethered Tailless Flapping-Wing Micro Aerial Vehicle With Integrated Battery

Insect-scale micro-aerial vehicles (MAV) are becoming increasingly important for sensing and mapping spatially constrained environments. However, achieving untethered flight powered by a small and lightweight on-board energy source remains a challenge. In this study, we successfully demonstrated the untethered takeoff of a flapping-wing MAV powered by a commercially available LiPo battery for a short duration without stability control. By incorporating a high-efficiency direct-drive piezoelectric actuator, and an optimized control circuit for high-impedance-width modulation and charge recovery, this electronics configuration realizes over 5 min of practical operation with a thrust of 1.5 times its own weight, while offering wireless communication capability and sensors for attitude estimation. Our MAV has a total mass of 2.1 g, which is an eight-fold reduction compared to the lightest battery-powered tailless flapping-wing MAV currently available, making this the first report of a battery-powered tailless flapping-wing MAV with insect-scale weight.

A robust data-driven model for flapping aerodynamics under different hovering kinematics

Flapping wing micro air vehicles (FWMAVs) are highly maneuverable, bio-inspired drones that can assist in surveys and rescue missions. Flapping wings generate various unsteady lift enhancement mechanisms challenging the derivation of reduced models to predict instantaneous aerodynamic performance. In this work, we propose a robust data-driven, quasi-steady reduced order model (ROM) to predict the lift and drag coefficients within a flapping cycle. The model is derived for a rigid ellipsoid wing with different parameterized kinematics in hovering conditions. The proposed ROM is built via a two-stage regression. The first stage, defined as “in-cycle” (IC), computes the parameters of a regression linking the aerodynamic coefficients to the instantaneous wing state. The second stage, defined as “out-of-cycle,” links the IC weights to the flapping features that define the flapping motion. The training and test datasets were generated via high-fidelity simulations using the overset method, spanning a wide range of Reynolds numbers and flapping kinematics. The two-stage regressor combines ridge regression and Gaussian process regression to provide estimates of the model uncertainties. The proposed ROM shows accurate aerodynamic predictions for a wide range of kinematics. The model performs best for smooth kinematics that generates a stable leading edge vortex (LEV). Remarkably accurate predictions are also observed in dynamic scenarios where the LEV is partially shed, the non-circulatory forces are considerable, and the wing encounters its own wake.

Aerodynamic Analysis and Design Optimization of a Novel Flapping Wing Micro Air Vehicle in Hovering Flight

Inspired by the challenging and nimble flight dynamics of flying insects and birds, this research investigates bionic propulsion technology to develop an improved flapping wing micro air vehicle (FWMAV) design. Following the bionic formula, a prototype is preliminarily designed to achieve multi-attitude flight. Then, kinematic modeling is employed for further data analysis. A meshless particle hydrodynamics method is adopted to explore an optimized flapping driving mechanism and understand the influence of the flapping frequency, flapping amplitude, and quick-return characteristics of one side of the symmetrical mechanism on aerodynamic performance. Based on the aerodynamic model, force measurement experiments are developed to verify simulation availability and investigate the importance of wing flexibility. The numerical analysis results demonstrate that the average lift is approximately proportional to the flapping frequency, flapping-wing amplitude, and quick-return characteristics. Further optimization is conducted to find the best design parameters setting because of the complicated coupling relationship between the flapping wing amplitude and quick-return characteristics. Moreover, the optimized wing property supports high aerodynamic performance via experimental analysis in hovering flight.

Vorticity dynamics of fully developed leading-edge vortices on revolving wings undergoing pitch-up maneuvers

In nature, birds and insects usually execute pitch-up maneuvers, which is either an active perching or a passive response against gusts. During such maneuvers, their wings flap with a concomitant nose-up rotation around an axis, and thus, both vortex structures and aerodynamic forces of the wings are influenced. This research focuses on the impact of pitch-up maneuvers on the evolution and underlying vorticity dynamics of a fully developed leading-edge vortex (LEV), which has received limited interest in previous research. Based on data obtained from numerical simulations, an analysis of vortex dynamics and vorticity transport is conducted at different pitch rates and pitch axis locations. Our findings show that an increase in pitch rate and a shift of pitch axis toward the trailing edge can both terminate the growth of LEV and then initiate its movement toward the trailing edge via strong downward convection. However, the contributions of spanwise convection and vortex stretching (or compression) are distinct in these two scenarios, leading to different lift generations. Other vortex-tilting-based mechanisms, e.g., the planetary vorticity tilting and the dual-stage radial-tangential vortex tilting, are reduced during pitch-up maneuvers. Moreover, a rapid pitch-up around the leading edge is encouraged to maximize the lift during the maneuver, although this should be accompanied by constraints in flight height and kinetic energy when being applied to guide the perching of bio-inspired flapping wing micro air vehicles.

Design and fabrication of shape memory alloy based 4D-printed actuator for FWMAV: A performance study

Flapping Wing Micro Aerial Vehicles (FWMAVs) use flapping wings to create lift and thrust, akin to bird flight. In this work, we seek to design and fabricate a Shape Memory Alloy (SMA) based 4D-printed actuator that behaves as a wing structure to achieve the desired flapping action in an FWMAV. The integration of SMA in the static matrix facilitates the desired motion by bending SMA as a response to a stimulus. The properties of SMA such as the work density, stroke angle, etc., are greatly enhanced in contrast to more complex, conventional motor-driven mechanisms. The study includes the investigation of the actuator's performance, which is evaluated using image processing based on parameters such as the stroke angle, actuation speed, and recovery force, and helps in utilizing the actuator based on the needs and demands of specific targeted applications by referring to the baseline data recorded by conducting a series of experiments.

An at-scale tailless flapping wing hummingbird robot: II. Flight control in hovering and trajectory tracking

Flight control such as stable hovering and trajectory tracking of tailless flapping-wing micro aerial vehicles is a challenging task. Given the constraint on actuation capability, flight control authority is limited beyond sufficient lift generation. In addition, the highly nonlinear and inherently unstable vehicle dynamics, unsteady aerodynamics, wing motion caused body oscillations, and mechanism asymmetries and imperfections due to fabrication process, all pose challenges to flight control. In this work, we propose a systematic onboard control method to address such challenges. In particular, with a systematic comparative study, a nonlinear flight controller incorporating parameter adaptation and robust control demonstrates the preferred performances. Such a controller is designed to address time-varying system uncertainty in flapping flight. The proposed controller is validated on a 12-g at-scale tailless hummingbird robot equipped with two actuators. Maneuver experiments have been successfully performed by the proposed hummingbird robot, including stable hovering, waypoint and trajectory tracking, and stabilization under severe wing asymmetries.

Sensitivity Analysis of Wing Geometric and Kinematic Parameters for the Aerodynamic Performance of Hovering Flapping Wing

The wing planform and flapping kinematics are critical for the hovering flight of flapping wing micro air vehicles (FWMAVs). The degree of influence of wing geometry and kinematic parameters on aerodynamic performance still lacks in-depth analysis. In this study, a sensitivity analysis was conducted based on the quasi-steady aerodynamic model. Each parameter was investigated independently by using the control variable method. The degree of each variable’s influence on lift, power, and power loading is evaluated and compared. Furthermore, detailed exponential relationships were established between the parameters and the corresponding aerodynamic properties. It is found that, for the geometric parameters, wing area has the greatest influence on lift, and the distribution of area has the most visible effect on aerodynamic power. All geometric parameters are negatively correlated with power loading. For the kinematic parameters, flapping frequency, compared with sweeping amplitude, results in faster lift growth and slower drop in power loading, while their influence on aerodynamic power is nearly comparable. A moderate pitching amplitude with advanced rotation will maximize the lift. For the flapping trajectory, lift and power loading are primarily affected by the shape of the pitching motion rather than the sweeping motion. But the sweeping motion seems to dominate the power consumption. The research in this paper is helpful to understand the effect of each parameter and provide theoretical guidance for the development of FWMAVs.

Kinematic modeling and analysis of transmission mechanism with joint clearance for flapping wing micro aerial vehicle

A theoretical model is built to reveal the effect of the joint clearance on the kinematic performance of the transmission mechanism of a flapping wing micro aerial vehicle (FWMAV). Massless link approach is used to model the joint clearance and the reciprocal screw is introduced to solve the kinematic model. Finite element method simulations are also performed to validate the model. The kinematic model reveals that the inertia force of the transmission mechanism contributes little to the flapping motion whereas the sign of the resultant moment of aerodynamic drag and wing inertia force plays decisive role. Besides, the joint clearance can either increase or decrease the flapping angle of the wing during a flapping period and it will significantly affect the flapping amplitude while involves little in the mean flapping angle. The effects of the positions of the joint with clearance and its magnitude on the flapping motion are also revealed.

Inherently stable descending flight of a tailless flapping wing micro air vehicle by upward wing elevation

Maneuverability of flapping wing fliers inevitably goes with inherent system instability. Inherent instability means that flapping wing systems require a flight controller and that these vehicles are prone to crashing. This work proposes a design feature to stabilize the descent of a flapping wing aerial vehicle. The vehicle is based on the KUlibrie, a flapping wing nano robot that is under development at KU Leuven. A computational study indicates that upwardly elevated wings provide inherently stable descending flight. The vehicle performs a free flight starting from different initial conditions. The system dynamics display convergence towards a limit cycle. Wing elevation and center of gravity position determine pitch and roll stiffness with respect to vertical descent and climb. The same effects that stabilize descent also destabilize climbing flight.

Optimization of an Insect-like Flapping Wing Mechanism

One of the challenges in Flapping-Wing Micro Air Vehicle (FWMAV) is to make the wing tip always trace a flat figure-eight whilst ensuring the quality of the robot remains as light as possible. This paper optimized an existing mechanism so that the motion of the wingtip matched the actual flight state of the insect with a single-degree-of-freedom drive. The kinematic model of the FWMAV mechanism was constructed. Based on non-linear programming, the length ratio of the key part of the mechanism was obtained, meanwhile, theoretical calculations were confirmed by ADAMS simulations. The optimized Insect-like Flapping-Wing Mechanism had a satisfied performance with an upward flapping of 60°, a downward angle of 24.99° and a swing angle of 10.71°, whose wingtip exhibited an “8” shape.

Embodied airflow sensing for improved in-gust flight of flapping wing MAVs.

Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. These bio-inspired and lightweight flying robots still present limitations in their ability to fly in direct wind and gusts, as their stability is severely compromised in contrast with their biological counterparts. To this end, this work aims at making in-gust flight of flapping wing drones possible using an embodied airflow sensing approach combined with an adaptive control framework at the velocity and position control loops. At first, an extensive experimental campaign is conducted on a real FWMAV to generate a reliable and accurate model of the in-gust flight dynamics, which informs the design of the adaptive position and velocity controllers. With an extended experimental validation, this embodied airflow-sensing approach integrated with the adaptive controller reduces the root-mean-square errors along the wind direction by 25.15% when the drone is subject to frontal wind gusts of alternating speeds up to 2.4m/s, compared to the case with a standard cascaded PID controller. The proposed sensing and control framework improve flight performance reliably and serve as the basis of future progress in the field of in-gust flight of lightweight FWMAVs.

Robust model‐free adaptive longitudinal flight control for a flapping wing micro air vehicle with wind disturbances

AbstractIn this paper, two robust model‐free adaptive control (RMFAC) methods are proposed for a nonlinear flapping wing micro air vehicle (FWMAV) subject to measurable and unmeasurable wind disturbances. Firstly, a novel disturbance‐related full‐form dynamic linearization technique (DFFDL) is developed to transform the FWMAV with measurable disturbances into a dynamic linearization data model. Then, a DFFDL based RMFAC method is designed based on the obtained data model for the FWMAV to suppress the wind disturbances. Next, the stability analysis shows that the system output tracking error converges into a bounded range. And the above result is extended to the case of unmeasurable disturbances. Finally, the simulation comparison results demonstrate the effectiveness of two proposed RMFAC methods.

Modeling and Analysis of a Simple Flexible Wing-Thorax System in Flapping-Wing Insects.

Small-scale flapping-wing micro air vehicles (FWMAVs) are an emerging robotic technology with many applications in areas including infrastructure monitoring and remote sensing. However, challenges such as inefficient energetics and decreased payload capacity preclude the useful implementation of FWMAVs. Insects serve as inspiration to FWMAV design owing to their energy efficiency, maneuverability, and capacity to hover. Still, the biomechanics of insects remain challenging to model, thereby limiting the translational design insights we can gather from their flight. In particular, it is not well-understood how wing flexibility impacts the energy requirements of flapping flight. In this work, we developed a simple model of an insect drive train consisting of a compliant thorax coupled to a flexible wing flapping with single-degree-of-freedom rotation in a fluid environment. We applied this model to quantify the energy required to actuate a flapping wing system with parameters based off a hawkmoth Manduca sexta. Despite its simplifications, the model predicts thorax displacement, wingtip deflection and peak aerodynamic force in proximity to what has been measured experimentally in flying moths. We found a flapping system with flexible wings requires 20% less energy than a flapping system with rigid wings while maintaining similar aerodynamic performance. Passive wing deformation increases the effective angle of rotation of the flexible wing, thereby reducing the maximum rotation angle at the base of the wing. We investigated the sensitivity of these results to parameter deviations and found that the energetic savings conferred by the flexible wing are robust over a wide range of parameters.

Enhancing the Surface Quality of FDM Processed Flapping Wing Micro Mechanism Assembly through RSM–TOPSIS Hybrid Approach

Improving surface quality attributes is a critical task in the production of micro-sized near-net-shaped components for end-use applications using additive manufacturing techniques. In the present study, we investigated the effect of fused deposition modeling (FDM) process parameters such as layer thickness, part orientation, raster width and raster angle on the surface quality characteristics of as-fabricated test specimens in order to develop the assembly of a flapping wing micro mechanism. Through a Box–Behnken design, a suitable experimental strategy was developed, and test specimens were manufactured. The performance of the experiments was statistically assessed using multi-response analysis of variance (ANOVA). The microstructures of the test specimens produced with various processing parameters were examined using a scanning electron microscope to identify micro surface flaws under various processing conditions. Furthermore, the optimal FDM parameters for improved surface quality attributes such as Ra, Rz and Rq were obtained using a statistical optimization technique known as Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS).

To tread or not to tread: comparison between water treading and conventional flapping wing kinematics

Hovering insects are limited by their physiology and need to rotate their wings at the end of each back-and-forth motion to keep the wing’s leading edge ahead of its trailing edge. The wing rotation at the end of each half-stroke pushes the leading edge vortex away from the wing which leads to a loss in the lift. Unlike biological fliers, human-engineered flapping wing micro air vehicles have different design limitations. They can be designed to avoid the end of stroke wing rotation and use so-called water-treading flapping kinematics. Flapping wings using conventional flapping kinematics have a designated leading and trailing edge. In the water-treading mode, the role of the leading and trailing edges are continuously alternated throughout the stroke. Here, we compare velocity field and force measurements for a rectangular flapping wing conducting normal hovering and water-treading kinematics to study the difference in fluid dynamic performance between the two types of flapping kinematics. We show that for similar power consumption, the water-treading mode produces more lift than the conventional hovering mode and is 50% more efficient for symmetric pitching kinematics. In the water-treading mode, the leading edge vortex from the previous stroke is not pushed away but is captured and keeps the newly formed leading edge vortex closer to the wing, leading to a more rapid increase of the lift coefficient which is sustained for longer. This makes the water-treading mode a promising alternative for human-engineered flapping wing vehicles.