Wing Deformation Research Articles

Design of stiffness-variable dielectric elastomer wing based on seagull characteristics and its application in avian flight bionics

ABSTRACT Dielectric elastomers (DE), renowned for their lightweight, rapid response, high energy density, and efficient conversion, have garnered significant attention in the realm of avian flight bionics. However, a lack of understanding of the mechanical principles underlying flapping wing biomimetics has hindered accurate simulations of actual bird flight postures. To address this, a stiffness-variable DE-based wing (DEW) has been designed, inspired by the characteristics of seagulls, to mimic the wing deformations across different bird flight phases. The evolution of the DEW’s deformation is modeled based on the differential equation describing the bending curve of a DE cantilever beam. By applying different voltage cycles, three continuous avian flight postures have been replicated: takeoff, cruising, and hovering. The simulation results demonstrate that the stiffness-variable DEW effectively mimics the wing deformations observed in birds during different flight postures, closely resembling real-world flight conditions. This study has the potential to serve as an important reference for exploring changes in bird flight behavior, thereby advancing the application of DE materials in the field of soft robotics.

Avian-inspired embodied perception in biohybrid flapping-wing robotics

Avian feather intricate adaptable architecture to wing deformations has catalyzed interest in feathered flapping-wing aircraft with high maneuverability, agility, and stealth. Yet, to mimic avian integrated somatic sensation within stringent weight constraints, remains challenging. Here, we propose an avian-inspired embodied perception approach for biohybrid flapping-wing robots. Our feather-piezoelectric mechanoreceptor leverages feather-based vibration structures and flexible piezoelectric materials to refine and augment mechanoreception via coupled oscillator interactions and robust microstructure adhesion. Utilizing convolutional neural networks with the grey wolf optimizer, we develop tactile perception of airflow velocity and wing flapping frequency proprioception. This method also senses pitch angle via airflow direction and detects wing morphology through feather collisions. Our low-weight, accurate perception of flapping-wing robot flight states is validated by motion capture. This investigation constructs a biomechanically integrated embodied perception system in flapping-wing robots, which holds significant promise in reflex-based control of complex flight maneuvers and natural bird flight surveillance.

Performance Evaluation and Wing Deformation Analysis of Flapping-Wing Aerial Vehicles with Varying Flapping Parameters and Patterns

There has been significant interest in the field of bio-inspired robotics, particularly in the development of flapping-wing robots from micro to bird size. Most flapping robots use lever-crank mechanisms or servomotors as wing flapping mechanisms. Servomotor-based flapping has the advantage of being able to generate various flapping patterns according to amplitude, offset, frequency, waveform, and other factors. However, it is not clear how these factors affect thrust generation. Therefore, this study focuses on the force generation and power consumption in different flapping patterns as well as the wing deformation during the flapping motion to provide some insights into the performance improvement. The results showed that the response characteristics of the actuators caused the thrust to saturate at high frequencies, and that sinusoidal pattern could generally achieve good performance and efficiency.

CFD Analysis of Takeoff from a Water Surface for an Insect-Scale Aerial/Aquatic Robot

To develop an insect-scale aerial/aquatic robot, we analyzed takeoff mechanisms to counteract surface tension, such as paddling, slapping, and clap-and-fling. Because a diving beetle, Eretes griseus, takes off directly from the water surface, a flapping-wing robot is promising as an alternative to a drone with multiple rotary wings. In this study, we first investigated diving beetle flight with a three-dimensional high-speed camera system and analyzed the motion characteristics. Subsequently, we developed a computational fluid dynamics method that tracked the water surface using a volume of fluid method, reproduced the motion with a multibody model, treated the deformation of the elastic membrane wing with the phase delay of the joint angle functions, and simulated takeoff, that is, the transition from water to air, and hovering near the water surface. The simulation result showed that during the transition, the slapping motion exerted the maximum and average lift per unit of body weight of 18 and 9.2, respectively, while those of paddling produced 0.46 and 0.23, respectively. The water surface effect improved the lift by 25% at the normalized height of less than 0.44 and disappeared at a height greater than 0.7. During hovering, while the clap-and-fling motion improved lift by 2.6% and the water surface effect was 9.8%, the synergy effect was 22%. In addition, the former enhanced it significantly after the fling, while the latter was remarkable during the wing acceleration phase. In contrast to ground effects, flapping reduced the water level and caused the ripples, dynamically changing the water surface effect.

Solenopsis richteri (Hymenoptera: Formicidae) alates infected with deformed wing virus display wing deformity with altered mobility.

Deformed wing virus (DWV) has long been identified as a critical pathogen affecting honeybees, contributing to colony losses through wing deformities, neurological impairments, and reduced lifespan. Since DWV also affects other pollinators, it poses a significant threat to global pollination networks. While honeybees have been the focal point of DWV studies, emerging research indicates that this RNA virus is not host-specific but rather a generalist pathogen capable of infecting a wide range of insect species, including other bee species such as bumblebees and solitary bees, as well as wasps and ants. This expands the potential impact of DWV beyond honeybees to broader ecological communities. The black imported fire ant, Solenopsis richteri, is an economically important invasive ant species. In this study, we describe deformed wing (DW) symptoms in S. richteri. DW alates were found in three of nine (33%) laboratory colonies. The symptoms ranged from severely twisted wings to a single crumpled wing tip. Additionally, numerous symptomatic alates also displayed altered mobility, ranging from an ataxic gait to an inability to walk. Viral replication of DWV was confirmed using a modified strand-specific RT-PCR. Our results suggest that S. richteri can be an alternative host for DWV, expanding our understanding of DWV as a generalist pathogen in insects. However, additional research is required to determine whether DWV is the etiological agent responsible for DW syndrome in S. richteri.

A novel type of parallel manipulator with flexible morphing platform

Abstract Parallel manipulators with flexible morphing platform (FMP) provide potential solution in various application fields, such as shape-morphing underwater robot, deformable wings, and human–machine interfaces. However, there is still lack of effective approach for the design and analysis of such novel type of parallel manipulator. In this article, a 9-UPS redundant actuation parallel manipulator with flexible morphing moving platform is designed as a representative of this kind of manipulator. Correspondingly, a deformation estimation and shape control approach for the FMP is presented. The proposed deformation estimation approach is designed based on the bending energy, which can achieve high calculation efficiency and avoid complex mechanical definition and calculation. And the proposed shape control approach is realized by utilizing a nonrigid ICP match algorithm, which can continuously deform the morphing platform to an arbitrary target surface. A prototype of the 9-UPS parallel manipulator is fabricated and analyzed as verification. The experiment results show that the proposed approach offers a promising avenue for the deformation estimation and shape control of the morphing platform.

Aircraft deicing based on large vibration of wings

Since aircraft icing will decrease the ability of aircraft to generate lift, it is significant to consider the aircraft deicing problem. The paper presents an aircraft deicing method based on the cracking of the ice layer caused by the large deformations of wings. To describe the deformation of wings, the absolute coordinate-based formulation is used. The aircraft with high aspect ratio wings is simplified as a hub-beam system. Such a rigid-flexible system with the fast rotation speed of hub and the large deformation of the beam is modeled using absolute coordinate-based formulation accurately. The maneuver of the rigid body will lead to the large deformation of wings to do the de-icing. Numerical examples are presented to reveal that the maximum tensile strength on the wing surface with sinusoidal control torques with some amplitudes and frequencies is larger than the ice’s tensile strength. Hence, the proposed de-icing method based on the aircraft maneuvering is potential.

CGull: A Non-Flapping Bioinspired Composite Morphing Drone.

Despite the tremendous advances in aircraft design that led to successful powered flights of aircraft as heavy as the Antonov An-225 Mriya, which weighs 640 tons, or as fast as the NASA-X-43A, which reached a record of Mach 9.6, many characteristics of bird flight have yet to be utilized in aircraft designs. These characteristics enable various species of birds to fly efficiently in gusty environments and rapidly change their momentum in flight without having modern thrust vector control (TVC) systems. Vultures and seagulls, as examples of expert gliding birds, can fly for hours, covering more than 100 miles, without a single flap of their wings. Inspired by the Great Black-Backed Gull (GBBG), this paper presents "CGull", a non-flapping unmanned aerial vehicle (UAV) with wing and tail morphing capabilities. A coupled two degree-of-freedom (DOF) morphing mechanism is used in CGull's wings to sweep the middle wing forward and the outer feathered wing backward, replicating the GBBG's wing deformation. A modular two DOF mechanism enables CGull to pitch and tilt its tail. A computational model was first developed in MachUpX to study the effects of wing and tail morphing on the generated forces and moments. Following the biological construction of birds' feathers and bones, CGull's structure is mainly constructed from carbon-fiber composite shells. The successful flight test of the proof-of-concept physical model proved the effectiveness of the proposed morphing mechanisms in controlling the UAV's path.

Design of an active wing-folding biomimetic flapping-wing air vehicle

In nature, birds and bats dynamically alter their wing shapes to suit various flight environments and tasks. This paper focuses on the design and validation of a biomimetic flapping-wing aerial vehicle, named FlexiWing, which features a unique mechanism for active wing deformation. This mechanism allows the wings to adjust their shapes flexibly in response to flight demands, significantly enhancing attitude control and maneuverability.’ ‘This study began with an in-depth exploration of biomimetic principles, focusing particularly on how birds and bats achieve precise control during flight through active wing deformation. Subsequently, we present a detailed account of the design and fabrication process of the active folding biomimetic flapping-wing aerial vehicle, including the design of mechanical mechanisms and material selection. Utilizing lightweight nylon materials and hollow carbon fiber rods, we successfully constructed a mechanically foldable wing structure. To achieve precise control over the aircraft’s movement, an embedded control system was designed, comprising an onboard embedded flight controller and ground-based equipment. The onboard controller uses a high-performance ESP32-C3 processor and a JY901 inertial measurement unit to acquire real-time attitude information of the aircraft. The control system incorporates Wi-Fi communication technology, enabling operators to send commands via a remote control or personal computer to manage flight modes and attitudes. Ultimately, a series of flight experiments were conducted to validate the performance of FlexiWing. The results demonstrate that FlexiWing exhibits remarkable maneuverability and stability, capable of achieving high-precision attitude control through active wing folding, making it adaptable to complex environments and tasks.’

Framework for Numerical 6DOF Simulation with Focus on a Wing Deforming UAV in Perch Landing

The perch landing maneuver of a wing-deforming unmanned aerial vehicle (UAV) was investigated through a framework that uses the free, open-source OpenFOAM with 6 degrees of freedom (6DOF) simulations. The framework uses a moving grid to follow the trajectory of the UAV, reducing computational resources. Together with the ability to allow internal grid deformation, sliding mesh, and algorithm addition, it can accurately mimic the entire landing process. Different wing deformation speeds, additional elevator rotation and emulated propeller lift were added to the 6DOF simulations to investigate their effects on the landing maneuver. The results showed that the wing deformation retraction speed has a considerable effect on the trajectory and velocity of the UAV. The wing deformation reduced the forward velocity of the UAV by 32%, from 13.89 to 9 m/s. With the elevator control, the velocity was reduced to 5 m/s. Lastly, and an activation time of 1 s for the emulated propeller lift can further decrease the velocity to around 4.2 m/s. A better algorithm for the emulated propeller lift may be able to give a superior performance. This framework allows us to understand the underlying perch landing maneuver aerodynamics. It can also be used on problems like fast-turning agile and flapping wing flight.

Effects Of Wing Elasticity On Tip Vortex: 3D Deformation And 2D3C Flow Field Measurements

As aircraft embrace broader applications, the flexible wing presents a promising avenue to enhance aircraft performance across a wide range of flight conditions. Although the aerodynamic benefits of wing deformation are widely recognized, the present understanding of the tip vortex is relatively limited. This work experimentally examines the effects of wing deformation on the tip vortex of a simplified aircraft model with two kinds of elastic wings and a rigid wing. The 3D deformations and 2D3C flow fields are measured using a synchronous measurement system, which includes the high accuracy deformation measurement (HADM) method and the stereoscopic particle image velocimetry (SPIV). It is shown that increased wing elasticity leads to greater bending, with the wing tip moving along the streamwise, vertically upward, and spanwise inward directions. These deformations are closely linked to aerodynamic forces and influence the tip vortex positions. The more elastic wing, EW2, exhibits the highest vortex core position, more than 0.5 times the length of the wing root, while the other one, EW1, shows the strongest vortex in the lift-increased regime. In the early wakes, the tip vortex of the elastic wing is elongated along the spanwise direction, resulting in an asymmetric shape. As it convects downstream, the vortex core disperses via viscous diffusion, resulting in a relatively more circular shape with decreased vorticity.

Wing deformation improves aerodynamic performance of forward flight of bluebottle flies flying in a flight mill.

Insect wings are flexible structures that exhibit deformations of complex spatiotemporal patterns. Existing studies on wing deformation underscore the indispensable role of wing deformation in enhancing aerodynamic performance. Here, we investigated forward flight in bluebottle flies, flying semi-freely in a magnetic flight mill; we quantified wing surface deformation using high-speed videography and marker-less surface reconstruction and studied the effects on aerodynamic forces, power and efficiency using computational fluid dynamics. The results showed that flies' wings exhibited substantial camber near the wing root and twisted along the wingspan, as they were coupled effects of deflection primarily about the claval flexion line. Such deflection was more substantial for supination during the upstroke when most thrust was produced. Compared with deformed wings, the undeformed wings generated 59-98% of thrust and 54-87% of thrust efficiency (i.e. ratio of thrust and power). Wing twist moved the aerodynamic centre of pressure proximally and posteriorly, likely improving aerodynamic efficiency.

Measurement of wing motion, deformation, and inertial forces of a biomimetic butterfly.

This paper introduces a method for measuring wing motion, deformation, and inertial forces in bio-inspired aircraft research using a camera motion capture system. The method involves placing markers on the wing surface and fitting rigid planes to determine the wing's spatial axis. This allows for describing the wing's rigid motion and obtaining deformation characteristics, such as deflection, twist angle, and gap distance of the forewing and hindwing. An image-based method is proposed for determining wing mass distribution, mass blocks, and mass points for inertial force measurement. The study addresses wing motion, deformation, and inertial force measurement in a real butterfly-like flapping wing vehicle and demonstrates the effectiveness of the approach. The results reveal that inertial forces play a negligible role in the generation of lift peaks and contribute minimal lift during the entire flapping cycle. Furthermore, a transitional phase between downstroke and upstroke is found in flexible wing motion, which has high lift production. This measurement approach offers a rapid and effective solution to experimental challenges in bio-inspired aircraft design and optimization.

Experimental investigation on aerodynamic characteristics of flexible wing MAV under horizontal gust

A flexible wing micro air vehicle and a rigid wing micro air vehicle, both with flying wing designs, were designed and developed, and the aerodynamic characteristics of the flexible micro air vehicle and the rigid micro air vehicle under steady wind and horizontal gust were studied in a wind tunnel. The difference in aerodynamic characteristics between flexible wing and rigid wing micro air vehicles was given. The research results showed that the aerodynamic characteristics of a flexible wing were better than those of a rigid wing under both steady wind and horizontal gust environments, and a flexible wing had the ability to delay stall and mitigate the impact of gust, which was beneficial to stable flight. The particle image velocimetry measurement results showed that due to the deformation of the flexible wing, the flow patterns on the rigid wing and flexible wing surfaces were different, resulting in changes in the aerodynamic characteristics of micro air vehicles.

Comparative Study and Airspeed Sensitivity Analysis of Full-Wing Solar-Powered UAVs Using Rigid-Body, Multibody, and Rigid-Flexible Combo Models

Solar-powered UAVs are characterized by large-scale, lightweight, and low airspeed, and changes in airspeed lead to wing deformation or stalling, which can easily induce serious flight accidents. A single dynamic model cannot accurately describe this feature, and this airspeed sensitivity can only be analyzed by integrating rigid-body, multirigid-body, and rigid-flexible combo models. This paper proposes a dynamic analysis method for a mixture of rigid-body, multirigid-body, and rigid-flexible combo models, considering the applicable airspeed ranges, computational costs, and structural deformation assumptions of the three models and comparing the differences of modes and responses at different airspeeds, and quantitatively analyzes the effects of airspeed on the motion, deformation, and coupling. The results show that appropriate increase of airspeed is beneficial to the stability of large-scale lightweight platforms, but when it is increased to more than two times the cruise speed, the structural deformation is coupled with the flight dynamic modes, leading to the deterioration of the overall dynamic response. Finally, a mixture of the three models at different airspeeds is proposed, which is necessary for future ultralarge-scale solar-powered UAVs.

Improving quality of stored Trichogramma evanescens (Hymenoptera: Trichogrammatidae) by inducing diapause or quiescence

BackgroundEfficacy of parasitic wasps from the genus Trichogramma to attack the eggs of numerous important pests in various agricultural crops makes them one of the most prevalent biocontrol agents. In Trichogramma, the pre-pupal stage can survive during the cold season in a dormant state (diapause or quiescence). The optimal conditions for the induction of this pause of development during mass rearing to store the parasitoid for a long time in good quality depend on the species. In the present study, four factors [the incubation periods (24 and 48 h), diapause induction temperatures (9 and 11 °C), durations of the diapause induction (from 0 to 6 weeks), and the periods of storage (from 0 to 6 months)], were experimented to force Trichogramma evanescens Westwood, reared on Sitotroga cerealella, to enter diapause or quiescence and estimating their impacts on the efficacy of stored parasitoid.ResultsResults confirmed that the life parameters of T. evanescens as the percentage of adult emergence, female percentage, rates of wing deformation of emerged adults, and fecundity of emerged females were significantly affected by all experimented factors. The pre-storage treatments made it possible to store the parasitoid for at least 2 months at 3 °C, with no much changes in their fitness, the emergence rate of adults reached more than 80%, and the egg-laying efficacy of females reached more than 42 eggs per emerged female, when diapause induction treatments were applied for 5 weeks at 11 °C after 24 h of incubation. Furthermore, there is the possibility of storage for 6 months with an acceptable level of parasitoid’s quality, when diapause induction treatments were applied for 5 weeks at 9 °C after 24 h of incubation, the emergence rate reached 70%, and the number of eggs per female was 52 eggs, while no emergence of adult insects was recorded after 3 months of cold storage without diapause induction treatments.ConclusionTwo storage programs were reached for T. evanescens (depending on the adult emergence rate and fecundity of emerged females). There is a long-term storage (6 months), when diapause was induced at a low temperature (9 °C) after 24 h of incubation. Short-term storage (from 2 to 4 months), when quiescence was induced under a higher temperature of 11 °C after both 24 and 48 h of incubation.

Aerodynamic Analysis of Hovering Flapping Wing Using Multi-Plane Method and Quasi-Steady Blade Element Theory

In the design of flapping-wing micro-size air vehicles capable of hovering, wings serve as the primary source of hovering power, making the analysis of aerodynamics and aerodynamic efficiency crucial. Traditional quasi-steady models treat the wings as single rigid plane, neglecting the deformable characteristics of flexible wings. This paper proposes a multi-plane method that, in conjunction with various design parameters of flexible wings in a two-dimensional plane, analyzes their deformation characteristics under the assumption of multiple planes in three-dimensional space, and describes the deformation of wings during flapping. By combining the quasi-steady aerodynamic model, aerodynamic analysis of the deformed wings can be conducted. The relationship between the slack angle, wing flapping position, and wing deformation are analyzed, along with their effects on aerodynamics and aerodynamic efficiency. Experiments validate the deformation patterns of wings during flapping and compare the simulated aerodynamic forces with measured ones. The results indicate that wing deformation can be accurately described by adjusting the parameters in the multi-plane method and that the aerodynamic analysis using this method closely approximates the average lift results. Additionally, the multi-plane method establishes a connection between wing morphology and aerodynamic forces and efficiency, providing valuable insights for aerodynamic analysis.

Multidisciplinary analysis and structural optimization for the aeroelastic sizing of a UAV wing using open-source code integration

PurposeThis paper aims to propose a structural sizing approach of an unmanned aerial vehicle (UAV) wing that takes into account the aeroelasticity effects through a fluid–structure interaction analysis.Design/methodology/approachThe sizing approach proposed in this study is an iterative process, each iteration of which consists of two sub-loops, a multidisciplinary analysis (MDA) loop followed by a structural optimization loop. The MDA loop seeks the aeroelastic equilibrium between aerodynamic forces and structural displacements using a fixed-point iteration scheme. Once the equilibrium is reached, the converged pressure loads are used for the structural optimization, which aims to find the structural thicknesses that minimize the wing weight under failure criteria. The two sub-loops are run sequentially in an iterative process until the mass is converged. The analysis models are implemented in open-source software, namely, PANUKL for aerodynamics and MYSTRAN for structures, while the whole process is automated with Python and integrated in the open-source optimization framework OpenMDAO.FindingsThe approach was applied to the design of the Predator MQ-1 wing. The results of the MDAs show the convergence of the wing deformations to the flight shape after few iterations. At the end of the aeroelastic sizing loop, the result is a structurally sized wing with minimal weight considering the aeroelasticity effects.Originality/valueThe approach proposed takes into account the wing aero-structural coupling effects while sizing its structure instead of a fixed load distribution. In addition, the approach is fully based on open-source codes, which are freely available for public use and can be fully reproducible.

The spatiotemporal richness of hummingbird wing deformations.

Animals exhibit an abundant diversity of forms, and this diversity is even more evident when considering animals that can change shape on demand. The evolution of flexibility contributes to aspects of performance from propulsive efficiency to environmental navigation. It is, however, challenging to quantify and compare body parts that, by their nature, dynamically vary in shape over many time scales. Commonly, body configurations are tracked by labelled markers and quantified parametrically through conventional measures of size and shape (descriptor approach) or non-parametrically through data-driven analyses that broadly capture spatiotemporal deformation patterns (shape variable approach). We developed a weightless marker tracking technique and combined these analytic approaches to study wing morphological flexibility in hoverfeeding Anna's hummingbirds (Calypte anna). Four shape variables explained >95% of typical stroke cycle wing shape variation and were broadly correlated with specific conventional descriptors such as wing twist and area. Moreover, shape variables decomposed wing deformations into pairs of in-plane and out-of-plane components at integer multiples of the stroke frequency. This property allowed us to identify spatiotemporal deformation profiles characteristic of hoverfeeding with experimentally imposed kinematic constraints, including through shape variables explaining <10% of typical shape variation. Hoverfeeding in front of a visual barrier restricted stroke amplitude and elicited increased stroke frequencies together with in-plane and out-of-plane deformations throughout the stroke cycle. Lifting submaximal loads increased stroke amplitudes at similar stroke frequencies together with prominent in-plane deformations during the upstroke and pronation. Our study highlights how spatially and temporally distinct changes in wing shape can contribute to agile fluidic locomotion.

Disruption of microRNA pathway core genes inhibits molting and reproduction of the cigarette beetle, Lasioderma serricorne.

MicroRNA (miRNA) pathway genes have been widely reported to participate in several physiological events in insect lifecycles. The cigarette beetle Lasioderma serricorne is an economically important storage pest worldwide. However, the functions of miRNA pathway genes in L. serricorne remain to be clarified. Herein, we investigated the function of molting and reproduction of the miRNA pathway in L. serricorne. LsDicer-1, LsArgonaute-1, LsLoquacious and LsExportin-5 were universally expressed in adults, whereas LsPasha and LsDrosha were mainly expressed in the pupae. The genes presented different patterns in various tissues. Silencing of LsDicer-1, LsArgonaute-1, LsDrosha and LsExportin-5 resulted in a high proportion of wing deformities and molting defects. Silencing of LsDicer-1, LsArgonaute-1, LsPasha and LsLoquacious affected the development of the ovary and the maturation of oocytes, resulting in a significant decrease in fecundity. Further investigation revealed that the decreases in LsDicer-1 and LsArgonaute-1 expression destroyed follicular epithelia and delayed vitellogenesis and oocyte development. In addition, the expression levels of several miRNAs (let-7, let-7-5p, miR-8-3p, miR-8-5p, miR-9c-5p, miR-71, miR-252-5p, miR-277-3p, miR-263b and Novel-miR-50) were decreased significantly after knockdown of these miRNA pathway core genes, indicating that they played important roles in regulating miRNA-mediated gene expression. The results indicate that miRNA pathway genes play important roles in the molting, ovarian development and female fecundity of L. serricorne, and thus are potentially suitable target genes for developing an RNAi strategy against a major pest of stored products. © 2024 Society of Chemical Industry.