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Bio-inspired flying robots (BIFRs) which fly by flapping their wings experience continuously oscillating aerodynamic forces. These oscillations in the driving force cause vibrations in the motion of the body around the mean trajectory. In other words, a hovering BIFR does not remain fixed in space; instead, it undergoes oscillatory motion in almost all directions around the stationary point. These oscillations affect the aerodynamic performance of the flier. Assessing the effect of these oscillations, particularly on thrust generation in two-winged and four-winged BIFRs, is the main objective of this work. To achieve such a goal, two experimental setups were considered to measure the average thrust for the two BIFRs. The average thrust is measured over the flapping cycle of the BIFRs. In the first experimental setup, the BIFR is installed at the end of a pendulum rod, in place of the pendulum mass. While flapping, the model creates a thrust force that raises the model along the circular trajectory of the pendulum mass to a certain angular position, which is an equilibrium point and is also stable. Measuring the weight of the BIFR and the equilibrium angle it obtains, it is straightforward to estimate the average thrust, by moment balance about the pendulum hinge. This pendulum setup allows the BIFR model to freely oscillate back and forth along the circular trajectory about the equilibrium position. As such, the estimated average thrust includes the effects of these self-induced vibrations. In contrast, we use another setup with a load cell to measure thrust where the model is completely fixed. The thrust measurement revealed that the load cell or the fixed test leads to a higher thrust than the pendulum or the oscillatory test for the two-winged model, showing the opposite behavior for the four-winged model. That is, self-induced vibrations have different effects on the two BIFR models. We felt that this observation is worth further investigation. It is important to mention that aerodynamic mechanisms for thrust generation in the two and four-winged models are different. A two-winged BIFR generates thrust through traditional flapping mechanisms whereas a four-winged model enjoys a clapping effect, which results from wing-wing interaction. In the present work, we use a motion capture system, aerodynamic modeling, and flow visualization to study the underlying physics of the observed different behaviors of the two flapping models. The study revealed that the interaction of the vortices with the flapping wing robots may play a role in the observed aerodynamic behavior of the two BIFRs.

 

Geometric control theory is the application of differential geometry to the study of nonlinear dynamical systems. This control theory permits an analytical study of nonlinear interactions between control inputs, such as symmetry breaking or force and motion generation in unactuated directions. This paper studies the unsteady aerodynamics of a harmonically pitching–plunging airfoil in a geometric control framework. The problem is formulated using the Beddoes–Leishman model, a semi-empirical state space model that characterizes the unsteady lift and drag forces of a two-dimensional airfoil. In combination with the averaging theorem, the application of a geometric control formulation to the problem enables an analytical study of the nonlinear dynamics behind the unsteady aerodynamic forces. The results show lift enhancement when oscillating near stall and thrust generation in the post-stall flight regime, with the magnitude of these force generation mechanisms depending on the parameters of motion. These findings demonstrate the potential of geometric control theory as a heuristic tool for the identification and discovery of unconventional phenomena in unsteady flows.

 

In this paper, we investigate the three-dimensional nature of dynamic stall. Conducting the investigation, the flow around a harmonically pitching National Advisory Committee for Aeronautics (NACA) 0012 airfoil is numerically simulated using Unsteady-Reynolds-Averaged Navier–Stokes (URANS) and multiple detached eddy simulation (DES) solvers: the Delayed-DES (DDES) and the Improved-DDES (IDDES). Two- and three-dimensional simulations are performed for each solver, and the results are compared against experimental measurements in the literature. The results showed that three-dimensional simulations surpass two-dimensional ones in capturing the stages of dynamic stall and predicting the lift coefficient values, with a distinguished performance of the DES solvers over the URANS ones. For instance, the IDDES simulations, as an inherently three-dimensional solver, predicted the necessary cascaded amalgamation process of vortices to form the adequate strength of the dynamic stall vortex. This vortex size and timing provided accurate and sufficient suction that resulted in identical matching of the numerical and experimental lift coefficients at the peak value. Hence, the hypothesis that dynamic stall has a three-dimensional nature is supported by the superiority of the three-dimensional simulation in all aspects. In conclusion, it is found that dynamic stall is intrinsically a three-dimensional phenomenon.

 

We propose a novel 3D source seeking algorithm for rigid bodies with a non-collocated sensor inspired by the chemotactic navigation strategy of sea urchin sperm known as helical klinotaxis. We work directly with the rotation group SO(3) without parameterization in representing the attitude of a rigid body. As a consequence, the proposed algorithm does not require attitude feedback for implementation as opposed to all previous work on 3D source seeking. The stability of the proposed algorithm is proven using an intricate combination of singular perturbation and second order averaging. 

We propose a novel 3D source seeking algorithm for rigid bodies with a non-collocated sensor inspired by the chemotactic navigation strategy of sea urchin sperm known as helical klinotaxis. We work directly with the rotation group SO(3) without parameterization in representing the attitude of a rigid body. As a consequence, the proposed algorithm does not require attitude feedback for implementation as opposed to all previous work on 3D source seeking. The stability of the proposed algorithm is proven using an intricate combination of singular perturbation and second order averaging. 

The goal of this paper is to design a stabilizing feedback controller of roll instability near stall. This problem becomes immensely challenging since the aileron sensitivity is vanishes and even reversed sign at stall. This challenge is overcome by employing the recently developed Lie Bracket Roll Augmentation (LIBRA) mechanism. In this mechanism,the nonlinear dynamics of the airplane near stall is exploited to achieve a rolling motion that is independent of the aileron sensitivity. Rather, it depends on the variation of the aileron sensitivity with the angle of attack which is non-zero at stall. The open loop characteristics of the LIBRA mechanism have been studied previously. The contribution of the current manuscript lies in using the LIBRA mechanism in a feedback fashion to stabilize the roll unstable dynamics near stall using a stabilization scheme based on motion planning techniques for highly oscillatory inputs.