Related papers: State-space aerodynamic model reveals high force c…
This paper presents a dynamic model and a control system for a flapping-wing unmanned aerial vehicle. Inspired by flight characteristics captured from live Monarch butterflies, a new dynamic model is presented to account the effects of…
Flapping flight and swimming are increasingly studied both due to their intrinsic scientific richness and their applicability to novel robotic systems. Strip theory is often applied to flapping wings, but such modeling is only rigorously…
This article reports on a full replication study in computational fluid dynamics, using an immersed boundary method to obtain the flow around a pitching and rolling elliptical wing. As in the original study, the computational experiments…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
During the pull-out maneuver, Peregrine falcons were observed to adopt specific flight configurations which are thought to offer an aerodynamic advantage over aerial prey. Analysis of the flight trajectory of a falcon in a controlled…
A control design approach to achieve fully autonomous take-off and flight maneuvers with a tethered aircraft is presented and demonstrated in real-world flight tests with a small-scale prototype. A ground station equipped with a controlled…
A pinned-free beam in axial fluid flow, subjected to feedback-based actuation at the pinned end, is investigated. The actuation may be a moment or a prescribed angle and it is proportional to the state (curvature, slope, or displacement) of…
Accurate prediction of hypersonic flow fields over a compression ramp is critical for aerodynamic design but remains challenging due to the scarcity of experimental measurements such as velocity. This study systematically develops a data…
Aerial manipulation (AM) expands UAV capabilities beyond passive observation to contact-based operations at high altitudes and in otherwise inaccessible environments. Although recent advances show promise, most AM systems are developed in…
We study the aerodynamics of a flapping flexible wing with a two-vein pattern that mimics the elastic response of insect wings in a simplified manner. The experiments reveal a non-monotonic variation of the thrust force produced by the…
We perform direct numerical simulations of laminar separated flows over finite-aspect-ratio swept wings at a chord-base Reynolds number of $Re = 400$ to reveal a variety of wake structures generated for a range of aspect ratios…
This study focuses on the numerical simulation of high Reynolds number separated flows and proposes a data-driven approach to improve the predictive capability of the SA turbulence model. First, data assimilation was performed on two…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations,…
Winged blimps operate across distinct aerodynamic regimes that cannot be adequately captured by a single model. At high speeds and small angles of attack, their dynamics exhibit strong coupling between lift and attitude, resembling…
This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, and the environmental constraints, we aim to advance our…
Flying insects are thought to achieve energy-efficient flapping flight by storing and releasing elastic energy in their muscles, tendons, and thorax. However, flight systems consisting elastic elements coupled to nonlinear, unsteady…
The unsteady characteristics of the flow over thick flatback airfoils have been investigated by means of CFD calculations. Sandia airfoils which have 35% maximum thickness with three different trailing edge thicknesses were selected. The…
Thermal soaring enables birds to perform cost-efficient flights during foraging or migration trips. Yet, although all soaring birds exploit vertical winds effectively, this group contains species that vary strongly in their morphologies.…