Related papers: Flapping Wings Amplify Pitch Stability: Insights f…
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…
This paper investigates the effects of geometric nonlinearity and structural flexibility on the flight dynamics of high-aspect-ratio wings representative of high-altitude long endurance aircraft configurations. A coupled aeroelastic flight…
Groups of aircraft have the potential to save significant amounts of energy by flying in formations; all but the leading aircraft can benefit from the upwash of the wakes of preceding aircraft. A potential obstacle as the number of aircraft…
Wind turbine's wake, being convectively unstable, may behave as an amplifier of upstream perturbations and make the downstream turbine experience strong inflow fluctuations. In this work, we investigate the effects of the side-to-side…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
In windy conditions, the air is turbulent. The strong and intermittent velocity variations of turbulence are invisible to flying animals. Nevertheless, flying animals, not much larger than the smallest scales of turbulence, manage to…
Incremental stability is a property of dynamical systems ensuring the uniform asymptotic stability of each trajectory rather than a fixed equilibrium point or trajectory. Here, we introduce a notion of incremental stability for stochastic…
Medium and large insects in normal hovering have horizontal, planar up- and downstrokes1-4. The lift of the two half-strokes, generated by the leading-edge vortex, provides the weight-supporting vertical force. But for small insects (wing…
Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three…
We present the design and implementation of HASTA (Hopper with Adjustable Stiffness for Terrain Adaptation), a vertical hopping robot with real-time tunable leg stiffness, aimed at optimizing energy efficiency across various ground profiles…
The passive flight of a thin wing or plate is an archetypal problem in flow-structure interactions at intermediate Reynolds numbers. This seemingly simple aerodynamic system displays an impressive variety of steady and unsteady motions that…
We study coherent structures in subsonic turbulent jets subject to a flight stream. A thorough characterisation of the effects of a flight stream on the turbulent field was recently performed by Maia et al. (2023) and fluctuation energy…
The dipteran flight mechanism of the insects is commonly used to design the nonlinear flight robot system. However, the dynamic response of the click mechanism of the nonlinear robot system with multiple stability still unclear. In this…
This paper presents the stability analysis of a system sliding at low velocities ($< 100 \mu$m.s$^{-1}$) under a periodically modulated normal load, preserving interfacial contact. Experiments clearly evidence that normal vibrations…
Flapping wings enable flying animals and biomimetic robots to generate elevated aerodynamic forces. Measurements that demonstrate this capability are based on tethered experiments with robots and animals, and indirect force calculations…
Existing research has yet to reach a consensus on whether and how small flying animals utilize elastic energy storage mechanisms to reduce flight energy expenditure, and there is a lack of systematic and universal methods for assessment. To…
Swimming fish and flying insects use the flapping of fins and wings to generate thrust. In contrast, microscopic organisms typically deform their appendages in a wavelike fashion. Since a flapping motion with two degrees of freedom is able,…
Insect-scale micro-aerial vehicles, especially lightweight, flapping-wing robots, are becoming increasingly important for safe motion sensing in spatially constrained environments such as living spaces. However, yaw control using flapping…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…