Saturation-based actuation for flapping MAVs in hovering and forward flight

Stringent weight and size constraints on flapping-wing microair-vehicles dictate minimal actuation. Unfortunately, hovering and forward flight require different wing motions and, as such, independent actuators. Therefore, either a hovering or a forward-flight requirement should be included in the mission and design statements of a flapping-wing microair-vehicle. This work proposes a design for an actuation mechanism that would provide the required kinematics in each flight condition using only one actuator. The idea is to exploit the nonlinear dynamics of the flapping wing to induce the saturation phenomenon. One physical spring in the plunging direction is needed along with a feedback of the plunging angle into the control torque of the actuator in the back and forth flapping direction. By detuning the feedback gains away from the saturation requirement, we obtain the flapping kinematics required for hovering. In contrast, tuning the feedback gains to induce the saturation phenomenon transfers the motion into the plunging direction. Moreover, the actuating torque (in the back and forth flapping direction) would then provide a direct control over the amplitude of the plunging motion, while the amplitude of the actuated flapping motion saturates and does not change as the amplitude of the actuating torque increases.     

Stereo PIV measurement of a finite, flapping rigid plate in hovering condition

Qualitative and quantitative flow visualizations were performed on a flapping rigid plate to establish a quantitative method for flow observation and evaluation of the force in the near field of a flapping wing. Flow visualization was performed qualitatively with dye visualization and quantitatively with velocity measurements using stereo particle image velocimetry (PIV) on three planes near the tip of the plate along its chord and oriented normally. By ensemble averaging the velocity fields of the same phase angles, they represent a portion of the volume near the tip. Measurements were conducted with two flapping frequencies to compare the flow structure. The second invariant of the deformation tensor visualized the leading edge and mid-chord vortices around the plate appearing due to flow separation behind the plate while other vortical structures were visualized by streamlines. These structures appear to be related to the dynamics of the leading edge vortex. Force analysis by integrating the phase-averaged velocity field within a chosen control volume showed increases in the maxima of the magnitudes of the non-dimensional unsteady force terms on the edge of the plate at the angles after the end of each stroke. The non-dimensional phase-averaged momentum flux was similar for both flapping frequencies.     

Experimental study on interaction of aerodynamics with flexible wings of flapping vehicles in hovering and cruise flight

Flapping wings are promising lift and thrust generators, especially for very low Reynolds numbers. To investigate aeroelastic effects of flexible wings (specifically, wing’s twisting stiffness) on hovering and cruising aerodynamic performance, a flapping-wing system and an experimental setup were designed and built. This system measures the unsteady aerodynamic and inertial forces, power usage, and angular speed of the flapping wing motion for different flapping frequencies and for various wings with different chordwise flexibility. Aerodynamic performance of the vehicle for both no wind (hovering) and cruise condition was investigated. Results show how elastic deformations caused by interaction of inertial and aerodynamic forces with the flexible structure may affect specific power consumption. This information was used here to find a more suitable structural design. The best selected design in our tests performs up to 30% better than others (i.e., less energy consumption for the same lift or thrust generation). This measured aerodynamic information could also be used as a benchmarking data for unsteady flow solvers.     

Experimental investigation of the effect of chordwise flexibility on the aerodynamics of flapping wings in hovering flight

Ornithopters or mechanical birds produce aerodynamic lift and thrust through the flapping motion of their wings. Here, we use an experimental apparatus to investigate the effects of a wing's twisting stiffness on the generated thrust force and the power required at different flapping frequencies. A flapping wing system and an experimental set-up were designed to measure the unsteady aerodynamic and inertial forces, power usage and angular speed of the flapping wing motion. A data acquisition system was set-up to record important data with the appropriate sampling frequency. The aerodynamic performance of the vehicle under hovering (i.e., no wind) conditions was investigated. The lift and thrust that were produced were measured for different flapping frequencies and for various wings with different chordwise flexibilities. The results show the manner in which the elastic deformation and inertial flapping forces affect the dynamical behavior of the wing. It is shown that the generalization of the actuator disk theory is, at most, only valid for rigid wings, and for flexible wings, the power P varies by a power of about 1.0  of the thrust T. This aerodynamic information can also be used as benchmark data for unsteady flow solvers.     

Correlation between vortex structures and unsteady loads for flapping motion in hover

During the past decade, efforts were made to develop a new generation of unmanned aircrafts, qualified as Micro-Air Vehicles. The particularity of these systems resides in their maximum dimension limited to 15 cm, which, in terms of aerodynamics, corresponds to low Reynolds number flows (Re ≈ 10² to 10⁴). At low Reynolds number, the concept of flapping wings seems to be an interesting alternative to the conventional fixed and rotary wings. Despite the fact that this concept may lead to enhanced lift forces and efficiency ratios, it allows hovering coupled with a low-noise generation. Previous studies (Dickinson et al. in Science 284:1954–1960, 1999) revealed that the flow engendered by flapping wings is highly vortical and unsteady, inducing significant temporal variations of the loads experienced by the airfoil. In order to enhance the aerodynamic performance of such flapping wings, it is essential to give further insight into the loads generating mechanisms by correlating the spatial and temporal evolution of the vortical structures together with the time-dependent lift and drag. In this paper, Time Resolved Particle Image Velocimetry is used as a basis to evaluate both unsteady forces and vortical structures generated by an airfoil undergoing complex motion (i.e. asymmetric flapping flight), through the momentum equation approach and a multidimensional wavelet-like vortex parameterization method, respectively. The momentum equation approach relies on the integration of flow variables inside and around a control volume surrounding the airfoil (Noca et al. in J Fluids Struct 11:345–350, 1997; Unal et al. in J Fluids Struct 11:965–971, 1997). Besides the direct link performed between the flow behavior and the force mechanisms, the load characterization is here non-intrusive and specifically convenient for flapping flight studies thanks to its low Reynolds flows’ sensitivity and adaptability to moving bodies. Results are supported by a vortex parameterization which evaluates the circulation of the multiple vortices generated in such complex flows. The temporal evolution of the loads matches the flow behavior and hence reveals the preponderant inertial force component and that due to vortical structures.     

Force production and asymmetric deformation of a flexible flapping wing in forward flight

Insect wings usually are flexible and deform significantly under the combined inertial and aerodynamic load. To study the effect of wing flexibility on both lift and thrust production in forward flight, a two-dimensional numerical simulation is employed to compute the fluid–structure interaction of an elastic wing section translating in an inclined stroke plane while pitching around its leading ledge. The effects of the wing stiffness, mass ratio, stroke plane angle, and flight speed are considered. The results show that the passive pitching due to wing deformation can significantly increase thrust while either maintaining lift at the same level or increasing it simultaneously. Another important finding is that even though the wing structure and actuation kinematics are symmetric, chordwise deformation of the wing shows a larger magnitude during upstroke than during downstroke. The asymmetry is more pronounced when the wing has a low mass ratio so that the fluid-induced deformation is significant. Such an aerodynamic cause may serve as an additional mechanism for the asymmetric deformation pattern observed in real insects.     

An improved method for calculating flow past flapping and hovering airfoils

A method is reported here for calculating unsteady aerodynamics of hovering and flapping airfoil for two-dimensional flow via the following improved methodologies: (a) a correct formulation of the problem using stream function (ψ) and vorticity (ω) as dependent variables; (b) calculating loads and moment by a new method to solve the governing pressure Poisson equation (PPE) in a truncated part of the computational domain on a nonstaggered grid; (c) accurate solution using high accuracy compact difference scheme for the vorticity transport equation (VTE) and (d) accelerating the computations by using a high-order filter after each time step of integration. These have been used to solve Navier–Stokes equation for flow past flapping and hovering NACA 0014 and 0015 airfoils at typical Reynolds numbers relevant to the study of unsteady aerodynamics of micro air vehicle (MAV) and insect/bird flight.     

Vortex identification methods based on temporal signal-processing of time-resolved PIV data

The lack of a universally accepted mathematical definition of a vortex structure has led to a considerable number of Eulerian criteria to identify coherent structures. Most are derived from the instantaneous local velocity gradient tensor and its derivatives and require appropriate thresholds to extract the boundaries of the structures. Notwithstanding their great potential for studying coherent structures, most criteria are not frame-independent and they lack a clear physical meaning. The Lyapunov exponent, a popular tool in dynamical system theory, appears as a promising alternative. This Lagrangian criterion does not suffer from the drawbacks of the Eulerian criteria and is constructed on a simple physical interpretation that includes information on the history of the flow. However, since the computation of the Lyapunov exponent involves the knowledge of fluid particle trajectories, experimental applications are currently restricted to laminar flows and two-dimensional turbulence, provided that velocity fields are time-resolved. In this work, we explore temporal post-treatment methods to extract vortical structures developing in a flow through a smooth axisymmetric constriction. Data from planar time-resolved Particle image velocimetry, measuring two or three components of the velocity vectors, are transformed via the Taylor hypothesis to quasi-instantaneous three-dimensional velocity field and are interpreted in terms of the discrete wavelet decomposition, the finite-time Lyapunov exponent, and the linear stochastic estimation. It appears that these methods can concurrently provide very rich and complementary scalar fields representing the effects of the vortical structures and their interactions in the flow.     

An orthogonal-plane PIV technique for the investigations of three-dimensional vortical structures in a turbulent boundary layer flow

An experimental investigation was carried out regarding a three-dimensional topology of a zero-pressure gradient turbulent boundary layer. In this study, the polarization separation technique has been applied to the PIV measurements. Two mutually perpendicular measurement planes have been employed in x–y and x–z planes, respectively. Synchronization between a stereoscopic PIV with another plane PIV system was made toward the detection of such salient features of the coherent structure as the legs and the head of the hairpin vortices. Polarization rotation via a half-waveplate and subsequent particle image separation using polarizer minimized the spurious particle images. The PIV results clearly demonstrate the presence of hairpin-like coherent vortical structures and coincidence between the near-wall quasi-streamwise vortex pair and the legs of the hairpin vortex.     

Effects of a dynamic trailing-edge flap on the aerodynamic performance and flow structures in hovering flight

To examine the effects of wing morphing on unsteady aerodynamics, deformable flapping plates are numerically studied in a low-Reynolds-number flow. Simulations are carried out using an in-house immersed-boundary-method-based direct numerical simulation (DNS) solver. In current work, chord-wise camber is modeled by a hinge connecting two rigid components. The leading portion is driven by a biological hovering motion along a horizontal stroke plane. The hinged trailing-edge flap (TEF) is controlled by a prescribed harmonic deflection motion. The effects of TEF deflection amplitude, deflection phase difference, hinge location, and Reynolds number on the aerodynamic performance and flow structures are investigated. The results show that the unsteady aerodynamic performance of deformable flapping plates is dominated by the TEF deflection phase difference, which directly affects the strength of the leading-edge vortex (LEV) and thus influences the entire vortex shedding process. The overall lift enhancement can reach up to 26% by tailoring the deflection amplitude and deflection phase difference. It is also found that the role of the dynamic TEF played in the flapping flight is consistent over a range of hinge locations and Reynolds numbers. Results from a low aspect-ratio (AR=2) deformable plate show the same trend as those of 2-D cases despite the effect of the three-dimensionality.     

Fluid trajectory evaluation based on an ensemble-averaged cross-correlation in time-resolved PIV

A novel multi-frame particle image velocimetry (PIV) method, able to evaluate a fluid trajectory by means of an ensemble-averaged cross-correlation, is introduced. The method integrates the advantages of the state-of-art time-resolved PIV (TR-PIV) methods to further enhance both robustness and dynamic range. The fluid trajectory follows a polynomial model with a prescribed order. A set of polynomial coefficients, which maximizes the ensemble-averaged cross-correlation value across the frames, is regarded as the most appropriate solution. To achieve a convergence of the trajectory in terms of polynomial coefficients, an ensemble-averaged cross-correlation map is constructed by sampling cross-correlation values near the predictor trajectory with respect to an imposed change of each polynomial coefficient. A relation between the given change and corresponding cross-correlation maps, which could be calculated from the ordinary cross-correlation, is derived. A disagreement between computational domain and corresponding physical domain is compensated by introducing the Jacobian matrix based on the image deformation scheme in accordance with the trajectory. An increased cost of the convergence calculation, associated with the nonlinearity of the fluid trajectory, is moderated by means of a V-cycle iteration. To validate enhancements of the present method, quantitative comparisons with the state-of-arts TR-PIV methods, e.g., the adaptive temporal interval, the multi-frame pyramid correlation and the fluid trajectory correlation, were carried out by using synthetically generated particle image sequences. The performances of the tested methods are discussed in algorithmic terms. A high-rate TR-PIV experiment of a flow over an airfoil demonstrates the effectiveness of the present method. It is shown that the present method is capable of reducing random errors in both velocity and material acceleration while suppressing spurious temporal fluctuations due to measurement noise.     

Experimental investigation of global structures in an incompressible cavity flow using time-resolved PIV

Open-cavity flows are known to exhibit a few well-defined peaks in the power spectral distribution of velocity or pressure signals recorded close to the impinging corner. The measured frequencies are in fact common to the entire flow, indicating some global organisation of the flow. The modal structures, i.e. the spatial distribution of the most characteristic frequencies in the flow, are experimentally investigated using time-resolved particle image velocimetry. Each spatial point, of the resulting two-dimension-two-component (2D–2C) velocity fields, provides time-resolved series of the velocity components V _x and V _y , in a (x, y) streamwise plane orthogonal to cavity bottom. Each local time-series is Fourier-transformed, such as to provide the spectral distribution at any point of the PIV-plane. One finally obtains the spatial structure associated with any frequency of the Fourier spectrum. Some of the modal spatial structures are expected to represent the nonlinear saturation of the global modes, against which the stationary solution of the Navier–Stokes equations may have become linearly unstable. Following Rowley et al. (J Fluid Mech 641:115–127, 2009), our experimental modal structures may even correspond to the Koopman modes of this incompressible cavity flow.     

A new bionic MAV＇s flapping motion based on fruit fly hovering at low Reynolds number

On the basis of the studies on the high unsteady aerodynamic mechanisms of the fruit fly hovering the aerodynamic advantages and disadvantages of the fruit fly flapping motion were analyzed. A new bionic flapping motion was proposed to weaken the disadvantages and maintain the advantages, it may be used in the designing and manufacturing of the micro air vehicles (MAV’s). The translation of the new bionic flapping motion is the same as that of fruit fly flapping motion. However, the rotation of the new bionic flapping motion is different. It is not a pitching-up rotation as the fruit fly flapping motion, but a pitching-down rotation at the beginning and the end of a stroke. The numerical method of 3rd-order Roe scheme developed by Rogers was used to study these questions. The correctness of the numerical method and the computational program was justified by comparing the present CFD results of the fruit fly flapping motion in three modes, i.e., the advanced mode, the symmetrical mode and the delayed mode, with Dickinson’s experimental results. They agreed with each other very well. Subsequently, the aerodynamic characteristics of the new bionic flapping motion in three modes were also numerically simulated, and were compared with those of the fruit fly flapping. The conclusions could be drawn that the high unsteady lift mechanism of the fruit fly hovering is also effectively utilized by this new bionic flapping. Compared with the fruit fly flapping, the unsteady drag of the new flapping decreases very much and the ratio of lift to drag increases greatly. And the great discrepancies among the mean lifts of three flapping modes of the fruit fly hovering are effectively smoothed in the new flapping. On the other hand, this new bionic flapping motion should be realized more easily. Finally, it must be pointed out that the above conclusions were just drawn for the hovering flapping motion. And the aerodynamic characteristics of the new bionic flapping motion in forward flight are going to be studied in the next step. The project supported by the National Natural Science Foundation of China (10232010, 10032060, 90605005).     

Lift and power requirements of hovering insect flight

Lift and power requirements for hovering flight of eight species of insects are studied by solving the Navier-Stokes equation numerically. The solution provides velocity and pressure fields, from which unsteady aerodynamic forces and moments are obtained. The inertial torque of wing mass are computed analytically. The wing length of the insects ranges from 2 mm (fruit fly) to 52 mm (hawkmoth); Reynolds numbers Re (based on mean flapping speed and mean chord length) ranges from 75 to 3850. The primary findings are shown in the following: (1) Either small (R = 2mm, Re = 75), medium (R ≈ 10 mm, Re ≈ 500) or large (R ≈ 50 mm, Re ≈ 4 000) insects mainly employ the same high-lift mechanism, delayed stall, to produce lift in hovering flight. The midstroke angle of attack needed to produce a mean lift equal to the insect weight is approximately in the range of 25° to 45°, which is approximately in agreement with observation. (2) For the small insect (fruit fly) and for the medium and large insects with relatively small wingbeat frequency (cranefly, ladybird and hawkmoth), the specific power ranges from 18 to 39W·kg^-1 , the major part of the power is due to aerodynamic force, and the elastic storage of negative work does not change the specific power greatly. However for medium and large insects with relatively large wingbeat frequency (hover fly, dronefly, honey bee and bumble bee), the specific power ranges from 39 to 61 W·kg^-1 , the major part of the power is due to wing inertia, and the elastic storage of negative work can decrease the specific power by approximately 33%. (3) For the case of power being mainly contributed by aerodynamic force (fruit fly, cranefly, ladybird and hawkmoth), the specific power is proportional to the product of the wingbeat frequency, the stroke amplitude, the wing length and the drag-to-lift ratio. For the case of power being mainly contributed by wing inertia (hoverfly, dronefly, honey bee and bumble bee), the specific power (without elastic storage) is proportional to the product of the cubic of wingbeat frequency, the square of the stroke amplitude, the square of the wing length and the ratio of wing mass to insect mass.     

An efficient and accurate approach to MTE-MART for time-resolved tomographic PIV

The motion-tracking-enhanced MART (MTE-MART; Novara et al. in Meas Sci Technol 21:035401, 2010) has demonstrated the potential to increase the accuracy of tomographic PIV by the combined use of a short sequence of non-simultaneous recordings. A clear bottleneck of the MTE-MART technique has been its computational cost. For large datasets comprising time-resolved sequences, MTE-MART becomes unaffordable and has been barely applied even for the analysis of densely seeded tomographic PIV datasets. A novel implementation is proposed for tomographic PIV image sequences, which strongly reduces the computational burden of MTE-MART, possibly below that of regular MART. The method is a sequential algorithm that produces a time-marching estimation of the object intensity field based on an enhanced guess, which is built upon the object reconstructed at the previous time instant. As the method becomes effective after a number of snapshots (typically 5–10), the sequential MTE-MART (SMTE) is most suited for time-resolved sequences. The computational cost reduction due to SMTE simply stems from the fewer MART iterations required for each time instant. Moreover, the method yields superior reconstruction quality and higher velocity field measurement precision when compared with both MART and MTE-MART. The working principle is assessed in terms of computational effort, reconstruction quality and velocity field accuracy with both synthetic time-resolved tomographic images of a turbulent boundary layer and two experimental databases documented in the literature. The first is the time-resolved data of flow past an airfoil trailing edge used in the study of Novara and Scarano (Exp Fluids 52:1027–1041, 2012); the second is a swirling jet in a water flow. In both cases, the effective elimination of ghost particles is demonstrated in number and intensity within a short temporal transient of 5–10 frames, depending on the seeding density. The increased value of the velocity space–time correlation coefficient demonstrates the increased velocity field accuracy of SMTE compared with MART.