DEVELOPMENT OF AN AUTONOMOUS FLAPPING WING …
Transcript of DEVELOPMENT OF AN AUTONOMOUS FLAPPING WING …
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D E V E L O P M E N T O F A N A U TO N O M O U S F L A P P I N G W I N G R O B O T L O C U S T ; L I N L O C
Hamid Isakhani21st May 2018
EU HORIZON 2020 PROJECT STEP2DYNA SEMINAR, TSINGHUA UNIVERSITY
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• Session Overview
Introduction Self Introduction Problem Statement Objectives
Literature Review Several Similar Prominent Projects National Projects
Objective-1 Aerodynamics Study Computational Fluid Dynamics (CFD) Stages Involved in CFD Studies
Future Work Objective-1 Continuation Objective-2 Initialisation
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• Self-Introduction
B.Eng.
MRes.
Ph.D.
Biozopter FLDPLinLoc
Aeronautics
Aerospace
Computer
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• Problem Statement
Problem at hand: A fully bioinspired autonomousflapping unmanned aerial vehicle.
Subproblem-1 (Aerodynamics): Numerical and experimental fluiddynamics study and rapid prototyping of locust wing.
Subproblem-2 (Mechanics): Biomechanical properties (mechanicaltesting) and formulation of wing articulation mechanism of locust wing.
Subproblem-3 (Autonomous Control): Integration of LGMD visionmodule onto the flapping flight control system (FCS).
(Step2Dyna-WP4: Implementation of Collisiondetection and avoidance systems for mobilerobots and unmanned aerial systems)
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• Literature: Several Similar Prominent Projects
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COUNTRY
Research Institution
Project
Bioinspired
Topology
Actuator Type
Wing Rotation
Konkuk University
LIPCA MAV
Quasi
4-bar
LIPCA
Passive
DRDO
VTOL MAV
Quasi
4-bar
DC Motor
Active
Warsaw University
Lissajous MAV
Quasi
Double Scotch Yoke
DC Motor
Active
Delft University
Delfly III
Quasi
4-bar
DC Motor
Passive
Harvard University
HMF/PARITy
Quasi
4-bar
PZT BiMorph
Passive
• Literature Several Prominent Projects
University of Lincoln
LinLoc
Fully(Aerodynamics +
Mechanics + Control)
4-bar
DC Motor
Passive
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• Proposed Methodology
LinLocLinLoc: a novel fully-
bioinspired aerial robotic platform that appreciates biological
solutions
1) Flappingwing flight
2) Collision avoidance and
autonomous flight in complex cluttered
environment
To address
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• Subproblem-1: Linloc Aerodynamics
Fundamentals of Conventional and Flapping Flight
Newton’s 3rd Law of Motion; for a everyaction, there is an equal and oppositereaction.
Clap-and-peel motion by use of two rigid wing sections with the red arrowsindicating the direction of the wing motion and the blue arrows indicating thedirection of the induced flow, for the instroke (a–c) and outstroke (d–f ).
Locust in a wind-tunnel test, recordedusing high-speed camera.
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• Linloc Aerodynamics: Computational Fluid Dynamics (Major Stages)
1) Geometry Modeling and Meshing
2) Governing equations and Solution parameters 3) Results and discussions
4) Observation & Comments
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• Stage-1: Taxidermy and Macro Photography
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• Stage-2: Post-processing Images in Adobe Photoshop
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• Stage-3: Digitizing Wing in WebPlotDigitizer
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• Stage-3: Exporting Wing Coordinates
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• Stage-4: Writing the .swp Code in MS Visual Basic
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• Stage-5: Running the Macro Code in SolidWorks
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• Stage-6: Importing the Wing Geometry and Creating Fluid Volume in ANSYS
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• Stage-6: Importing the Wing Geometry and Creating Fluid Volume in ANSYS
Corrugation
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• Stage-7: Generating Grids/Mesh and Evaluating its Resolution
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• Stage-7: Generating Grids/Mesh and Evaluating its Resolution
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• LinLoc Aerodynamics: Governing Equations
𝐷𝐷𝑣𝑣𝑇𝑇𝐷𝐷𝑡𝑡
= ∇ �𝑣𝑣𝑇𝑇𝜎𝜎𝑣𝑣∇𝑣𝑣𝑇𝑇 + 𝑆𝑆𝑣𝑣
Our turbulence model is described by Spalart-Allmaras equation;
𝑣𝑣𝑇𝑇 – Turbulent Viscosity∇𝑣𝑣𝑇𝑇– Turbulent Viscosity Gradient𝑆𝑆𝑣𝑣– Measure of the Deformation Tensor𝜎𝜎𝑣𝑣– Turbulent Prandtl Number
Flow over aerofoil is described byNavier-Stokes equation;
𝜕𝜕𝑢𝑢𝜕𝜕𝑡𝑡
+ 𝜌𝜌 𝑢𝑢 � ∇ 𝑢𝑢 − ∇𝜎𝜎 𝑢𝑢 � 𝑝𝑝 = 𝜌𝜌𝑓𝑓
∇ � 𝑢𝑢 = 0
𝜌𝜌– Fluid Density𝑓𝑓– Body Force𝑡𝑡– Time𝑝𝑝– Pressure
𝑢𝑢– Fluid Velocity
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• Stage-8.1: Setting Up Solver Model, Boundary Conditions, and Flow Problem
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• Stage-8.1: Setting Up Solver Model, Boundary Conditions, and Flow Problem
Define;
Material, Boundary Conditions, Reference Values, Solution Method, Initialization, and Calculation
Processes Window
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• Stage-8.2: Iterating Towards a Solution
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• Stage-9.1: Post-Processing Result- Pressure Contour
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• Stage-9.1: Post-Processing Result- Pressure Contour
Maximum pressure at the leading edge
Minimum pressure at the bottom of aerofoil
Domain Selection
Range Selection
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• Stage-9.2: Post-Processing Result- Turbulence Contour
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• Stage-9.3: Post-Processing Result- Velocity Contour
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• Results for Publication
𝑹𝑹𝒆𝒆 = 𝒖𝒖𝒖𝒖/𝒗𝒗∞𝑺𝑺𝑺𝑺 = 𝒇𝒇𝒖𝒖/𝒖𝒖
𝑪𝑪𝑳𝑳 = 𝑳𝑳/(𝟎𝟎.𝟓𝟓𝝆𝝆𝒖𝒖𝟐𝟐𝑺𝑺)𝑪𝑪𝑫𝑫 = 𝑫𝑫/(𝟎𝟎.𝟓𝟓𝝆𝝆𝒖𝒖𝟐𝟐𝑺𝑺)
Profile CL CD
Locust-1 0.452 0.230
Locust-2 0.385 0.240
Locust-3 0.495 0.241
Locust-4 0.505 0.243
Locust-5 0.419 0.248
Locust-6 0.643 0.238
Locust-7 0.861 0.260
Locust-8 0.264 0.240
Locust-9 0.259 0.241
Locust-10 0.427 0.260
l – Characteristic length𝑣𝑣∞ – Kinematic Viscosityf – Frequency of Vortex Shedding
ρ – Air DensityS – Area
L – LiftD – Drag
Reynolds Number, Strouhal Number,
Lift Coefficient,Drag Coefficient,
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• Subproblem-1: Linloc Aerodynamics (Continuation)
Rapid prototyping (3D Printing/Injection moulding)
The final wing design concept is 3D printed through additivemanufacturing using long chain crystalline polymer (closestmaterial to insect wing). Furthermore, the wings are prototypedthrough injection moulding to compare the two manufacturingprocesses for optimisation purposes.
Wind tunnel testing
The manufactured wing is then subjected to low-speed (subsonic)wind-tunnel testing to obtain its real-world aerodynamiccharacteristics and flow-field structures. Finally, the results arecompared to the simulation results, and the available literature, todetermine its contribution to the knowledge.
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“Those who are inspired by a modelother than Nature, a mistress aboveall masters, are labouring in vain”.
Leonardo da Vinci