14 research outputs found
Energy scavenging from insect flight
This paper reports the design, fabrication and testing of an energy scavenger that generates power from the wing motion of a Green June Beetle (C otinis nitida ) during its tethered flight. The generator utilizes non-resonant piezoelectric bimorphs operated in the d 31 bending mode to convert mechanical vibrations of a beetle into electrical output. The available deflection, force, and power output from oscillatory movements at different locations on a beetle are measured with a meso-scale piezoelectric beam. This way, the optimum location to scavenge energy is determined, and up to ~115 ”W total power is generated from body movements. Two initial generator prototypes were fabricated, mounted on a beetle, and harvested 11.5 and 7.5 ”W in device volumes of 11.0 and 5.6 mm 3 , respectively, from 85 to 100 Hz wing strokes during the beetle's tethered flight. A spiral generator was designed to maximize the power output by employing a compliant structure in a limited area. The necessary technology needed to fabricate this prototype was developed, including a process to machine high-aspect ratio devices from bulk piezoelectric substrates with minimum damage to the material using a femto-second laser. The fabricated lightweight spiral generators produced 18.5â22.5 ”W on a bench-top test setup mimicking beetles' wing strokes. Placing two generators (one on each wing) can result in more than 45 ”W of power per insect. A direct connection between the generator and the flight muscles of the insect is expected to increase the final power output by one order of magnitude.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/90804/1/0960-1317_21_9_095016.pd
A Study of Planar and Nonplanar Membrane Wing Planforms for the Design of a Flapping-Wing Micro Air Vehicle
Flapping wings may have potential for success in the realm of micro air vehicles (MAVs). The goal of this thesis was to investigate a variety of flapping wing planforms, including nonplanar effects, to create an optimum planform for an MAV design. Test stand and model prototype experiments were conducted to measure the lift and propulsive thrust generated by flapping wing planforms with a variety of nonplanar tips. The polynomial planform with 20Âș tip anhedral was selected for the flapping-wing MAV designed herein because of its enhanced performance, reaching over 15 g of lift. A propulsive thrust analysis was performed on the selected wing, indicating sufficient levels of thrust production. Instantaneous lift and strobe photography analyses were performed to investigate the underlying physical effects of nonplanar tips, particularly their ability to reduce negative upstroke lift
Micro motion amplification â A Review
Many motion-active materials have recently emerged, with new methods of integration into actuator components and systems-on-chip. Along with established microprocessors, interconnectivity capabilities and emerging powering methods, they offer a unique opportunity for the development of interactive millimeter and micrometer scale systems with combined sensing and actuating capabilities. The amplification of nanoscale material motion to a functional range is a key requirement for motion interaction and practical applications, including medical micro-robotics, micro-vehicles and micro-motion energy harvesting. Motion amplification concepts include various types of leverage, flextensional mechanisms, unimorphs, micro-walking /micro-motor systems, and structural resonance. A review of the research state-of-art and product availability shows that the available mechanisms offer a motion gain in the range of 10. The limiting factor is the aspect ratio of the moving structure that is achievable in the microscale. Flexures offer high gains because they allow the application of input displacement in the close vicinity of an effective pivotal point. They also involve simple and monolithic fabrication methods allowing combination of multiple amplification stages. Currently, commercially available motion amplifiers can provide strokes as high as 2% of their size. The combination of high-force piezoelectric stacks or unimorph beams with compliant structure optimization methods is expected to make available a new class of high-performance motion translators for microsystems
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Experimental and computational analysis for insect inspired flapping wing micro air vehicles
Many creatures in nature have evolved the ability to fly and some seem to do so effortlessly with captivating movement. The flight characteristics of these natural fliers have greatly fascinated biologists and engineers for a long time that to this day researchers continue to actively work in this field of science with the aim of one day developing a Flapping Wing Micro Aerial Vehicle (FWMAV) which can replicate the flight of nature's creatures. These types of autonomous robotic vehicles can fulfil tasks which are not suitable for manned vehicles especially when risks to human safety are present. Flight techniques such as control, stability and manoeuvrability are flight characteristics which an FWMAV must possess if such a device is employed for various rescue missions. With this in mind symmetrical and asymmetrical wing motions are studied experimentally in the current research programme in such a way that the methodology employed for this type of flight can be implemented into future FWMAVs.
In summary, the research performed during the course of this project produced innovative results in the form of the creation of two micro air vehicles with a thorough explanation of the development process and examination under experimental tests. Various parameters were analysed during the experimental tests such as force, moment, power and wing position measurements. The tests were performed on both models, one of which has the functionality to perform asymmetrical flapping and successfully generate moments about two different axes. A unique wing motion which favoured the upward vertical force production was investigated under various scenarios. The wings keep a fixed angle of attack during the downwards flapping motion and are allowed to passively rotate during the upstroke motion. Computational simulations were performed to investigate the hovering fluid dynamics, forces, moments and power required for various chordwise rotational positions and durations of wing rotation. This investigation aided in understanding the full effects of altering these parameters under hovering conditions for a rectangular wing. The valuable results found from this research program provide a better insight into various topics involving micro air vehicles in addition to developing future flight worthy insect inspired vehicles
Characterizing Thrust Performance for Free and Confined Oscillating Cantilevers
Although not identical to the motion employed by natureâs swimmers and flyers, the simple harmonic oscillations of cantilever-like structures have been shown to provide efficient low power solutions for applications ranging from thermal management to propulsion. However, in order to quantify their true potential, the resulting flow field and corresponding thrust must be better understood. In this experimental work, thin, flexible cantilevers vibrating in their fundamental mode are analyzed in terms of the flow field produced and the thrust generated. The actuation is achieved via a piezoelectric patch mounted near its base. An oscillating voltage tuned to the first resonance of the structure causes vibrations at the free end of the cantilever. The flow field is experimentally measured using Particle Image Velocimetry (PIV). Two dimensional flow fields are extracted from multiple x-y and y-z planes, and revealed that inward flow occurs upstream as well as above and below the flat face of the cantilever. It was also found that there is a net inward volumetric flow at the corners of the cantilever. Observing the flow off the tip of the fan lead to the finding that the dominant flow velocity occurs not at the center of the fan, but at the midpoints between the center and each edge. The flow field data are primarily used to motivate future geometry, and boundary configurations that could greatly enhance the thrust capabilities of the cantilever by directing the flow downstream in a more effective manner. The thrust produced was experimentally measured using a high resolution scale. Clear trends were observed and correlations developed to help predict the thrust as a function of the operating parameters including the cantilever geometry and vibration amplitude and frequency. Attempts at shaping the flow were investigated by introducing sidewalls on both sides of the oscillating cantilever. The sidewall boundary condition was tested with thrust performance and power consumption in mind, and it was found that the position of the tip on the cantilever in relation to the edge of the sidewall has an effect on power consumption that is dramatic and incongruent with what one would expect. This research provides the critical experimental analysis to gauge the viability of using simple and energy efficient actuation from cantilever-like structures in place of more complicated solutions which attempt to maintain a higher degree of biomimicry
Intersection between natural and artificial swimmers: a scaling approach to underwater vehicle design.
Approximately 72% of the Earthâs surface is covered by water, yet only 20% has been mapped [1]. Autonomous Underwater Vehicles (AUVs) are one of the main tools for ocean exploration. The demand for AUVs is expected to increase rapidly in the coming years [2], so there is a need for faster and more energy efficient AUVs. A drawback to using this type of vehicle is the finite amount of energy that is stored onboard in the form of batteries. Science and roboticists have been studying nature for ways to move more efficiently. Phillips et al. [3] presents data that contradicts the idea that fish are better swimmers than conventional AUVs when comparing the energetic cost of swimming in the form of the Cost of Transport (COT). The data presented by Phillips et al. only applies to AUVs at higher length and naval displacement (mass) scales, so the question arises of whether an AUV built at different displacements and length scales is more efficient than biological animals and if current bio-inspired platforms are better than conventional AUVs.
Besides power requirements, it is also useful to compare the kinematic parameters of natural and artificial swimmers. In this case, kinematic parameters indicate how fast the swimmer travels through the water. Also, they describe how fast the propulsion mechanism must act to reach a certain swimming speed. This research adopts the approach of Gazzola et al. [4] where the Reynolds number is associated with a dimensionless number, Swim number (Sw) in this case, that has all the kinematic information. A newly developed number that extends the swim number to conventional AUVs is the Propulsion number (Jw), which demonstrates excellent agreement with the kinematics of conventional AUVs. Despite being functionally similar, Sw and Jw do not have a one-to-one relationship. Sw, Jw, COT represent key performance metrics for an AUV, herein called performance criteria, which can be used to compare existing platforms with each other and estimate the performance of non-existent designs.
The scaling laws are derived by evaluating the performance of 229 biological animals, 163 bioinspire platforms, and 109 conventional AUVs. AUVs and bio-inspired platforms have scarce data compared with biological swimmers. Only 5% of conventional and 38% of bio-inspired AUVs have kinematic data while 30% of conventional and 18% of bio-inspired AUVs have energetic data. The low amount of performance criteria data is due to the nature of most conventional AUVs as commercial products. Only recently has the COT metric been included in the performance criteria for bio-inspired AUVs. For this reason, the research here formulates everything in terms of allometric scaling laws. This type of formulation is used extensively when referring to biological systems and is defined by an exponential relationship f (x) = axb, where x is a physical parameter of the fish or vehicle, like length or displacement. Scaling laws have the added benefit of allowing comparisons with limited data, as is the case for AUVs.
The length and displacement scale (physical scale) must be established before estimating the performance criteria. Scale is primarily determined by the payload needed for a particular application. For instance, surveying the water column in deep water will require different scientific tools than taking images of an oyster bed in an estuary. There is no way to identify the size of an AUV until it is designed for that application, since these scientific instruments each have their own volume, length, and weight. A methodology for estimating physical parameters using computer vision is presented to help determine the scale for the vehicle. It allows accurate scaling of physical parameters of biological and bio-inspired swimmers with only a side and top view of the platform. A physical scale can also be determined based on the vehicleâs overall volume, which is useful when determining how much payload is needed for a particular application. Further, this can be used in conjunction with 3D modeling software to scale nonexistent platforms.
Following the establishment of a physical scale, which locomotion mode would be most appropriate? Unlike conventional AUVs that use propeller or glider locomotion, bio-inspired platforms use a variety of modes. Kinematics and energy expenditures are different for each of these modes. For bio-inspired vehicles, the focus will be on the body-caudal fin (BCF) locomotion, of which four types exist: anguilliform, carangiform, thunniform, and ostraciiform. There is ample research on anguilliform and carangiform locomotion modes, but little research on thunniform and ostraciiform modes. In order to determine which locomotion mode scales best for a bio-inspired AUV, this research examines the power output and kinematic parameters for all four BCF modes. In order to achieve this, computational fluid dynamics simulations are performed on a 2D swimmer for all four modes. Overset meshes are used in lieu of body-fitted meshes to increase stability and decrease computational time. These simulations were used to scale output power over several decades of Reynolds numbers for each locomotion mode. Carangiform locomotion was found to be the most energy efficient, followed by anguilliform, thunniform, and ostraciiform.
In order to utilize the above scaling laws in designing a novel platform, or comparing an existing one, there must be a unifying framework. The framework for choosing a suitable platform is presented with a case study of two bio-inspired vehicles and a conventional one. The framework begins by determining how the platform can be physically scaled depending on the payload. Based on the physical scale and derived scaling laws, it then determines performance criteria. It also describes a method for relative cost scaling for each vehicle, which is not covered in the literature. The cost scaling is based on the assumption that all payloads and materials are the same. The case study shows that a conventional AUV performs better on all performance criteria and would cost less to build