1,703 research outputs found
Development of c-means Clustering Based Adaptive Fuzzy Controller for A Flapping Wing Micro Air Vehicle
Advanced and accurate modelling of a Flapping Wing Micro Air Vehicle (FW MAV)
and its control is one of the recent research topics related to the field of
autonomous Unmanned Aerial Vehicles (UAVs). In this work, a four wing
Natureinspired (NI) FW MAV is modeled and controlled inspiring by its advanced
features like quick flight, vertical take-off and landing, hovering, and fast
turn, and enhanced manoeuvrability when contrasted with comparable-sized fixed
and rotary wing UAVs. The Fuzzy C-Means (FCM) clustering algorithm is utilized
to demonstrate the NIFW MAV model, which has points of interest over first
principle based modelling since it does not depend on the system dynamics,
rather based on data and can incorporate various uncertainties like sensor
error. The same clustering strategy is used to develop an adaptive fuzzy
controller. The controller is then utilized to control the altitude of the NIFW
MAV, that can adapt with environmental disturbances by tuning the antecedent
and consequent parameters of the fuzzy system.Comment: this paper is currently under review in Journal of Artificial
Intelligence and Soft Computing Researc
Advances in Bio-Inspired Robots
This book covers three major topics, specifically Biomimetic Robot Design, Mechanical System Design from Bio-Inspiration, and Bio-Inspired Analysis on A Mechanical System. The Biomimetic Robot Design part introduces research on flexible jumping robots, snake robots, and small flying robots, while the Mechanical System Design from Bio-Inspiration part introduces Bioinspired Divide-and-Conquer Design Methodology, Modular Cable-Driven Human-Like Robotic Arm andWall-Climbing Robot. Finally, in the Bio-Inspired Analysis on A Mechanical System part, research contents on the control strategy of Surgical Assistant Robot, modeling of Underwater Thruster, and optimization of Humanoid Robot are introduced
How ornithopters can perch autonomously on a branch
Flapping wings are a bio-inspired method to produce lift and thrust in aerial
robots, leading to quiet and efficient motion. The advantages of this
technology are safety and maneuverability, and physical interaction with the
environment, humans, and animals. However, to enable substantial applications,
these robots must perch and land. Despite recent progress in the perching
field, flapping-wing vehicles, or ornithopters, are to this day unable to stop
their flight on a branch. In this paper, we present a novel method that defines
a process to reliably and autonomously land an ornithopter on a branch. This
method describes the joint operation of a flapping-flight controller, a
close-range correction system and a passive claw appendage. Flight is handled
by a triple pitch-yaw-altitude controller and integrated body electronics,
permitting perching at 3 m/s. The close-range correction system, with fast
optical branch sensing compensates for position misalignment when landing. This
is complemented by a passive bistable claw design can lock and hold 2 Nm of
torque, grasp within 25 ms and can re-open thanks to an integrated tendon
actuation. The perching method is supplemented by a four-step experimental
development process which optimizes for a successful design. We validate this
method with a 700 g ornithopter and demonstrate the first autonomous perching
flight of a flapping-wing robot on a branch, a result replicated with a second
robot. This work paves the way towards the application of flapping-wing robots
for long-range missions, bird observation, manipulation, and outdoor flight
Toward a Biologically Inspired Human-Carrying Ornithopter Robot Capable of Hover
Historically, humans have aspired to fly like birds. However, a human carrying ornithopter that can hover by flapping wings doesnÂ’t exist in today\u27s reality. This motivated our MQP team to address feasibility of heavy weight biologically inspired hovering robot. In this project, we report on the aerodynamics of flapping wing flight through a means of an analytical model and numerical simulation, and validated these findings through physical experiments
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