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1

Development of C-Means clustering based adaptive fuzzy controller for a flapping wing micro air vehicle

Ferdaus Md Meftahul, Anavatti Sreenatha G., Garratt Matthew A., Pratama Mahardhika

Journal of Artificial Intelligence and Soft Computing Research

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2019

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Vol. 9, No. 2

99--109

EN

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 MAVs. Some desiring features of the FW MAV are quick flight, vertical take-off and landing, hovering, and fast turn, and enhanced manoeuvrability contrasted with similar-sized fixed and rotary wing MAVs. Inspired by the FW MAV’s advanced features, a four-wing Natureinspired (NI) FW MAV is modelled and controlled in this work. The Fuzzy C-Means (FCM) clustering algorithm is utilized to construct the data-driven NIFW MAV model. Being model free, it does not depend on the system dynamics and can incorporate various uncertainties like sensor error, wind gust etc. Furthermore, a Takagi-Sugeno (T-S) fuzzy structure based adaptive fuzzy controller is proposed. The proposed adaptive controller can tune its antecedent and consequent parameters using FCM clustering technique. This controller is employed to control the altitude of the NIFW MAV, and compared with a standalone Proportional Integral Derivative (PID) controller, and a Sliding Mode Control (SMC) theory based advanced controller. Parameter adaptation of the proposed controller helps to outperform it static PID counterpart. Performance of our controller is also comparable with its advanced and complex counterpart namely SMC-Fuzzy controller.

2

Using ANSYS and SORCER Modeling Framework for the Optimization of the Design of a Flapping Wing Bionic Object

Abramowicz M., Kamieniecki K., Piechna A., Rubach P., Piechna J.

Machine Dynamics Research

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2015

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Vol. 39, No. 1

21-36

EN

Growing modeling software capabilities together with available computational resources enable the modeling of more and more complex multi-physical problems. At the same time, the preparation of such simulation requires a collaboration of both engineers and software. Multidisciplinary Design Optimization (MDO) platforms are used to integrate simulation tools and expert knowledge that represents various engineering disciplines. The presented study demonstrates an effective use of a specialized CFD program and an MDO platform the SORCER Modeling Framework (SMF) for the automation and optimization of the design of a flapping wing bionic object. The SMF realizes an optimization loop by using independent blocks prepared using ANSYS Workbench. An unsteady flow generated by the prescribed flapping wing trajectory is simulated. A number of geometrical and physical parameters is defined in the SMF model and then transferred to the slave blocks of the CFD program. An automated ANSYS workflow generates a geometry of computational domain, realizes it's proper meshing, initializes and performs the simulation, and finally passes the results to the SMF. The proposed system is an example of usage of the SMF that demonstrates the connection of specialized knowledge and a complex CFD simulation with simple and efficient control.

3

Budowa i cechy konstrukcyjne mikro-aparatu bezzałogowego w układzie entomoptera

Lichoń D.

Logistyka

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2015

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nr 4

7852-7858, CD2

PL

Entomoptery, czyli aparaty latające naśladujące lot owadów są obecnie niszową i rozwijającą się kategorią bezzałogowych aparatów latających. Niewielkie rozmiary oraz fakt zastosowania ruchomych skrzydeł jako napędu nadaje tego rodzaju urządzeniom możliwość wykonania lotu i swobodę manewrowania przy małych prędkościach lotu (rzędu 0 - 5 m/s). Badania mikro-aparatów bezzałogowych w układzie entomoptera należy uznać za potrzebne, ponieważ otwierają potencjalnie nowe pole zastosowań aparatów latających, do których zaliczają się loty w zamkniętych bądź ograniczonych przestrzeniach (budynki, tunele czy obszary leśne), nierzadko wypełnionych przeszkodami. W niniejszej pracy skupiono się na badaniu możliwości budowy entomoptera przy wykorzystaniu łatwo dostępnych i relatywnie tanich podzespołów oraz materiałów. Zwrócono uwagę na cechy konstrukcyjne głównych zespołów entomoptera istotne z punktu widzenia nadania pożądanych własności lotnych. Badania wykonano z wykorzystaniem m. in. działającego egzemplarza entomoptera, którego budowę wzorowano na mikrorobocie „DragonFly” (niedostępnym obecnie na europejskim rynku).

EN

Entomopters, or flying machines that mimic the flight of insects are currently a niche and growing category of unmanned flying devices. The small size and the fact that the use of flapping wings propulsion gives this kind of devices possibility of flight and maneuverability at low flight speeds (in range of 0 - 5 m/s). Research on entomopter unmanned systems should be considered as necessary as it opens a new field of potential applications of flying machines, which include flights in enclosed or confined areas (buildings, tunnels or forest areas), often filled with obstacles. This paper focuses on the study of the possibility of building entomopter using easily available and relatively low cost components and materials. Attention was drawn to the design features of main components of entomopter important from the point of view of shaping desirable flight properties. The researches were carried out using working model of entomopter, which construction was based on "DragonFly" microrobot (currently not available on European market).

4

Modelling of aerodynamic forces on flapping wings - questions and results

Pietrucha J., Sibilski K., Złocka M.

Research Bulletin / Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics

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2001

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nr 12

45-52

EN

Nowadays, there can be observed a need to understand the mechanisms offeree generation by flapping wings in a more comprehensive way. The paper offers a summary, based on the-state-of-the-art in aerospace engineering and biological literature. The main purpose of the paper is to integrate both of them in the hope of constructing a more synthetic view of force generation in a flapping flight.