The ability of UAVs to operate in complex and hostile environments makes them useful in military and civil operations concerning surveillance and reconnaissance. However, limitations in size of UAVs and communication delays prohibit their operation close to the ground and in cluttered environments, which increase risks associated with turbulence and wind gusts that cause trajectory deviations and potential loss of the vehicle. In the last decade, scientists and engineers have turned towards bio-inspiration to solve these issues by developing innovative flow control methods that offer better stability, controllability, and maneuverability. This paper presents an aerodynamic load solver for bio-inspired wings that consist of an array of feather-like flaps installed across the upper and lower surfaces in both the chord- and span-wise directions, mimicking the feathers of an avian wing. Each flap has the ability to rotate into both the wing body and the inbound airflow, generating complex flap configurations unobtainable by traditional wings that offer improved aerodynamic stability against gusting flows and turbulence. The solver discussed is an unsteady three-dimensional iterative doublet panel method with vortex particle wakes. This panel method models the wake-body interactions between multiple flaps effectively without the need to define specific wake geometries, thereby eliminating the need to manually model the wake for each configuration. To incorporate viscous flow characteristics, an iterative boundary layer theory is employed, modeling laminar, transitional and turbulent regions over the wing’s surfaces, in addition to flow separation and reattachment locations. This technique enables the boundary layer to influence the wake strength and geometry both within the wing and aft of the trailing edge. The results obtained from this solver are validated using experimental data from a low-speed suction wind tunnel operating at Reynolds Number 300,000. This method enables fast and accurate assessment of aerodynamic loads for initial design of complex wing configurations compared to other methods available.
In recent years, an increasing number of breakthroughs have been made in the field of small-scale wind energy harvesting, where specialized materials are utilized to convert flow energy into electric power. Several studies on this power extraction rely on a common energy harvester setup in which a stiff cantilever beam is attached to the trailing edge of a miniature bluff body. At these small scales where boundary layer effects are appreciable in the laminar flow regime, periodic vortex shedding can be used to drive transverse vibrations in the beam. Interestingly, the fluid dynamics involved in this unsteady process have been studied for decades not to exploit their characteristics, but instead to eliminate potentially destructive effects. As a result, there is still much room for improvement and expansion on recent design studies. A study of how subtle changes in bluff body trailing edge geometry effect power output of a model will be presented in this paper. The model under consideration consists of a miniature bluff body on the order of tens of millimeters in diameter, to which a piezoelectric cantilever is attached at the trailing edge. This model is specifically designed for laminar to transitional Reynolds Number flows (500−2800) where the periodicity of vortex shedding approaches the natural frequency of the beam. As the flow speed is further increased, the effect of lock-in occurs where the resonant beam motion resists a change in vortex shedding frequency. Vibration amplitudes of the beam reach a maximum under this condition, thus maximizing power generation efficiency of the system and providing an optimal condition to operate the harvester. In an effort to meaningfully compare the results, a number of dimensionless parameters are employed. The influence of parameters such as beam length and natural frequency, fluid flow speed, and trailing edge geometry are studied utilizing COMSOL Multiphysics laminar, fluid-structure interaction simulations in order to create design guidelines for an improved energy harvester.
The increased use of Unmanned Aerial Vehicles (UAVs) has created a continuous demand for improved flight
capabilities and range of use. During the last decade, engineers have turned to bio-inspiration for new and
innovative flow control methods for gust alleviation, maneuverability, and stability improvement using morphing
aircraft wings. The bio-inspired wing design considered in this study mimics the flow manipulation techniques
performed by birds to extend the operating envelope of UAVs through the installation of an array of feather-like
panels across the airfoil’s upper and lower surfaces while replacing the trailing edge flap. Each flap has the ability
to deflect into both the airfoil and the inbound airflow using hinge points with a single degree-of-freedom, situated
at 20%, 40%, 60% and 80% of the chord. The installation of the surface flaps offers configurations that enable
advantageous maneuvers while alleviating gust disturbances. Due to the number of possible permutations available
for the flap configurations, an iterative constant-strength doublet/source panel method has been developed with an
integrated boundary layer model to calculate the pressure distribution and viscous drag over the wing’s surface. As a
result, the lift, drag and moment coefficients for each airfoil configuration can be calculated. The flight coefficients
of this numerical method are validated using experimental data from a low speed suction wind tunnel operating at a
Reynolds Number 300,000. This method enables the aerodynamic assessment of a morphing wing profile to be
performed accurately and efficiently in comparison to Computational Fluid Dynamics methods and experiments as
discussed herein.
This paper presents the development of a biomimetic closed-loop flight controller that integrates gust alleviation and
flight control into a single distributed system. Modern flight controllers predominantly rely on and respond to
perturbations in the global states, resulting in rotation or displacement of the entire aircraft prior to the response.
This bio-inspired gust alleviation system (GAS) employs active deflection of electromechanical feathers that react to
changes in the airflow, i.e. the local states. The GAS design is a skeletal wing structure with a network of featherlike
panels installed on the wing's surfaces, creating the airfoil profile and replacing the trailing-edge flaps. In this
study, a dynamic model of the GAS-integrated wing is simulated to compute gust-induced disturbances. The system implements continuous adjustment to flap orientation to perform corrective responses to inbound gusts. MATLAB simulations, using a closed-loop LQR integrated with a 2D adaptive panel method, allow analysis of the morphing structure's aerodynamic data. Non-linear and linear dynamic models of the GAS are compared to a traditional single control surface baseline wing. The feedback loops synthesized rely on inertial changes in the global states; however, variations in number and location of feather actuation are compared. The bio-inspired system's distributed control effort allows the flight controller to interchange between the single and dual trailing edge flap profiles, thereby offering an improved efficiency to gust response in comparison to the traditional wing configuration. The introduction of aero-braking during continuous gusting flows offers a 25% reduction in x-velocity deviation; other flight parameters can be reduced in magnitude and deviation through control weighting optimization. Consequently, the GAS demonstrates enhancements to maneuverability and stability in turbulent intensive environments.
Energy harvesting from human locomotion is a challenging problem because the low frequencies involved are
incompatible with small, light-weight transducers. Furthermore, frequency variations during changing levels of activity
greatly reduce the effectiveness of tuned resonant devices. This paper presents the performance analysis and parameter
study of energy harvesters utilizing magnetic interactions for frequency up-conversion. Ferrous structures are used to
periodically attract a magnetic tip mass during low-frequency oscillations, producing a series of impulses. This
technique allows resonant structures to be designed for much higher natural frequencies and reduces the effects of
excitation frequency variation. Measured vibrational data from several human activities are used to provide a time-varying,
broadband input to the energy harvesting system and are recreated in a laboratory setting for experimental
validation. Optimal load resistances are calculated under several assumptions including sinusoidal, white noise, and
band-limited noise base excitations. These values are tested using simulations with real-world accelerations and
compared to steady-state power optimization results. The optimal load is presented for each input signal, and an
estimation of the maximum average power harvested under idealized conditions is given. The frequency up-conversion
technique is compared to linear, resonant structures to determine the impact of the nonlinearities. Furthermore, an
analysis is performed to study the discrepancies between the simulated results and the predicted performance derived
from frequency response functions to determine the importance of transients.
This paper discusses a preliminary study on harnessing energy from piezoelectric transducers by using bluff body and
vortex-induced vibration phenomena. Structures like bridges and buildings tend to deform and crack due to chaotic
fluid-structure interactions. The rapid variation of pressure and velocity can be tapped and used to power structural
health monitoring systems. The proposed device is a miniature, scalable wind harvesting device. The configuration
consists of a bluff body with a flexible piezoelectric cantilever attached to the trailing edge. Tests are run for different
characteristic dimensions or shapes for the bluff body and optimized for maximum power over a wide range of flow
velocities. The main motive here is to seek a higher synchronized region of frequencies for the oscillation amplitudes.
The multi-physics software package COMSOL is used to vary the design parameters to optimize the configuration and to
identify the significant parameters in the design. The simulation results obtained show a wider lock-in bandwidth and
higher average power for the cylindrical bluff body compared to the other two bluff body shapes investigated, the
greatest average power being 0.35mW at a Reynolds number of 900, beam length of 0.04m, and bluff body diameter of
0.02m.
This paper presents the development of a bioinspired flight control system and a characterization of its performance
when operating in turbulent and gusting airflow conditions. This design consists of a skeletal structure with a network of
feather-like panels installed on the upper and lower surfaces, extending beyond the trailing edge. Each feather is able to
deform into and out of the boundary layer, thus permitting local airflow manipulation. The gust load sensing is
predominately performed near the leading edge of the airfoil, and the reaction forces are generated by the feathers
located at the trailing edge. For this study, the focus presents a benchmark case of the NACA 4412 airfoil with the
standard 20% trailing edge flap design operating in a gusting, turbulent airflow. COMSOL Multiphysics is used to
model the flow field and the fluid-structure interactions using Direct Numerical Simulation. The dynamics of the gusting
model are developed using MATLAB and LiveLink connected to COMSOL to enable unsteady, turbulent simulations to
be performed. Discrete and continuous gusts are simulated at various airfoil angles of attack. Additionally, the airfoils'
aerodynamic performance is comparatively analyzed between time-varying and steady-state turbulence models. This
paper discusses how these two-dimensional, time-varying turbulent and gusting airflow simulation results can be
developed and integrated into a LQR closed-loop feed back flight control system.
In much of the vibration-based energy harvesting literature, devices are modeled, designed, and tested for dissipating
energy across a resistive load at a single base excitation frequency. This paper presents several practical scenarios
germane to tracking, sensing, and wireless communication on humans and land vehicles. Measured vibrational data
from these platforms are used to provide a time-varying, broadband input to the energy harvesting system. Optimal
power considerations are given for several circuit topologies, including a passive rectifier circuit and active, switching
methods. Under various size and mass constraints, the optimal design is presented for two scenarios: walking and idling
a car. The frequency response functions are given alongside time histories of the power harvested using the experimental base accelerations recorded. The issues involved in designing an energy harvester for practical (i.e. timevarying, non-sinusoidal) applications are discussed.
There are a number of approaches to power harvesting that are under-exploited in many applications germane to sensing
and communication. Power can usually be obtained from numerous sources - such as solar, thermal, vibrational, and
electromagnetic energy - using a variety of transduction methods. However, in general a power harvesting system and
its associated electronics interface are designed only to exploit a single energy source. This research presents the
development of innovative ways of gathering power and addressing the design issues in providing a unified energy
source from disparate power harvesting approaches, specifically alternating and direct current methods. These power
sources are integrated into a single source to be utilized for sensing and communication. Several circuit designs are
offered to improve the combined energy harvesting performance over that of the individual harvesters. The transient
dynamics of charging a storage capacitor are presented for the individual and combined power sources. Complications
arising from backwards electromechanical and mutual coupling are discussed.
KEYWORDS: Transmitters, Microwave radiation, Solar energy, Aerodynamics, Antennas, Solar cells, Surveillance, Performance modeling, Energy harvesting, Solar radiation
Unmanned aerial vehicles typically have limited flight time due to their reconnaissance payload requirements and their
restricted scale. A microwave/solar powered flight vehicle, on the other hand, can remain in-theater continuously by
harvesting electromagnetic radiation using on-board antennas and solar panels. A rectifying antenna is used to harvest
power and rectify it into a form usable by the on-board electric motors and other electronics, while photovoltaic cells
harness incoming solar radiation. Discussed is the design of the fuel-less air vehicle and its sensitivity to several key
performance metrics for this class of aircraft. New metrics are presented that are unique to microwave-powered aircraft
and are useful in the design of its missions. Of critical importance is the strong coupling among the aircraft's flight
performance, power harvesting abilities, and its mission capabilities. Traditional and non-traditional wing shapes are
presented in order to motivate a discussion of some of the key parameters in the design of a fuel-less air vehicle.
Advances in smart materials, actuators, and control architecture have enabled new flight capabilities for aircraft.
Perching is one such capability, described as a vertical landing maneuver using in-flight shape reconfiguration in lieu of
high thrust generation. A morphing, perching aircraft design is presented that is capable of post stall flight and very
slow landing on a vertical platform. A comprehensive model of the aircraft's aerodynamics, with special regard to
nonlinear affects such as flow separation and dynamic stall, is discussed. Trajectory optimization using nonlinear
programming techniques is employed to show the effects that morphing and nonlinear aerodynamics have on the
maneuver. These effects are shown to decrease the initial height and distance required to initiate the maneuver, reduce
the bounds on the trajectory, and decrease the required thrust for the maneuver. Perching trajectories comparing
morphing versus fixed-configuration and stalled versus un-stalled aircraft are presented. It is demonstrated that a
vertical landing is possible in the absence of high thrust if post-stall flight capabilities and vehicle reconfiguration are
utilized.
This paper introduces a morphing aircraft concept whose purpose is to demonstrate a new bio-inspired flight capability: perching. Perching is a maneuver that utilizes primarily aerodynamics -- as opposed to thrust generation -- to achieve a vertical or short landing. The flight vehicle that will accomplish this is described herein with particular emphasis on its addition levels of actuation beyond the traditional aircraft control surfaces. A computer model of the aircraft is developed in order to predict the changes in applied aerodynamic loads as it morphs and transitions through different flight regimes. The analysis of this model is outlined, including a lifting-line-based analytical technique and a trim and stability analysis. These analytical methods -- compared to panel or computational fluid dynamics (CFD) methods -- are considered desirable for the analysis of a large number of vehicle configurations and flight conditions. The longitudinal dynamics of this aircraft are studied, and several interesting results are presented. Of special interest are the changes in vehicle dynamics as the aircraft morphs from a cruise configuration to initiate the perching maneuver. Changes in trim conditions and stability are examined as functions of vehicle geometry. The time response to changes in vehicle configuration is also presented.
As more alternative, lightweight actuators have become available, the conventional fixed-wing configuration seen on modern aircraft is under investigation for efficiency on a broad scale. If an aircraft could be designed with multiple functional equilibria of drastically varying aerodynamic parameters, one craft capable of 'morphing' its shape could be used to replace two or three designed with particular intentions. One proposed shape for large-scale (geometry change on the same order of magnitude as wingspan) morphing is the Hyper-Elliptical Cambered Span (HECS) wing, designed at NASA Langley to be implemented on an unmanned aerial vehicle (UAV). Proposed mechanisms to accomplish the spanwise curvature (in the y-z plane of the craft) that allow near-continuous bending of the wing are narrowed to a tendon-based DC motor actuated system, and a shape memory alloy-based (SMA) mechanism. At Cornell, simulations and wind tunnel experiments assess the validity of the HECS wing as a potential shape for a blended-wing body craft with the potential to effectively serve the needs of two conventional UAVs, and analyze the energetics of actuation associated with a morphing maneuver accomplished with both a DC motor and SMA wire.
Morphing aircraft design - the design of aircraft capable of macroscale shape change for drastic in-flight performance variation - is an extremely broad and underdefined field. Two primary means of developing new concepts in morphing exist at Cornell University: design of broad test platforms with generalized motions that can provide future insight into targeted ideas, and specifically adapted aircraft and shape change mechanisms attempting to accomplish a particular task, or hybridize two existing aircraft platforms. Working with both schools of thought, Cornell research has developed a number of useful concepts that are currently under independent analysis and experimentation, including three devices capable of drastically modifying wing structure on a testbed aircraft. Additional concerns that have arisen include the desire to implement ornithological concepts such as perching and wingtip control, as well as the necessity for a compliant aerodynamic skin for producing flight-worthy structural mechanisms.
This paper will discuss the application of various bio-inspired morphing concepts to unmanned aerial vehicle (UAV) designs. Several analysis tools will be introduced to calculate the aerodynamic benefits, dynamic response, and mission-level benefits of morphing shape changes. Empirical relations are employed to calculate the effects of various geometry changes on the aerodynamics of the vehicle. A six-degree-of-freedom simulation will evaluate the stability and dynamic response of each vehicle configuration as well as “snapshots” of the morphing change. Subsequently, an aircraft performance analysis will be conducted for various shape configurations. Specifically, the performance of a bio-inspired wing is compared to conventional designs. The aircraft dynamic improvements that morphing technologies introduce will be discussed.
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