PhD Defense

1. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV T. Vanneste July 04, 2013

2. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Flapping-wing vs fixed or rotary wing Grasmeyer and Keennon [2001] Bitcraze AB [2012] + Large operations panel + Adequate for outdoor uses + Payload + Endurance - Inadequate for confined areas - Costly stationary flight - Noise signature - Inadequate for small wingspan Flapping-wing is an efficient solution for wingspan below 20cm T. Vanneste 04/07/2013 2 / 35

5. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Flapping-wing problematics Flexible structure in large displacement Low Reynolds aerodynamics (Re ∼ 10-1000) Unsteady phenomena: LEV + wing-wake interaction All-in-one efﬁcient system Andrew Mountcastle website Animal Flight Group website, Oxford university T. Vanneste 04/07/2013 3 / 35

6. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Current ﬂapping-wing systems DelFly Micro, TU Delft Wingspan: ∼ 10cm Weight: ∼ 3g Actuator: Electric motor Articulation: Yes Hummingbird, AeroVironment Inc. Wingspan: ∼ 16.5cm Weight: ∼ 19g Actuator: Electric motor Articulation: Yes T. Vanneste 04/07/2013 4 / 35

7. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Current ﬂapping-wing systems Robobees, Harvard University Wingspan: ∼ 3cm Weight: 80mg Actuator: Piezoelectric Articulation: Yes T. Vanneste 04/07/2013 4 / 35

8. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Current ﬂapping-wing systems Robobees, Harvard University Wingspan: ∼ 3cm Weight: 80mg Actuator: Piezoelectric Articulation: Yes OVMI, IEMN Lille Wingspan: ∼ 3cm Weight: ∼ 30mg Actuator: Electromagnet/EAP Articulation: No T. Vanneste 04/07/2013 4 / 35

9. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives OVMI Concept Actuation on a resonant mode Mode-shape set to an active bending and passive torsion Forced oscillations provide maximum ampliﬁcation for minimum energy consumption Safe through any small perturbations Generated wing kinematics similar to the insect one T. Vanneste 04/07/2013 5 / 35

12. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives OVMI Prototype Bending Torsion Needs to better predict the wing behavior towards aerodynamic forces T. Vanneste 04/07/2013 6 / 35

13. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Requirements for a preliminary design tool Physics: Accounting for the wing flexibility Accounting for flapping-wing aerodynamics Accounting for the aeroelastic effects Design: Accounting for various actuation types and wing geometries Aimed for an hovering attitude Implementation: Rapidity Robust Modularity As suggested by Zbikowski [2002], Combes and Daniel [2003] and Blair, Parker, Beran, and Snyder [2007]: FEM solver for structural computation No CFD for aerodynamic computation T. Vanneste 04/07/2013 7 / 35

17. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Outline 1 Aerodynamic model: Define an aerodynamic model compatible with wing flexibility and preliminary design requirements 2 Aeroelastic framework: Define and implement an aeroelastic framework compatible with preliminary design tasks 3 Validation: Numerical stress-test of the framework capabilities Generate an experimental database compatible with high-frequency resonant and flexible wing Compare numerical prediction with experimental data 4 Applications to the OVMI Basic assistance to the designer Advanced assistance to the designer: the wing design T. Vanneste 04/07/2013 8 / 35

21. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Outline 1 Introduction 2 Aerodynamic model 3 Aeroelastic framework 4 Num. & Exp. Validation 5 Applications to the OVMI 6 Summary and Perspectives T. Vanneste 04/07/2013 9 / 35

22. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Accounting for the wing flexibility Flexibility is actively sought for resonant wings Andrew Mountcastle website Real blade profile i.e. camber + effective angle of attack Change in the chordwise kinematics Position of the shedding vortices Relative position of the wake against the wing Both spanwise and chordwise flexibilities needed in modeling successfully flapping-wing aerodynamics T. Vanneste 04/07/2013 9 / 35

23. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Accounting for the wing flexibility Flexibility is actively sought for resonant wings Andrew Mountcastle website Real blade profile i.e. camber + effective angle of attack Change in the chordwise kinematics Position of the shedding vortices Relative position of the wake against the wing Both spanwise and chordwise flexibilities needed in modeling successfully flapping-wing aerodynamics T. Vanneste 04/07/2013 9 / 35

24. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Literature review Sane and Dickinson [2002] Singh [2006] Quasi-steady models Aerodynamics - Accuracy - Flow physics Structure - Unidirectional approach Implementation + Simple formulation + Low computational load Unsteady models Aerodynamics + Accuracy + Flow physics Structure + Bidirectional approach Implementation - Complex formulation - High computational load T. Vanneste 04/07/2013 10 / 35

27. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives The quasi-steady model of Sane and Dickinson [2002] T. Vanneste 04/07/2013 11 / 35

28. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives The quasi-steady model of Sane and Dickinson [2002] T. Vanneste 04/07/2013 11 / 35

29. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives The quasi-steady model of Sane and Dickinson [2002] Faero = Ftrans + Fadded + Frot T. Vanneste 04/07/2013 11 / 35

30. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives The quasi-steady model of Sane and Dickinson [2002] Faero = Ftrans + Fadded + Frot Each component experimentally validated Depends on global geometrical and kinematics data Not compatible at first sight with flexibility T. Vanneste 04/07/2013 11 / 35

31. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives The quasi-steady model of Sane and Dickinson [2002] Faero = Ftrans + Fadded + Frot Each component experimentally validated Depends on global geometrical and kinematics data Not compatible at first sight with flexibility Go back to the theory behind these components T. Vanneste 04/07/2013 11 / 35

32. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Aerodynamic model overview Use of local information to handle the ﬂexibility Two components computed: Translational & Added-mass forces Rotational forces are assumed to be accounted by the translational forces through the chordwise discretization Formulation in the local ξη frame of each cell of the wing T. Vanneste 04/07/2013 12 / 35

36. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Overview To develop an aeroelastic framework sufficiently quick and accurate to serve as a preliminary design tool for flapping-wing systems Structure M, C and K(q) FEM with Rayleigh damping Aerodynamic forces F Bidirectional model for coupled analysis Unidirectional model only for uncoupled analysis Aeroelasticity = Explicit coupling enhanced by the stroke periodicity FEM Model with aerodynamic forces calculated with FE-kinematics at each time step T. Vanneste 04/07/2013 13 / 35

37. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Overview To develop an aeroelastic framework sufficiently quick and accurate to serve as a preliminary design tool for flapping-wing systems M¨q + C ˙q + K(q)q = F(t, q, ˙q, ¨q) Structure M, C and K(q) FEM with Rayleigh damping Aerodynamic forces F Bidirectional model for coupled analysis Unidirectional model only for uncoupled analysis Aeroelasticity = Explicit coupling enhanced by the stroke periodicity FEM Model with aerodynamic forces calculated with FE-kinematics at each time step T. Vanneste 04/07/2013 13 / 35

42. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Flowchart T. Vanneste 04/07/2013 14 / 35

47. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Flowchart Seat back and relax: automatized process within Python T. Vanneste 04/07/2013 14 / 35

49. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation requirements Need to validate: 1 Structural model M, C and K 2 Aerodynamic model F 3 Aeroelastic coupling = T. Vanneste 04/07/2013 15 / 35

50. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation requirements Need to validate: 1 Structural model M, C and K 2 Aerodynamic model F 3 Aeroelastic coupling = How? 1 Deﬁne a set of academic wings 2 Check the soundness of the bidirectional model Compare with unidirectional prediction 3 Characterize the aeroelastic response of the wings Conduct experiments in vacuum and in air Determine the material properties T. Vanneste 04/07/2013 15 / 35

54. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Bidirectional model vs unidirectional one - Wing skeleton Wing skeleton Faero=Ftrans+Fadded +(Frot ) T. Vanneste 04/07/2013 16 / 35

57. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Bidirectional model vs unidirectional one - Complete wing Complete wing Faero=Ftrans+Fadded +(Frot ) T. Vanneste 04/07/2013 17 / 35

60. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Bidirectional model vs unidirectional one - Summary Wing skeleton Complete wing Translational forces accounting for some rotational forces Added-mass forces underestimated Qualitatively agreement Correct order of magnitude T. Vanneste 04/07/2013 18 / 35

63. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Bidirectional model vs unidirectional one - Summary Wing skeleton Complete wing Translational forces accounting for some rotational forces Added-mass forces underestimated Qualitatively agreement Correct order of magnitude Bidirectional model cleared for preliminary design tasks T. Vanneste 04/07/2013 18 / 35

64. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Literature review: Experimental validation Dickinson lab Wu and Ifju [2010] Experiments in a liquid medium Flow forces preponderant over inertial/elastic forces Rigid or moderately flexible wings favored Mostly around 0.2Hz Experiments in air Better balance of the inertial/elastic forces More flexible wings favored Resonant wing barely studied Up to 40Hz New database needed for very flexible, high-frequency resonant wings T. Vanneste 04/07/2013 19 / 35

65. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Literature review: Experimental validation Dickinson lab Wu and Ifju [2010] Experiments in a liquid medium Flow forces preponderant over inertial/elastic forces Rigid or moderately flexible wings favored Mostly around 0.2Hz Experiments in air Better balance of the inertial/elastic forces More flexible wings favored Resonant wing barely studied Up to 40Hz New database needed for very flexible, high-frequency resonant wings T. Vanneste 04/07/2013 19 / 35

66. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Characterizing the wing aeroelastic response Two methods available: Tracking the wing deformation: High-speed camera and vibrometer Measuring the aerodynamic forces: Balance T. Vanneste 04/07/2013 20 / 35

67. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Characterizing the wing aeroelastic response Two methods available: Tracking the wing deformation: High-speed camera and vibrometer Measuring the aerodynamic forces: Balance Only the wing deformation method is here used T. Vanneste 04/07/2013 20 / 35

68. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Characterizing the wing aeroelastic response Two methods available: Tracking the wing deformation: High-speed camera and vibrometer Measuring the aerodynamic forces: Balance Only the wing deformation method is here used T. Vanneste 04/07/2013 20 / 35

69. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation for wing skeleton - Vacuum T. Vanneste 04/07/2013 21 / 35

70. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation for wing skeleton - Vacuum Structural model validated in vacuum T. Vanneste 04/07/2013 21 / 35

71. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation for wing skeleton - Air T. Vanneste 04/07/2013 22 / 35

72. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation for wing skeleton - Air Aeroelastic coupling validated in air Aeroelastic framework validated for wing skeleton T. Vanneste 04/07/2013 22 / 35

73. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation for complete wing - Vacuum T. Vanneste 04/07/2013 23 / 35

74. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation for complete wing - Vacuum T. Vanneste 04/07/2013 23 / 35

75. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation for complete wing - Vacuum Reasonable agreement of the structural model in vacuum T. Vanneste 04/07/2013 23 / 35

76. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation for complete wing - Air T. Vanneste 04/07/2013 24 / 35

77. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Validation for complete wing - Air Qualitatively agreement of the aeroelastic response in air Aerodynamic damping well caught T. Vanneste 04/07/2013 24 / 35

78. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Experimental validation Aeroelastic framework cleared for preliminary design tasks Preliminary design tool for ﬂapping-wing systems devised Further experimental investigations are mandatory T. Vanneste 04/07/2013 25 / 35

82. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Choosing an actuation strategy: the mode What type of actuation is better for my FWNAV? T. Vanneste 04/07/2013 26 / 35

83. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Choosing an actuation strategy: the mode What type of actuation is better for my FWNAV? Heaving Flapping T. Vanneste 04/07/2013 26 / 35

84. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Choosing an actuation strategy: the mode What type of actuation is better for my FWNAV? Flapping actuation strategy implemented on the OVMI T. Vanneste 04/07/2013 26 / 35

87. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Assisting the wing design How to ﬁnd the appropriate wing compatible with our FWNAV requirements? Relatively large design space Multiple local optimum Need for an automatic and fast tools to outline possible airborne wing design Coupling an optimizer to our aeroelastic framework Keennon [2012] T. Vanneste 04/07/2013 27 / 35

88. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Assisting the wing design Combes and Daniel [2003] How to ﬁnd the appropriate wing compatible with our FWNAV requirements? Relatively large design space Multiple local optimum Need for an automatic and fast tools to outline possible airborne wing design Coupling an optimizer to our aeroelastic framework Keennon [2012] T. Vanneste 04/07/2013 27 / 35

89. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Assisting the wing design Combes and Daniel [2003] How to ﬁnd the appropriate wing compatible with our FWNAV requirements? Relatively large design space Multiple local optimum Need for an automatic and fast tools to outline possible airborne wing design Coupling an optimizer to our aeroelastic framework Keennon [2012] T. Vanneste 04/07/2013 27 / 35

90. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Optimization environment Why genetic algorithm? GA avoids local minima and initialization problems T. Vanneste 04/07/2013 28 / 35

91. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Optimization environment Why genetic algorithm? GA avoids local minima and initialization problems Three complementary levels of preliminary design: Unidirectional (uncoupled) aerodynamic model in SD Bidirectional (coupled) aerodynamic model in SD Computational parameters set to lower the load at the cost of accuracy T. Vanneste 04/07/2013 28 / 35

92. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Optimization environment Why genetic algorithm? GA avoids local minima and initialization problems Three complementary levels of preliminary design: Unidirectional (uncoupled) aerodynamic model in SD Bidirectional (coupled) aerodynamic model in SD Bidirectional (coupled) aerodynamic model in LD Computational parameters set to lower the load at the cost of accuracy T. Vanneste 04/07/2013 28 / 35

95. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Setting the objective function Objective function J = ¯L Mwing · g · C1 Optimizer tends to increase the resonant frequency Including a penalization into the objective function T. Vanneste 04/07/2013 29 / 35

96. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Setting the objective function Objective function J = ¯L Mwing · g · C1 Optimizer tends to increase the resonant frequency Including a penalization into the objective function T. Vanneste 04/07/2013 29 / 35

97. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Setting the objective function Ellington [1999] Objective function J = ¯L Mwing · g · C1 Optimizer tends to increase the resonant frequency Including a penalization into the objective function T. Vanneste 04/07/2013 29 / 35

98. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Optimization levels Objective function J = Lift Mwing · g ·C1− | fwing −ftarget | ·C2 T. Vanneste 04/07/2013 30 / 35

99. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Optimization levels Objective function J = Lift Mwing · g ·C1− | fwing −ftarget | ·C2 Complementary optimization Uncoupled f = 54.89Hz in ∼5.4h Coupled f = 50.11Hz in ∼57.2h T. Vanneste 04/07/2013 30 / 35

100. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Optimization levels Objective function J = Lift Mwing · g ·C1− | fwing −ftarget | ·C2 Complementary optimization Uncoupled f = 54.89Hz in ∼5.4h Coupled f = 50.11Hz in ∼57.2h Similar performance whatever the optimization type Coupled optimization reﬁnes the design to favor behavior seen in nature Optimization environment working smoothly and ready to be unleashed T. Vanneste 04/07/2013 30 / 35

101. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Optimization levels Objective function J = Lift Mwing · g ·C1− | fwing −ftarget | ·C2 Complementary optimization Uncoupled f = 54.89Hz in ∼5.4h Coupled f = 50.11Hz in ∼57.2h Similar performance whatever the optimization type Coupled optimization reﬁnes the design to favor behavior seen in nature Optimization environment working smoothly and ready to be unleashed T. Vanneste 04/07/2013 30 / 35

103. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Summary Aerodynamic model compatible with the full wing flexibility Framework providing a comprehensive insight in the aeroelastic response of flapping-wing systems Experimental database for high-frequency, resonant and flexible wings Preliminary design tool working smoothly Optimization environment ready to be unleashed T. Vanneste 04/07/2013 31 / 35

108. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Perspectives David Kleinert Continuing the development of experimental hardware and methodologies Completing further the validation especially for membrane wings Extending the framework’s capabilities to more realistic wings Enhancing the aerodynamic model with yet unaccounted phenomena T. Vanneste 04/07/2013 32 / 35

111. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives List of publications and conferences I International conferences with lecture committee J.-B. Paquet, T. Vanneste, A. Bontemps, S. Grondel, and E. Cattan (2013). “Aerodynamic FMAV with vibrating wings at insect size”. 48th International Symposium of Applied Aerodynamics. St Louis, France. T. Vanneste, J.-B. Paquet, S. Grondel, and E. Cattan (2012a). “Aeroelastic simulation of flexible flapping wing based on structural FEM and quasi steady aerodynamic model”. 28th International Congress of the Aeronautical Sciences. Brisbane, Australia. T. Vanneste, J.-B. Paquet, S. Grondel, and E. Cattan (2012b). “Design of a lift-optimized flapping-wing using a finite element aeroelastic framework of insect flight”. 53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference. Honolulu, HI, USA. X. Q. Bao, T. Vanneste, A. Bontemps, S. Grondel, J.-B. Paquet, and E. Cattan (2011). “Microfabrication of bio-inspired SU-8 wings and initial analyses of their aeroelastic behaviours for microrobotic insects”. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011). Phuket, Thailand. T. Vanneste, A. Bontemps, X. Q. Bao, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Polymer-based flapping-wing robotic insects: Progresses in wing fabrication, conception and simulation”. International Mechanical Engineering Congress and Exposition 2011. Denver, CO, USA. X. Q. Bao, A. Bontemps, T. Vanneste, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Fabrication and actuation of flapping-wing robotic insect prototype using selected polymer”. International Workshop on Bio-inspired Robots. Nantes, France. T. Vanneste, J.-B. Paquet, X. Q. Bao, T. Dargent, S. Grondel, and E. Cattan (2010). “Conception of Resonant Wings on an Insect-Scale”. International Micro Air Vehicle Conference and Flight Competition (IMAV2010). Braunschweig, Germany. T. Vanneste 04/07/2013 33 / 35

112. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives List of publications and conferences II Journal A. Bontemps, T. Vanneste, J.-B. Paquet, T. Dietsch, S. Grondel, and E. Cattan (Jan. 2013). “Design and performance of an insect-inspired nano air vehicle”. Smart Materials and Structures 22.1, p. 014008. International conferences without lecture committee A. Bontemps, T. Vanneste, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Prototyping of an insect-like nano aerial vehicle”. Poster session of the International Mechanical Engineering Congress and Exposition 2011. Denver, CO, USA. A. Bontemps, T. Vanneste, X. Q. Bao, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Prototyping of a like insect flapping wing object”. Poster session of the International Workshop on Bio-inspired Robots. Nantes, France. National conference with lecture committee T. Vanneste, J.-P. Bourez, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Visualisation de l’écoulement autour d’une aile d’insecte artificielle”. 14ème Congrès Français de Visualisation et de Traitement d’Images en Mécanique des Fluides. Lille, France. T. Vanneste 04/07/2013 34 / 35

113. Aeroelastic framework of insect-like ﬂapping-wing applied to the design of a resonant NAV Introduction Aerodynamic model Aeroelastic framework Num. & Exp. Validation Applications to the OVMI Summary and Perspectives Thank you for your attention ! T. Vanneste 04/07/2013 35 / 35

114. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV References I J. M. Grasmeyer and M. T. Keennon (2001). “Development of the Black Widow Micro Air Vehicle”. 39th AIAA Aerospace Sciences Meeting and Exhibit. Vol. 195. Reno, NV, USA. Bitcraze AB (2012). About Bitcraze. URL: http://www.bitcraze.se/about/. R. W. Zbikowski (2002). “On aerodynamic modelling of an insect-like flapping wing in hover for micro air vehicles”. Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences 360.1791, pp. 273–290. S. A. Combes and T. L. Daniel (2003). “Flexural stiffness in insect wings I. Scaling and the influence of wing venation”. The Journal of Experimental Biology 206.17, pp. 2979–2987. M. Blair, G. H. Parker, P. S. Beran, and R. D. Snyder (2007). “A Computational Design Framework for Flapping Micro Air Vehicles”. 45th AIAA Aerospace Sciences Meeting and Exhibit. Reno, NV, USA. S. P. Sane and M. H. Dickinson (2002). “The aerodynamic effects of wing rotation and a revised quasi-steady model of flapping flight”. The Journal of Experimental Biology 205.8, pp. 1087–1096. B. Singh (2006). “Dynamics and Aeroelasticity of Hover-Capable Flapping Wings: Experiments and Analysis”. PhD thesis. University of Maryland, p. 214. P. Wu and P. G. Ifju (2010). “Micro Air Vehicle Flapping Wing Effectiveness, Efficiency and Aeroelasticity Relationships”. 48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition. Orlando, FL, USA. M. T. Keennon (2012). “Tailless Flapping Wing Propulsion and Control Development for the Nano Hummingbird Micro Air Vehiclee”. American Helicopter Society (AHS) International Future Vertical Lift Aircraft Design Conference. San Francisco, CA, USA. T. Vanneste 04/07/2013 36 / 35

115. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV References II C. P. Ellington (1999). “The novel aerodynamics of insect flight: applications to micro-air vehicles”. The Journal of Experimental Biology 202.23, pp. 3439–3448. J.-B. Paquet, T. Vanneste, A. Bontemps, S. Grondel, and E. Cattan (2013). “Aerodynamic FMAV with vibrating wings at insect size”. 48th International Symposium of Applied Aerodynamics. St Louis, France. T. Vanneste, J.-B. Paquet, S. Grondel, and E. Cattan (2012a). “Aeroelastic simulation of flexible flapping wing based on structural FEM and quasi steady aerodynamic model”. 28th International Congress of the Aeronautical Sciences. Brisbane, Australia. T. Vanneste, J.-B. Paquet, S. Grondel, and E. Cattan (2012b). “Design of a lift-optimized flapping-wing using a finite element aeroelastic framework of insect flight”. 53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference. Honolulu, HI, USA. X. Q. Bao, T. Vanneste, A. Bontemps, S. Grondel, J.-B. Paquet, and E. Cattan (2011). “Microfabrication of bio-inspired SU-8 wings and initial analyses of their aeroelastic behaviours for microrobotic insects”. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011). Phuket, Thailand. T. Vanneste, A. Bontemps, X. Q. Bao, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Polymer-based flapping-wing robotic insects: Progresses in wing fabrication, conception and simulation”. International Mechanical Engineering Congress and Exposition 2011. Denver, CO, USA. X. Q. Bao, A. Bontemps, T. Vanneste, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Fabrication and actuation of flapping-wing robotic insect prototype using selected polymer”. International Workshop on Bio-inspired Robots. Nantes, France. T. Vanneste, J.-B. Paquet, X. Q. Bao, T. Dargent, S. Grondel, and E. Cattan (2010). “Conception of Resonant Wings on an Insect-Scale”. International Micro Air Vehicle Conference and Flight Competition (IMAV2010). Braunschweig, Germany. T. Vanneste 04/07/2013 37 / 35

116. Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV References III A. Bontemps, T. Vanneste, J.-B. Paquet, T. Dietsch, S. Grondel, and E. Cattan (Jan. 2013). “Design and performance of an insect-inspired nano air vehicle”. Smart Materials and Structures 22.1, p. 014008. A. Bontemps, T. Vanneste, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Prototyping of an insect-like nano aerial vehicle”. Poster session of the International Mechanical Engineering Congress and Exposition 2011. Denver, CO, USA. A. Bontemps, T. Vanneste, X. Q. Bao, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Prototyping of a like insect flapping wing object”. Poster session of the International Workshop on Bio-inspired Robots. Nantes, France. T. Vanneste, J.-P. Bourez, J.-B. Paquet, S. Grondel, and E. Cattan (2011). “Visualisation de l’écoulement autour d’une aile d’insecte artificielle”. 14ème Congrès Français de Visualisation et de Traitement d’Images en Mécanique des Fluides. Lille, France. T. Vanneste 04/07/2013 38 / 35

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