Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV T. Vanneste July 04, 2013
PhD Defense
Dec 22, 2014
Presentation of my PhD work about a preliminary design tool for flapping-wing systems. The presentation is about the definition/implementation of an aeroelastic framework that coupled an aerodynamic model of insect flight with a FEM solver, its numerical and experimental validation for preliminary design tasks and finally about its applications to the specific case of a resonant nano-air vehicle: the OVMI. Thus the designers can evaluate quickly the performance of a wing and then determine a wing geometry via an optimization environment. Enjoy!
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Aeroelastic framework of insect-likeflapping-wing applied to the design of a
resonant NAV
T. Vanneste
July 04, 2013
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 / 34
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 / 34
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 / 34
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 largedisplacementLow Reynolds aerodynamics(Re ∼ 10-1000)Unsteady phenomena:LEV + wing-wake interactionAll-in-one efficient system
Linden Gledhill Flickr
Oxford Animal Flight Group
T. Vanneste 04/07/2013 3 / 34
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: ∼ 10cmWeight: ∼ 3g
Actuator: Electric motorArticulation: Yes
Hummingbird, AeroVironment Inc.
Wingspan: ∼ 16.5cmWeight: ∼ 19g
Actuator: Electric motorArticulation: Yes
T. Vanneste 04/07/2013 4 / 34
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: ∼ 3cmWeight: 80mg
Actuator: PiezoelectricArticulation: Yes
OVMI, IEMN LilleWingspan: ∼ 3cm
Weight: ∼ 30mgActuator: Electromagnet/EAP
Articulation: No
T. Vanneste 04/07/2013 4 / 34
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: ∼ 3cmWeight: 80mg
Actuator: PiezoelectricArticulation: Yes
OVMI, IEMN LilleWingspan: ∼ 3cm
Weight: ∼ 30mgActuator: Electromagnet/EAP
Articulation: No
T. Vanneste 04/07/2013 4 / 34
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 modeMode-shape set to an active bending and passive torsionForced oscillations provide maximum amplification for minimum energyconsumptionSafe through any small perturbationsGenerated wing kinematics similar to the insect one
T. Vanneste 04/07/2013 5 / 34
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 modeMode-shape set to an active bending and passive torsionForced oscillations provide maximum amplification for minimum energyconsumptionSafe through any small perturbationsGenerated wing kinematics similar to the insect one
T. Vanneste 04/07/2013 5 / 34
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 modeMode-shape set to an active bending and passive torsionForced oscillations provide maximum amplification for minimum energyconsumptionSafe through any small perturbationsGenerated wing kinematics similar to the insect one
T. Vanneste 04/07/2013 5 / 34
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
I Needs to better predict the wing behavior towards aerodynamic forces
T. Vanneste 04/07/2013 6 / 34
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 toolPhysics:
Accounting for the wing flexibilityAccounting for flapping-wing aerodynamicsAccounting for the aeroelastic effects
Design:Accounting for various actuation types and wing geometriesAimed for an hovering attitude
Implementation:RapidityRobustModularity
As suggested by Zbikowski [2002], Combes and Daniel [2003] and Blair,Parker, Beran, and Snyder [2007]:
I FEM solver for structural computationI No CFD for aerodynamic computation
T. Vanneste 04/07/2013 7 / 34
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 toolPhysics:
Accounting for the wing flexibilityAccounting for flapping-wing aerodynamicsAccounting for the aeroelastic effects
Design:Accounting for various actuation types and wing geometriesAimed for an hovering attitude
Implementation:RapidityRobustModularity
As suggested by Zbikowski [2002], Combes and Daniel [2003] and Blair,Parker, Beran, and Snyder [2007]:
I FEM solver for structural computationI No CFD for aerodynamic computation
T. Vanneste 04/07/2013 7 / 34
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 toolPhysics:
Accounting for the wing flexibilityAccounting for flapping-wing aerodynamicsAccounting for the aeroelastic effects
Design:Accounting for various actuation types and wing geometriesAimed for an hovering attitude
Implementation:RapidityRobustModularity
As suggested by Zbikowski [2002], Combes and Daniel [2003] and Blair,Parker, Beran, and Snyder [2007]:
I FEM solver for structural computationI No CFD for aerodynamic computation
T. Vanneste 04/07/2013 7 / 34
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 toolPhysics:
Accounting for the wing flexibilityAccounting for flapping-wing aerodynamicsAccounting for the aeroelastic effects
Design:Accounting for various actuation types and wing geometriesAimed for an hovering attitude
Implementation:RapidityRobustModularity
As suggested by Zbikowski [2002], Combes and Daniel [2003] and Blair,Parker, Beran, and Snyder [2007]:
I FEM solver for structural computationI No CFD for aerodynamic computation
T. Vanneste 04/07/2013 7 / 34
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:I Define an aerodynamic model compatible with wing flexibility and
preliminary design requirements2 Aeroelastic framework:
I Define and implement an aeroelastic framework compatible with preliminarydesign tasks
3 Validation:I Numerical stress-test of the framework capabilitiesI Generate an experimental database compatible with high-frequency
resonant and flexible wingI Compare numerical prediction with experimental data
4 Applications to the OVMII Basic assistance to the designerI Advanced assistance to the designer: the wing design
T. Vanneste 04/07/2013 8 / 34
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:I Define an aerodynamic model compatible with wing flexibility and
preliminary design requirements2 Aeroelastic framework:
I Define and implement an aeroelastic framework compatible with preliminarydesign tasks
3 Validation:I Numerical stress-test of the framework capabilitiesI Generate an experimental database compatible with high-frequency
resonant and flexible wingI Compare numerical prediction with experimental data
4 Applications to the OVMII Basic assistance to the designerI Advanced assistance to the designer: the wing design
T. Vanneste 04/07/2013 8 / 34
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:I Define an aerodynamic model compatible with wing flexibility and
preliminary design requirements2 Aeroelastic framework:
I Define and implement an aeroelastic framework compatible with preliminarydesign tasks
3 Validation:I Numerical stress-test of the framework capabilitiesI Generate an experimental database compatible with high-frequency
resonant and flexible wingI Compare numerical prediction with experimental data
4 Applications to the OVMII Basic assistance to the designerI Advanced assistance to the designer: the wing design
T. Vanneste 04/07/2013 8 / 34
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:I Define an aerodynamic model compatible with wing flexibility and
preliminary design requirements2 Aeroelastic framework:
I Define and implement an aeroelastic framework compatible with preliminarydesign tasks
3 Validation:I Numerical stress-test of the framework capabilitiesI Generate an experimental database compatible with high-frequency
resonant and flexible wingI Compare numerical prediction with experimental data
4 Applications to the OVMII Basic assistance to the designerI Advanced assistance to the designer: the wing design
T. Vanneste 04/07/2013 8 / 34
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 / 34
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 flexibilityI Flexibility is actively sought for resonant wings
Linden Gledhill Flickr
Real blade profile i.e. camber + effective angle of attackChange in the chordwise kinematicsPosition of the shedding vorticesRelative position of the wake against the wing
I Both spanwise and chordwise flexibilities needed in modelingsuccessfully flapping-wing aerodynamics
T. Vanneste 04/07/2013 9 / 34
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 flexibilityI Flexibility is actively sought for resonant wings
Linden Gledhill Flickr
Real blade profile i.e. camber + effective angle of attackChange in the chordwise kinematicsPosition of the shedding vorticesRelative position of the wake against the wing
I Both spanwise and chordwise flexibilities needed in modelingsuccessfully flapping-wing aerodynamics
T. Vanneste 04/07/2013 9 / 34
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 modelsI Aerodynamics
- Accuracy- Flow physics
I Structure- Unidirectional approach
I Implementation+ Simple formulation+ Low computational load
Unsteady modelsI Aerodynamics
+ Accuracy+ Flow physics
I Structure+ Bidirectional approach
I Implementation- Complex formulation- High computational load
T. Vanneste 04/07/2013 10 / 34
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 modelsI Aerodynamics
- Accuracy- Flow physics
I Structure- Unidirectional approach
I Implementation+ Simple formulation+ Low computational load
Unsteady modelsI Aerodynamics
+ Accuracy+ Flow physics
I Structure+ Bidirectional approach
I Implementation- Complex formulation- High computational load
T. Vanneste 04/07/2013 10 / 34
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 modelsI Aerodynamics
- Accuracy- Flow physics
I Structure- Unidirectional approach
I Implementation+ Simple formulation+ Low computational load
Unsteady modelsI Aerodynamics
+ Accuracy+ Flow physics
I Structure+ Bidirectional approach
I Implementation- Complex formulation- High computational load
T. Vanneste 04/07/2013 10 / 34
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 validatedDepends on global geometrical andkinematics dataNot compatible at first sight with flexibility
I Go back to the theory behind these components
T. Vanneste 04/07/2013 11 / 34
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 validatedDepends on global geometrical andkinematics dataNot compatible at first sight with flexibility
I Go back to the theory behind these components
T. Vanneste 04/07/2013 11 / 34
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 validatedDepends on global geometrical andkinematics dataNot compatible at first sight with flexibility
I Go back to the theory behind these components
T. Vanneste 04/07/2013 11 / 34
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 validatedDepends on global geometrical andkinematics dataNot compatible at first sight with flexibility
I Go back to the theory behind these components
T. Vanneste 04/07/2013 11 / 34
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 validatedDepends on global geometrical andkinematics dataNot compatible at first sight with flexibility
I Go back to the theory behind these components
T. Vanneste 04/07/2013 11 / 34
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 flexibilityTwo components computed: Translational & Added-mass forcesRotational forces are assumed to be accounted by the translationalforces through the chordwise discretizationFormulation in the local ξη frame of each cell of the wing
T. Vanneste 04/07/2013 12 / 34
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 flexibilityTwo components computed: Translational & Added-mass forcesRotational forces are assumed to be accounted by the translationalforces through the chordwise discretizationFormulation in the local ξη frame of each cell of the wing
T. Vanneste 04/07/2013 12 / 34
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 flexibilityTwo components computed: Translational & Added-mass forcesRotational forces are assumed to be accounted by the translationalforces through the chordwise discretizationFormulation in the local ξη frame of each cell of the wing
T. Vanneste 04/07/2013 12 / 34
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 13 / 34
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 serveas a preliminary design tool for flapping-wing systems
Mq̈ + Cq̇ + K(q)q = F (t ,q, q̇, q̈)
Structure M, C and K(q)I FEM with Rayleigh damping
Aerodynamic forces FI Bidirectional model for coupled analysisI Unidirectional model only for uncoupled analysis
Aeroelasticity =I Explicit coupling enhanced by the stroke
periodicity
FEM Model with aerodynamic forces calculated with FE-kinematics at eachtime step
T. Vanneste 04/07/2013 13 / 34
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 serveas a preliminary design tool for flapping-wing systems
Mq̈ + Cq̇ + K(q)q = F (t ,q, q̇, q̈)
Structure M, C and K(q)I FEM with Rayleigh damping
Aerodynamic forces FI Bidirectional model for coupled analysisI Unidirectional model only for uncoupled analysis
Aeroelasticity =I Explicit coupling enhanced by the stroke
periodicity
FEM Model with aerodynamic forces calculated with FE-kinematics at eachtime step
T. Vanneste 04/07/2013 13 / 34
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 serveas a preliminary design tool for flapping-wing systems
Mq̈ + Cq̇ + K(q)q = F (t ,q, q̇, q̈)
Structure M, C and K(q)I FEM with Rayleigh damping
Aerodynamic forces FI Bidirectional model for coupled analysisI Unidirectional model only for uncoupled analysis
Aeroelasticity =I Explicit coupling enhanced by the stroke
periodicity
FEM Model with aerodynamic forces calculated with FE-kinematics at eachtime step
T. Vanneste 04/07/2013 13 / 34
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 serveas a preliminary design tool for flapping-wing systems
Mq̈ + Cq̇ + K(q)q = F (t ,q, q̇, q̈)
Structure M, C and K(q)I FEM with Rayleigh damping
Aerodynamic forces FI Bidirectional model for coupled analysisI Unidirectional model only for uncoupled analysis
Aeroelasticity =I Explicit coupling enhanced by the stroke
periodicity
FEM Model with aerodynamic forces calculated with FE-kinematics at eachtime step
T. Vanneste 04/07/2013 13 / 34
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 serveas a preliminary design tool for flapping-wing systems
Mq̈ + Cq̇ + K(q)q = F (t ,q, q̇, q̈)
Structure M, C and K(q)I FEM with Rayleigh damping
Aerodynamic forces FI Bidirectional model for coupled analysisI Unidirectional model only for uncoupled analysis
Aeroelasticity =I Explicit coupling enhanced by the stroke
periodicity
FEM Model with aerodynamic forces calculated with FE-kinematics at eachtime step
T. Vanneste 04/07/2013 13 / 34
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 serveas a preliminary design tool for flapping-wing systems
Mq̈ + Cq̇ + K(q)q = F (t ,q, q̇, q̈)
Structure M, C and K(q)I FEM with Rayleigh damping
Aerodynamic forces FI Bidirectional model for coupled analysisI Unidirectional model only for uncoupled analysis
Aeroelasticity =I Explicit coupling enhanced by the stroke
periodicity
FEM Model with aerodynamic forces calculated with FE-kinematics at eachtime step
T. Vanneste 04/07/2013 13 / 34
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 / 34
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 / 34
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 / 34
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 / 34
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 / 34
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 PythonT. Vanneste 04/07/2013 14 / 34
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 15 / 34
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 K2 Aerodynamic model F3 Aeroelastic coupling =
How?1 Define a set of academic wings2 Check the soundness of the bidirectional
modelI Compare with unidirectional prediction
3 Characterize the aeroelastic response of thewings
I Conduct experiments in vacuum and in airI Determine the material properties
T. Vanneste 04/07/2013 15 / 34
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 K2 Aerodynamic model F3 Aeroelastic coupling =
How?1 Define a set of academic wings2 Check the soundness of the bidirectional
modelI Compare with unidirectional prediction
3 Characterize the aeroelastic response of thewings
I Conduct experiments in vacuum and in airI Determine the material properties
T. Vanneste 04/07/2013 15 / 34
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 K2 Aerodynamic model F3 Aeroelastic coupling =
How?1 Define a set of academic wings2 Check the soundness of the bidirectional
modelI Compare with unidirectional prediction
3 Characterize the aeroelastic response of thewings
I Conduct experiments in vacuum and in airI Determine the material properties
T. Vanneste 04/07/2013 15 / 34
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 K2 Aerodynamic model F3 Aeroelastic coupling =
How?1 Define a set of academic wings2 Check the soundness of the bidirectional
modelI Compare with unidirectional prediction
3 Characterize the aeroelastic response of thewings
I Conduct experiments in vacuum and in airI Determine the material properties
T. Vanneste 04/07/2013 15 / 34
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 K2 Aerodynamic model F3 Aeroelastic coupling =
How?1 Define a set of academic wings2 Check the soundness of the bidirectional
modelI Compare with unidirectional prediction
3 Characterize the aeroelastic response of thewings
I Conduct experiments in vacuum and in airI Determine the material properties
T. Vanneste 04/07/2013 15 / 34
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 / 34
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 / 34
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 / 34
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 / 34
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 / 34
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 / 34
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 - SummaryWing skeleton Complete wing
Translational forces accounting for some rotational forcesAdded-mass forces underestimatedQualitatively agreementCorrect order of magnitude
I Bidirectional model cleared for preliminary design tasks
T. Vanneste 04/07/2013 18 / 34
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 - SummaryWing skeleton Complete wing
Translational forces accounting for some rotational forcesAdded-mass forces underestimatedQualitatively agreementCorrect order of magnitude
I Bidirectional model cleared for preliminary design tasks
T. Vanneste 04/07/2013 18 / 34
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 - SummaryWing skeleton Complete wing
Translational forces accounting for some rotational forcesAdded-mass forces underestimatedQualitatively agreementCorrect order of magnitude
I Bidirectional model cleared for preliminary design tasks
T. Vanneste 04/07/2013 18 / 34
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 - SummaryWing skeleton Complete wing
Translational forces accounting for some rotational forcesAdded-mass forces underestimatedQualitatively agreementCorrect order of magnitude
I Bidirectional model cleared for preliminary design tasksT. Vanneste 04/07/2013 18 / 34
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 overinertial/elastic forcesRigid or moderately flexiblewings favoredMostly around 0.2Hz
Experiments in air
Better balance of theinertial/elastic forcesMore flexible wings favoredResonant wing barely studiedUp to 40Hz
I New database needed for very flexible, high-frequency resonant wings
T. Vanneste 04/07/2013 19 / 34
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 overinertial/elastic forcesRigid or moderately flexiblewings favoredMostly around 0.2Hz
Experiments in air
Better balance of theinertial/elastic forcesMore flexible wings favoredResonant wing barely studiedUp to 40Hz
I New database needed for very flexible, high-frequency resonant wings
T. Vanneste 04/07/2013 19 / 34
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:I Tracking the wing deformation:
High-speed camera and vibrometerI Measuring the aerodynamic forces:
Balance
I Only the wing deformation method ishere used
T. Vanneste 04/07/2013 20 / 34
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:I Tracking the wing deformation:
High-speed camera and vibrometerI Measuring the aerodynamic forces:
Balance
I Only the wing deformation method ishere used
T. Vanneste 04/07/2013 20 / 34
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:I Tracking the wing deformation:
High-speed camera and vibrometerI Measuring the aerodynamic forces:
Balance
I Only the wing deformation method ishere used
T. Vanneste 04/07/2013 20 / 34
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
I Structural model validated in vacuum
T. Vanneste 04/07/2013 21 / 34
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
I Structural model validated in vacuum
T. Vanneste 04/07/2013 21 / 34
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
I Aeroelastic coupling validated in airI Aeroelastic framework validated for wing skeleton
T. Vanneste 04/07/2013 22 / 34
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
I Aeroelastic coupling validated in airI Aeroelastic framework validated for wing skeleton
T. Vanneste 04/07/2013 22 / 34
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
I Reasonable agreement of the structural model in vacuum
T. Vanneste 04/07/2013 23 / 34
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
I Reasonable agreement of the structural model in vacuum
T. Vanneste 04/07/2013 23 / 34
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
I Reasonable agreement of the structural model in vacuum
T. Vanneste 04/07/2013 23 / 34
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
I Qualitatively agreement of the aeroelastic response in airI Aerodynamic damping well caught
T. Vanneste 04/07/2013 24 / 34
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
I Qualitatively agreement of the aeroelastic response in airI Aerodynamic damping well caught
T. Vanneste 04/07/2013 24 / 34
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
I Aeroelastic framework cleared for preliminary design tasksI Preliminary design tool for flapping-wing systems devisedI Further experimental investigations are mandatory
T. Vanneste 04/07/2013 25 / 34
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
I Aeroelastic framework cleared for preliminary design tasksI Preliminary design tool for flapping-wing systems devisedI Further experimental investigations are mandatory
T. Vanneste 04/07/2013 25 / 34
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
I Aeroelastic framework cleared for preliminary design tasksI Preliminary design tool for flapping-wing systems devisedI Further experimental investigations are mandatory
T. Vanneste 04/07/2013 25 / 34
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 26 / 34
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?
I Flapping actuation strategy implemented on the OVMI
T. Vanneste 04/07/2013 26 / 34
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
I Flapping actuation strategy implemented on the OVMI
T. Vanneste 04/07/2013 26 / 34
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?
I Flapping actuation strategy implemented on the OVMI
T. Vanneste 04/07/2013 26 / 34
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?
I Flapping actuation strategy implemented on the OVMI
T. Vanneste 04/07/2013 26 / 34
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?
I Flapping actuation strategy implemented on the OVMI
T. Vanneste 04/07/2013 26 / 34
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 withour FWNAV requirements?
Relatively large design spaceMultiple local optimumNeed for an automatic and fast tools to outlinepossible airborne wing design
I Coupling an optimizer to our aeroelasticframework
Keennon [2012]
T. Vanneste 04/07/2013 27 / 34
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 withour FWNAV requirements?
Relatively large design spaceMultiple local optimumNeed for an automatic and fast tools to outlinepossible airborne wing design
I Coupling an optimizer to our aeroelasticframework
Keennon [2012]
T. Vanneste 04/07/2013 27 / 34
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 withour FWNAV requirements?
Relatively large design spaceMultiple local optimumNeed for an automatic and fast tools to outlinepossible airborne wing design
I Coupling an optimizer to our aeroelasticframework
Keennon [2012]
T. Vanneste 04/07/2013 27 / 34
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:I Unidirectional (uncoupled) aerodynamic model in SDI Bidirectional (coupled) aerodynamic model in SDI
Computational parameters set to lower the load at the cost of accuracy
T. Vanneste 04/07/2013 28 / 34
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:I Unidirectional (uncoupled) aerodynamic model in SDI Bidirectional (coupled) aerodynamic model in SDI
Computational parameters set to lower the load at the cost of accuracyT. Vanneste 04/07/2013 28 / 34
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:I Unidirectional (uncoupled) aerodynamic model in SDI Bidirectional (coupled) aerodynamic model in SDI Bidirectional (coupled) aerodynamic model in LD
Computational parameters set to lower the load at the cost of accuracyT. Vanneste 04/07/2013 28 / 34
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:I Unidirectional (uncoupled) aerodynamic model in SDI Bidirectional (coupled) aerodynamic model in SDI Bidirectional (coupled) aerodynamic model in LD
Computational parameters set to lower the load at the cost of accuracyT. Vanneste 04/07/2013 28 / 34
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:I Unidirectional (uncoupled) aerodynamic model in SDI Bidirectional (coupled) aerodynamic model in SDI Bidirectional (coupled) aerodynamic model in LD
Computational parameters set to lower the load at the cost of accuracyT. Vanneste 04/07/2013 28 / 34
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 =L̄
Mwing · g· C1
I Optimizer tends to increase theresonant frequency
I Including a penalization into theobjective function
T. Vanneste 04/07/2013 29 / 34
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 =L̄
Mwing · g· C1
I Optimizer tends to increase theresonant frequency
I Including a penalization into theobjective function
T. Vanneste 04/07/2013 29 / 34
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 =L̄
Mwing · g· C1
I Optimizer tends to increase theresonant frequency
I Including a penalization into theobjective function
T. Vanneste 04/07/2013 29 / 34
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 levelsObjective 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
I Similar performance whatever the optimization typeI Coupled optimization refines the design to favor behavior seen in natureI Optimization environment working smoothly and ready to be unleashed
T. Vanneste 04/07/2013 30 / 34
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 levelsObjective 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
I Similar performance whatever the optimization typeI Coupled optimization refines the design to favor behavior seen in natureI Optimization environment working smoothly and ready to be unleashed
T. Vanneste 04/07/2013 30 / 34
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 levelsObjective 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
I Similar performance whatever the optimization typeI Coupled optimization refines the design to favor behavior seen in natureI Optimization environment working smoothly and ready to be unleashed
T. Vanneste 04/07/2013 30 / 34
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 levelsObjective 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
I Similar performance whatever the optimization typeI Coupled optimization refines the design to favor behavior seen in natureI Optimization environment working smoothly and ready to be unleashed
T. Vanneste 04/07/2013 30 / 34
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 31 / 34
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
I Aerodynamic model compatible with the full wing flexibilityI Framework providing a comprehensive insight in the aeroelastic
response of flapping-wing systemsI Experimental database for high-frequency, resonant and flexible wingsI Preliminary design tool working smoothlyI Optimization environment ready to be unleashed
T. Vanneste 04/07/2013 31 / 34
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
I Aerodynamic model compatible with the full wing flexibilityI Framework providing a comprehensive insight in the aeroelastic
response of flapping-wing systemsI Experimental database for high-frequency, resonant and flexible wingsI Preliminary design tool working smoothlyI Optimization environment ready to be unleashed
T. Vanneste 04/07/2013 31 / 34
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
I Aerodynamic model compatible with the full wing flexibilityI Framework providing a comprehensive insight in the aeroelastic
response of flapping-wing systemsI Experimental database for high-frequency, resonant and flexible wingsI Preliminary design tool working smoothlyI Optimization environment ready to be unleashed
T. Vanneste 04/07/2013 31 / 34
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
I Aerodynamic model compatible with the full wing flexibilityI Framework providing a comprehensive insight in the aeroelastic
response of flapping-wing systemsI Experimental database for high-frequency, resonant and flexible wingsI Preliminary design tool working smoothlyI Optimization environment ready to be unleashed
T. Vanneste 04/07/2013 31 / 34
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
I Aerodynamic model compatible with the full wing flexibilityI Framework providing a comprehensive insight in the aeroelastic
response of flapping-wing systemsI Experimental database for high-frequency, resonant and flexible wingsI Preliminary design tool working smoothlyI Optimization environment ready to be unleashed
T. Vanneste 04/07/2013 31 / 34
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
I Continuing the development of experimental hardware andmethodologies
I Completing further the validation especially for membrane wingsI Extending the framework’s capabilities to more realistic wingsI Enhancing the aerodynamic model with yet unaccounted phenomena
T. Vanneste 04/07/2013 32 / 34
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
I Continuing the development of experimental hardware andmethodologies
I Completing further the validation especially for membrane wingsI Extending the framework’s capabilities to more realistic wingsI Enhancing the aerodynamic model with yet unaccounted phenomena
T. Vanneste 04/07/2013 32 / 34
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
I Continuing the development of experimental hardware andmethodologies
I Completing further the validation especially for membrane wingsI Extending the framework’s capabilities to more realistic wingsI Enhancing the aerodynamic model with yet unaccounted phenomena
T. Vanneste 04/07/2013 32 / 34
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 vibratingwings 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 wingbased 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 afinite 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 ofbio-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-basedflapping-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 andactuation 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 ResonantWings on an Insect-Scale”. International Micro Air Vehicle Conference and Flight Competition (IMAV2010).Braunschweig, Germany.
T. Vanneste 04/07/2013 33 / 34
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 andperformance 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 nanoaerial 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 likeinsect 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 autourd’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 / 34
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 Sciences360.1791, pp. 273–290.
S. A. Combes and T. L. Daniel (2003). “Flexural stiffness in insect wings I. Scaling and the influence of wingvenation”. 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 FlappingMicro 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-steadymodel 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 AeroelasticityRelationships”.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 HummingbirdMicro Air Vehiclee”.American Helicopter Society (AHS) International Future Vertical Lift Aircraft Design Conference. SanFrancisco, CA, USA.
T. Vanneste 04/07/2013 35 / 34
Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV
References IIC. 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 afinite 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 ofbio-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-basedflapping-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 andactuation 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 ResonantWings on an Insect-Scale”. International Micro Air Vehicle Conference and Flight Competition (IMAV2010).Braunschweig, Germany.
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Aeroelastic framework of insect-like flapping-wing applied to the design of a resonant NAV
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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 likeinsect 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 autourd’une aile d’insecte artificielle”.14ème Congrès Français de Visualisation et de Traitement d’Images en Mécanique des Fluides. Lille,France.
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