The diversity of wing morphologies in birds reflects their variety of flight styles and the associated aerodynamic and inertial requirements. Although the aerodynamics underlying wing morphology can be informed by aeronautical research, important differences exist between planes and birds. In particular, birds operate at lower, transitional Reynolds numbers than do most aircraft. To date, few q...

Strategies for hybrid locomotion such as jumping and gliding are used in nature by many different animals for traveling over rough terrain. This combination of locomotion modes also allows small robots to overcome relatively large obstacles at a minimal energetic cost compared to wheeled or flying robots. In this chapter we describe the development of a novel palm sized robot of 10 g that is ab...

Stable, nonlinear closed-loop control of a gravityassisted underactuated robot arm with 2 order non-holonomic constraints is presented in this paper. The joints of the hyper articulated arm have no dedicated actuators, but are activated with gravity. By tilting the base link appropriately, the gravitational torque drives the unactuated links to a desired angular position. With simple locking me...

Flapping wings provide unmatched maneuverability for flying micro-robots. Recent advances in modelling insect aerodynamics show that adequate wing rotation at the end of the stroke is essential for generating adequate flight forces. We developed a thorax structure using four bar frames combined with an extensible fan-fold wing to provide adequate wing stroke and rotation. Flow measurements on a...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

the study of flight vehicle structures reveals the importance of obtaining the most suitable accuracy compatible with construction. for this purpose, several experiments were conducted at the agard institute. in this paper the results of one such experiment performed on a sample airplane wing are presented. aircraft structural engineers use several methods to model these structures. specifing h...

This study describes the initial phases of wing morphogenesis of Megoura viciae Buckton (Homoptera Aphididae). We evaluated the development of wing buds in males (winged) and parthenogenetic females (presumed to become wingless) of M. viciae from birth to 4 instar. Wing bud epithelium in males is initially simple, becoming bistratified and then progressing to stratify. Mitotic activity is more ...

A multi-objective optimization (MOO) of two-element wing models with morphing flap by using computational fluid dynamics (CFD) techniques, artificial neural networks (ANN), and non-dominated sorting genetic algorithms (NSGA II), is performed in this paper. At first, the domain is solved numerically in various two-element wing models with morphing flap using CFD techniques and lift (L) and drag ...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...