The thesis focuses on special space--time computational techniquesintroduced recently for computational aerodynamics modeling of flapping wings of an actual locust. These techniques complement the Deforming-Spatial-Domain/Stabilized Space--Time (DSD/SST) formulation, which is the core computational technique. The DSD/SST formulation was developed for flows with moving interfaces, and the version used in the computations is "DST/SST-VMST," which is the space--time version of the residual-based variational multiscale (VMS) method. The special space--time techniques are based on using NURBS basis functions for the temporal representation of the motion of the locust wings. The motion data is extracted from the high-speed video recordings of a locust in a wind tunnel. In addition, temporal NURBS basis functions are used in representation of the motion of the volume meshes computed and also in remeshing. These ingredients provide an accurate and e fficient way of dealing with the wind tunnel data and the mesh. The thesis includes a detailed study on how the spatial and temporal resolutions influence the quality of the numerical solution.

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<p>Flapping flight is one of the most widespread mean of transportation. It is a complex unsteady aerodynamic problem that has been studied extensively in the past century. Nevertheless, by its complex nature, flapping flight remains a challenging subject. With the development of micro air vehicles, researchers need new computational methods to design these aircrafts efficiently. </p><p>In this dissertation, I will present three different methods of optimization for flapping flight with an emphasis on hovering with each their advantages and drawbacks. The first method was developed by Hall et al. It is an extremely fast and powerful three-dimensional approach. However, the assumptions made to develop this theory limit its use to lightly loaded wings. In addition, it only models the motion of the trailing edge and not the actual motion of the wing. </p><p>In a second part, I will present a two-dimensional unsteady potential method. It uses a freely convected wake which removes the lightly loaded restriction. This method shows the existence of an optimal combination of plunging and pitching motion. The motion is optimal in the sense that for a required force vector, the aerodynamic power is minimal.</p><p>The last method incorporates the three-dimensional effects. These effects are especially important for low aspect ratio wings. Thus, a three-dimensional unsteady potential vortex method was developed. This method also exhibits the presence of an optimal flapping/pitching motion. In addition, it agrees really well with the two previous methods and with the actual kinematics of birds during hovering flapping flight.</p><p>To conclude, some preliminary design tools for flapping wings in forward and hovering flight are presented in this thesis.</p> / Dissertation

The aerodynamics of two-dimensional and three-dimensional flapping motion in hover is analyzed in incompressible, laminar flow at low Reynolds number regime. The aim of this study is to understand the physics and the underlying mechanisms of the flapping motion using both numerical tools (Direct Numerical Simulation) and experimental tools (Particle Image Velocimetry PIV technique). Numerical analyses cover both two-dimensional and three-dimensional configurations for different parameters using two different flow solvers. The obtained results are then analyzed in terms of aerodynamic force coefficients and vortex dynamics. Both symmetric and cambered airfoil sections are investigated at different starting angle of attacks. Both numerical and experimental simulations are carried out at Reynolds number 1000. The experimental analysis is carried out using Particle Image Velocimetry (PIV) technique in parallel with the numerical tools. Experimental measurements are taken for both two-dimensional and three-dimensional wing configurations using stereoscopic PIV technique.

ABSTRACT EXPERIMENTAL AND NUMERICAL INVESTIGATION OF FLOW FIELD AROUND FLAPPI G AIRFOILS MAKING FIGURE-OF-EIGHT IN HOVER BASKAN, &Ouml / zge M.Sc., Department of Aerospace Engineering Supervisor: Prof. Dr. H. Nafiz Alemdaroglu September 2009, 94 pages The aim of this study is to investigate the flow field around a flapping airfoil making figure-of-eight motion in hover and to compare these results with those of linear flapping motion. Aerodynamic characteristics of these two-dimensional flapping motions are analyzed in incompressible, laminar flow at very low Reynolds numbers regime using both the numerical (Computational Fluid Dynamics, CFD) and the experimental (Particle Image Velocimetry, PIV) tools. Numerical analyses are performed to investigate the effect of different parameters such as the amplitude of motion in y-direction, angle of attack, Reynolds number and camber on the aerodynamic force coefficients and vortex formation mechanisms. Both symmetric and cambered airfoil sections are investigated at three different starting angles of attack for five different amplitudes of motion in y-direction including linear flapping motion. Experimental simulations are performed in order to verify the numerical results only for linear motion at Reynolds number of 1000 for symmetric and cambered airfoils at three different angles of attack. Computed vortical structures are then compared to vorticity contours obtained from the experiments and advantages of figure-of&ndash / eight motion over linear motion are discussed.

The scope of the thesis is to numerically investigate the aerodynamics of flapping airfoils in hover and forward flight. The flowfields around flapping airfoils are computed by solving the governing equations on moving and/or deforming grids. The effects of Reynolds number, reduced frequency and airfoil geometry on unsteady aerodynamics of flapping airfoils undergoing pure plunge and combined pitch-plunge motions in forward flight are investigated. It is observed that dynamic stall of the airfoil is the main mechanism of lift augmentation for both motions at all Reynolds numbers ranging from 10000 to 60000. However, the strength and duration of the leading edge vortex vary with airfoil geometry and reduced frequency. It is also observed that more favorable force characteristics are achieved at higher reduced frequencies and low plunging amplitudes while keeping the Strouhal number constant. The computed flowfields are compared with the wide range of experimental studies and high fidelity simulations thus it is concluded that the present approach is applicable for investigating the flapping wing aerodynamics in forward flight. The effects of vertical translation amplitude and Reynolds number on flapping airfoils in hover are also studied. As the vertical translation amplitude increases, the vortices become stronger and the formation of leading edge vortex is pushed towards the midstroke of the motion. The instantaneous aerodynamic forces for a given figure-of-eight motion do not alter significantly for Reynolds numbers ranging from 500 to 5500.

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Jumping is one of the common methods that flight capable birds use to initiate the take-off phase. Flapping-wing robots that can achieve jumping take-off similar to birds will be significantly valuable since they can reduce the workload of the wing in producing the instantaneous power required for take-off and enables remote operations as well. This thesis progresses the state of the art in leg based jumping systems for flapping-wing robots through a contribution to the fundamental understanding of jumping dynamics and the development of experimentally validated simulation tools. Three reference leg postures are identified from video analysis of a rook take-off: stand, crouch and extended. Birds often use different kinematic patterns for the leg flexion (stand to crouch) and extension (crouch to extended) phases. This is made possible by their multi degree of freedom (Dof) leg structure and complex, multi actuated muscle systems. As an alternative strategy, a conceptual design of a singly actuated jumping leg is proposed where a multi Dof segmented leg is linked to a single actuator. The structure is based on the avian leg and foot anatomy. The study identifies that a dynamically unstable jumping take-off using a tilt and jump approach enables a singly actuated robotic leg to achieve jumping performance similar to birds. A combination of analytical, numerical and physical modelling approaches is used in this study. A generic analytical jumping model is used to establish fundamental understanding of jumping dynamics. The study shows that the take-off dynamics of a jumping system can be idealised as an inelastic collision between the dynamic and static rigid bodies of the system. This provides a simpler way to understand jumping dynamics in general. A physical prismatic jumping model is fabricated principally for validation purposes. A motion capture system is used to quantitatively analyse the jumping kinematics of the model. The take-off velocities predicted through analytical and numerical models agree closely with the experimental data. A multi-segmented numerical simulation model is then developed based on the proposed singly actuated jumping leg design. In the same way an analytical model is developed. It is found that the singly actuated design concept with the assumption of massless segments greatly reduced the complexity of the multi-segmented analytical model. The proposed analytical approach and simulation tool are demonstrated by designing a multi-segmented jumping leg for an example robotic bird. The transparency of the approach enables the designer to understand how design parameters such as take-off weight, actuation properties, leg postures and sizes of the segments affect the take-off velocity. Numerical simulation analysis confirms that jumping performance similar to birds is achieved in the proposed singly actuated jumping legs with the integration of tilt and jump method. For the presented case study, the use of the dynamic tilting method improves the minimum achievable take-off angle from 73° to 12° with respect to the horizontal axis.

Small scale unmanned aircraft, such as quadrotors, that are quickly emerging as versatile tools for a wide range of applications including search and rescue, hazardous environment exploration, or just shooting great video, are known as micro air vehicles (MAVs). However, for millimeter scale vehicles with weights under 10 grams, conventional flight technologies become greatly inefficient and instead inspiration is drawn from biology. Flapping wing MAVs (FWMAVs) have been created based on insects and hummingbirds in an effort to emulate their extreme agility and ability to hover in place. FWMAVs possess unique capabilities in terms of maneuverability, small size, and ability to operate in dynamic environments that make them particularly well suited for environmental monitoring and swarm applications such as artificial crop pollination. Despite their advantages, significant challenges in fabrication, power, and control must be overcome in order to make FWMAVs a reliable platform. Current designs suffer from high mechanical complexity and often rely on off-board power, sensing, and control, which compromises their autonomy and limits practical applications. The goal of my research is to develop a simple FWMAV design that provides high efficiency and controllability. An efficient, simple, and controllable vehicle design is developed utilizing the principles of resonance, emulation of biological flight control, and under-actuation. A highly efficient, resonant actuator is achieved by attaching a spring in parallel to the output shaft of a commercial geared DC micro-motor. This actuator directly drives the wings of the vehicle, allowing them to be controlled precisely and independently. This direct control strategy emulates biology and differs from other FWMAV designs that utilize complicated transmissions to generate flapping from rotary motor output. Direct control of the wings allows for emulation of biological wing kinematics, resulting in control based on wing motion alone. Furthermore, under-actuation is employed to mimic the rotational motion of insect wings. A rotational joint is added between the motor and wing membrane such that the wing rotates passively in response to aerodynamic forces that are generated as the wing is driven. This design is realized in several stages, initial prototyping, simulation and development of the actuator and wings, then finally a control system is developed. First the system was modeled and improved experimentally in order to achieve lift off. Improvements to the actuator were realized through component variation and custom fabrication increasing torque and power density by 161.1% and 666.8% respectively compared to the gearmotor alone and increased the resonant operating frequency of the vehicle from 4 Hz to 23 Hz. Advances in wing fabrication allowed for flexible wings that increased translational lift production by 35.3%, aerodynamic efficiency by 41.3%, and the effective lift coefficient by 63.7% with dynamic twisting. A robust control architecture was then developed iteratively based on a date driven system model in order to increase flight time from 1 second (10 wing strokes) to over 10 seconds (230 wing strokes). The resulting design improves lift to weight by 166%, allowing for a payload capacity of approximately 8.7 g and offers the potential for fully autonomous operation with all necessary components included on-board. A thermal model for micro-motors was developed and tuned to accurately predict an upper limit of system operation of 41 seconds as well as to optimize a heatsink that increases operating time by 102.4%.

Renewable energy sources are vital to reduce dependence on fossil fuels that are harmful for the environment and release greenhouse gases causing global warming. Wind energy is a natural source of energy that is abundant in the environment. While wind turbines are most popular, convenient, and used to harvest energy at large scales, there have been recent studies focusing on harvesting energy from the wind for microdevices. Such micro wind energy harvesters can decrease dependence on batteries. In this study, a novel, framed flag micro wind harvester was designed and tested, and its behavior at three different wind speeds was experimentally examined in a wind tunnel. The main purpose of this study is to determine the geometric and wind speed conditions under which regular flapping occurs in the flag material. A high-speed camera was used to visualize the motion of the harvester at different wind speeds and at various parametric ratios of the flag material length to the frame length. The movies taken by the camera are analyzed using Image J software to find the flapping frequency, flapping angle, and the amplitude. Nondimensional parameters such as the Re number and St number also are calculated. This study finds that parametric ratios of 1.1 and 1.2 with the medium wind speed condition of 5 m/s are optimal flapping conditions. These optimal conditions would conveniently allow the use of piezoelectric material as the flag material in order to harvest energy. Further, an advantage of this novel design over previous designs is that the wind harvester naturally aligns with the wind direction and is thus omnidirectional.