Stabilizing air dampers for hovering aerial robotics: design, insect-scale flight tests, and scaling

A gyroscope-free visual-inertial flight control and wind sensing system for 10-mg robots

Tiny “gnat robots,” weighing just a few milligrams, were first conjectured in the 1980s. How to stabilize one if it were to hover like a small insect has not been answered. Challenges include the requirement that sensors be both low mass and high bandwidth and that silicon-micromachined rate gyroscopes are too heavy. The smallest robot to perform controlled hovering uses a sensor suite weighing hundreds of milligrams. Here, we demonstrate that an accelerometer represents perhaps the most direct way to stabilize flight while satisfying the extreme size, speed, weight, and power constraints of a flying robot even as it scales down to just a few milligrams. As aircraft scale reduces, scaling physics dictates that the ratio of aerodynamic drag to mass increases. This results in reduced noise in an accelerometer’s airspeed measurement. We show through simulation and experiment on a 30-gram robot that a 2-milligram off-the-shelf accelerometer is able in principle to stabilize a 10-milligram robot despite high noise in the sensor itself. Inspired by wind-vision sensory fusion in the flight controller of the fruit fly Drosophila melanogaster , we then added a tiny camera and efficient, fly-inspired autocorrelation-based visual processing to allow the robot to estimate and reject wind as well as control its attitude and flight velocity using a Kalman filter. Our biology-inspired approach, validated on a small flying helicopter, has a wind gust response comparable to the fruit fly and is small and efficient enough for a 10-milligram flying vehicle (weighing less than a grain of rice).

A bioinspired revolving-wing drone with passive attitude stability and efficient hovering flight

Among small rotorcraft, the use of multiple compact rotors in a mechanically simple design leads to impressive agility and maneuverability but inevitably results in high energetic demand and acutely restricted endurance. Small spinning propellers used in these vehicles contrast with large lifting surfaces of winged seeds, which spontaneously gyrate into stable autorotation upon falling. The pronounced aerodynamic surfaces and delayed stalls are believed key to efficient unpowered flight. Here, the bioinspired principles are adopted to notably reduce the power consumption of small aerial vehicles by means of a samara-inspired robot. We report a dual-wing 35.1-gram aircraft capable of hovering flight via powered gyration. Equipped with two rotors, the underactuated robot with oversized revolving wings, designed to leverage unsteady aerodynamics, was optimized for boosted flight efficiency. Through the analysis of flight dynamics and stability, the vehicle was designed for passive attitude stability, eliminating the need for fast feedback to stay upright. To this end, the drone demonstrates flight with a twofold decrease in power consumption when compared with benchmark multirotor robots. Exhibiting the power loading of 8.0 grams per watt, the vehicle recorded a flight time of 14.9 minutes and up to 24.5 minutes when equipped with a larger battery. Taking advantage of the fast revolving motion to overcome the severe underactuation, we also realized position-controlled flight and illustrated examples of mapping and surveillance applications with a 21.5-gram payload.

Dynamic Analysis of a Micro Beam-Based Tactile Sensor Actuated by Fringing Electrostatic Fields

A new kind of fringing electrostatic actuation mode is developed. In this new actuation mode, the expression of fringing electrostatic force is found. The nonlinear dynamic analysis of this new actuation mode is presented by using the Method of Multiple Scales. An experiment is designed to observe the dynamic behaviors of this structure. It is observed that the resonance frequency rises with the increase of the initial displacement and the decrease of the slit gap; a smaller slit gap makes marked change of the resonance frequency in the same range of the initial displacement; the increase of the vibration amplitude is linear with the increase of the initial displacement; the fringing electrostatic force has a larger impact on the frequency response of the nonlinear vibration when the initial displacement, the beam length and the actuated voltage are larger. This new fringing electrostatic actuation mode can be used in a micro tactile sensor. The results of dynamic analysis can provide support for sensor design. Based on the dynamic investigations into the micro cantilevered beam actuated by fringing electrostatic force; three usage patterns of the sensor are introduced as follows. Firstly, measuring resonance frequency of the micro beam can derive the initial displacement. Second, the initial displacement can be derived from vibration amplitude measurement. Third, jump phenomenon can be used to locate the initial displacement demand.