摘要
The choices of insect wing kinematic programs is not well understood,particularly the mechanism by which an insect selects a distortion to achieve flight control.A methodology to evaluate prospective kinematic control inputs is presented based on the reachable states when control actuation was constrained to a unit of power.The method implements a computationally-derived reduced order model of the insect’s flight dynamics combined with calculation of power requirement.Four kinematic inputs are evaluated based on this criterion for a Drosophila size insect in forward flight.Stroke bias is shown to be the dominant control input using this power normalized evaluation measure.
The choices of insect wing kinematic programs is not well understood,particularly the mechanism by which an insect selects a distortion to achieve flight control.A methodology to evaluate prospective kinematic control inputs is presented based on the reachable states when control actuation was constrained to a unit of power.The method implements a computationally-derived reduced order model of the insect’s flight dynamics combined with calculation of power requirement.Four kinematic inputs are evaluated based on this criterion for a Drosophila size insect in forward flight.Stroke bias is shown to be the dominant control input using this power normalized evaluation measure.
基金
supported by the Micro Autonomous Systems and Technology(MAST)CTA
