Bio-inspired Aerial Robotics for Future Cities Mirko Kovac Aerial - PowerPoint PPT Presentation

Bio-inspired Aerial Robotics for Future Cities Mirko Kovac Aerial Robotics Laboratory Department of Aeronautics Imperial College London

Aerial Robotics Laboratory Aerial Additive Building Manufacturing High-performance Flight Aerial-Aquatic Mobility Aerial-Terrestrial Mobility

Kovac, M., Schlegel M., Zufferey J.-C., Floreano, D. (2011) IEEE/RSJ Int. Conf. on Intelligent Robots and Systems -Best paper award at IROS 2011 Kovac, M., Schlegel, M., Zufferey, J.-C. and Floreano, D. (2010) Autonomous Robots -Featured on cover page, PhD thesis nominated for best thesis award Kovac, M., Floreano, D., et al (2011) 
 IEEE Intern. Conf. on Robotics and Biomimetics -Best paper award at Robio 2011

Translational Review of creativity biological systems Applications in robotics S P N I R Interdisciplinary I E curiosity Openness for unconventional Design designs validation Bioinspired T Experimental System Robot Design N A analysis optimization E B M S T E Biomimetic R L Prototyping P A exploration M C and fabrication I T Modelling and simulation Material selection Product Principle design frameworks Kovac, M. (2013) The Bio-inspired Design Paradigm, A perspective to soft robotics, Journal for Soft Robotics

in robotics S P N I R disciplinary I E curiosity Openness f uncon Bioinspired Energy storage T Robot Design N A optimization E B M S T E Biomimetic R L Light weight ing P A exploration M C and fabrication Ready to jump Before take-off In air I T body and legs Mode (c) and simulation Material (a) Four bar mechanism (b) Body Leg Kovac, M. (2013) The Bio-inspired Design Paradigm, A perspective to soft robotics, Journal for Soft Robotics

Aerial Robotics Laboratory Aerial Additive Building Manufacturing High-performance Flight Aerial-Aquatic Mobility Aerial-Terrestrial Mobility

£3.4m total value PI: Imperial College Co-I: UCL, U. Bath, AA Industry partners: Dyson, BRE, Buro Happold,

Hunt, G., Mitzalis, F., Alhinai, T., Hooper, P., Kovac, M., (2014) 3D Printing with Flying Robots. 
 IEEE International Conference on Robotics and Automation, (ICRA 2014)

UAE Drones for Good Award Winner (1017 submissions in two categories)

Braithwaite, A., Alhinai, T., Haas-Heger, M., McFarlane, E., Kovac, M., Spider Inspired Construction and Perching with a Swarm of Nano Aerial Vehicles, International Symposium on Robotics Research 2015

Constructor NAV Silk Passive thread spool Attachment Flight Arena Central Computer Callbacks (a) (b) hook ROS node Tracking Software Quadrotor control ROS Services Position Subscriber Camera Camera Camera Deviation Percher NAV Timer Callbacks Suspended Deviation thread Torque gear Condition Trajectory mechanism Quad X Quad Y PID controller Thread aligner Quadrotor API Radio & Communication drivers API Bidirectional (b) 5 cm DC motor Braithwaite, A., Alhinai, T., Haas-Heger, M., McFarlane, E., Kovac, M., Spider Inspired Construction and Perching with a Swarm of Nano Aerial Vehicles, International Symposium on Robotics Research 2015

From complex control to mechanical intelligence Comparable biological systems Bumblebee Fly Ballooning spider Perching eagle Robotic systems 1 g 10 g 0.1 kg 1 kg High passivity and mechanical intelligence High control, sensing, and planning M. Kovac, Learning from nature how to land aerial robots, Science, Vol. 352, Issue 6288, pp. 895-896, 2016

Braithwaite, A., Alhinai, T., Haas-Heger, M., McFarlane, E., Kovac, M., Spider Inspired Construction and Perching with a Swarm of Nano Aerial Vehicles, International Symposium on Robotics Research 2015

Aerial-Aquatic Mobility Research questions Multiple modes of propulsion? Motion of interfaces? Design trade-offs? Energetics of locomotion? Transition between modes? Scaling?

Concept: AquaMAV

Biological design strategy: Plunge Diving Video Credit: Tracy Rudzitis R. Siddall and M. Kovac, ‘Launching the AquaMAV: Bioinspired design for Aerial-Aquatic Robotic Platforms’, 
 Bioinspiration and Biomimetics , 2013 10

Biological design strategy: Plunge Diving Video Credit: PLC Cameras 10

Aquatic Jumping: Flying Squid Oceanic Squid Do Fly, Miramatsu et al, 2013

Biological design strategy: Aquatic Escape by Jet Propulsion • Demonstrated by several species of flying squid • Does not require a vehicle to be highly buoyant • Can produce thrust in air and water. • Rapid thrust response (compared to propellers or flapping), ideal for short take-off. • Propellant water can be collected in situ. • Mechanically simple to implement (compared to teleost swimming, for example). Squid Rocket Science, O’dor et al., 2012 Oceanic Squid Do Fly, Miramatsu et al, 2013 11

Power Density in Robots and Animals Terrestrial Running Hovering Hummingbird Miniature Quad Cockroach VelociRoach 309 W/kg 283 W/kg 25 W/kg 45 W/kg Impulsive Aquatic Take off Terrestrial Jumping A Desert Locust AquaMAV EPFL Jumper Flying Fish 500 W/kg 2100 W/kg 980 W/kg 2800 W/kg

Aquatic Escape: Compressed Gas Jet Thruster r a b 0 6 Mass 40.1 g Peak Thrust 5 N Total Impulse 0.8 Ns per shot No. of Actuations 1 Power Density 5.2 kW/kg System Specific Impulse 19 m/s

Prototype CO 2 Tank Nozzle Water Tank R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Prototype CO 2 Tank Nozzle Water Tank Buckling Spring SMA Wire R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Shape memory alloy gas release system R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory A T(t) 1 h 1 p 1 m 1 m 1 2 3 h 2 p 2 m 2 u 3 (t) � p atm 4 u 4 (t) Z E X E R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory EN-6054 Valve flow equations A T(t) g- m 1 = K v Υ √ κ p 1 ρ 1 1 efficient ˙ (5) h 1 p 1 m 1 propellant m 1 κ =( p 1 − p 2 ) /p 1 (6) 2 ⇢ κ propellant if κ < κ choke 3 h 2 p 2 m 2 κ = (7) κ choke if κ ≥ κ choke u 3 (t) Υ =1 − κ / 3 κ choke (8) � p atm (1) 4 u 4 (t) Z E X E R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory EN-6054 Valve flow equations A T(t) g- m 1 = K v Υ √ κp 1 ρ 1 1 efficient ˙ (5) h 1 p 1 m 1 propellant m 1 κ =( p 1 − p 2 ) /p 1 (6) 2 ⇢ κ propellant if κ<κ choke 3 h 2 p 2 m 2 κ = (7) κ choke if κ ≥ κ choke u 3 (t) Υ =1 − κ/ 3 κ choke (8) � p atm (1) 1st Law Energy Balance 4 h 2 + u 2 u 4 (t) m 1 h 01 = d  ✓ ◆� − p 2 ˙ Z E 3 ˙ m 2 V 2 (9) dt 2 X E Where is specific enthalpy (subscript denotes R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory A T(t) 1 Unsteady Bernoulli Equation h 1 p 1 m 1 for water flow m 1 2 ater. instantaneous gas pressure in the water tank: 3 h 2 p 2 m 2 T = ˙ m 4 u 4 (1) ysical u 4 = ˙ V 2 /A 4 u 3 (t) (2) y � A 3 ( t ) u 3 ( t )= A 4 u 4 ( t ) (3) e p atm Z 4 mechanics 4 ∂ u ∂ t ds + p 2 + 1 2( u 2 4 − u 2 3 )=0 (4) e ρ w u 4 (t) 3 Z E Consistent Where is the water velocity, is the pressure of gas X E R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory A T(t) 1 Isentropic Compressible flow relations h 1 p 1 m 1 (after all water expelled) m 1 2 3 h 2 p 2 m 2 γ p atm ✓ 2 ◆ γ − 1 = (12) p 2 γ +1 u 3 (t) � γ +1 ◆ − 1 p m 4 ˙ c p T 02 ✓ = γ M 1+ γ − 1 2 γ − 1 M 2 (13) p atm √ γ − 1 A 4 p 02 2 4 Where the gas heat capacity and is the stagna- u 4 (t) Z E X E R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory Predicted Thrust Profile A T(t) B 5 Reservoir gas sustains water 1 pressure during jetting 4 Thrust (N) h 1 p 1 m 1 3 Water inertia allows Water fully expelled m 1 pressure to build 2 2 1 Remaining gas escapes 3 h 2 p 2 m 2 0 0 100 200 300 400 500 Time (ms) u 3 (t) � 10 6 Tank Pressures 6 C Gas tank pressure p atm Pressure (Pa) Water tank pressure 4 4 u 4 (t) 2 Z E 0 X E 0 100 200 300 400 500 Time (ms) R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Water Tank Sizing Design Domain: Speci fj c Total Impulse (Ns/kg) 4 Fabricated geometry 18 Nozzle exit diameter (mm) 20 Speci fj c Total Impulse (Ns/kg) 16 3.5 14 15 3 12 10 10 5 2.5 8 2 0 6 1 3 0.8 2 0.6 0.2 0.4 0.6 0.8 0.4 0.2 4 Water tank length (m) Nozzle exit diameter (mm) 0 Water tank length (m) R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

α θ α θ Aquatic Jumpglider B Control Electronics Batteries α Gas Tank θ Tank Connection Wing Servos DEPLOYED WING RETRACTED WING Total length: Mass 101 g 552 mm Water Tank Max Wingspan 45 cm Stabilising Fins Total Length 55 cm Jet Nozzle Top speed from water 13 m/s Power Density 2.1 kW/kg R. Siddall and M. Kovac, Fast Aquatic Escape with a Jet Thruster, IEEE Transactions on Mechatronics , 2016 Winner , Robot Demo Contest, TAROS 2015