s c i m a n y o l d o r t r n e o a c t h g i - PDF document

steel wing HEXSIL wing piezoelectric wing control actuators wing structures body structures force sensors voice voice coil coil s c i m a n y o l d o r t r n e o a c t h g i l f 20 mm rotary accelerometers, mass 0.1 gram optical flow sensing solar power integration power supply sensors communications straight flight and power power stable hovering and control tether tether

Measurement Volume Wing 1024 pixels Vortices 1024 pixels

strain solar cell array mounting gauge bracket array 5 um 7.5 mm

linear electrostatic rotary electrostatic 2 10 linear electromagnetic rotary electromagnetic rotary piezo electric ideal film actuator 2 um gap power (w/kg) 0 10 –2 10 –4 10 –5 –4 –3 –2 –1 10 10 10 10 10 size (m)

+ V 1cm 1 mm E 3 P

s k s k+1