Robust MAV design and control using biomimetic principles

In the Phase I program Physical Sciences with our partner The Harvard Microrobotics Laboratory, used insect observations, numerical simulations, and flight-tests to demonstrate that a collision-tolerant micro-air-vehicle (MAV) is feasible. Our analysis shows that insects achieve collision robustness, in part, because of their physical geometry, multi-mode energy absorbing structures, and ability to rapidly adjust their lift vector during the collision and post-collision recovery. Our results show that a collision-tolerant MAV has superior agility and operational robustness compared to simply using obstacle avoidance to negotiate complex, cluttered environments. A trade-space analysis shows that a four-winged flapping air-vehicle design, modeled on the dragonfly, is a near optimal MAV configuration – and it is the goal of this project to develop a collision-tolerant dragonfly MAV. In Phase II we have assembled a world-class team to continue the research necessary to achieve this innovative MAV capability. Harvard will continue the observational investigation of the Calliphora fly and will develop micro actuators and structures to be used on the robotic dragonfly; Cornell will observe dragonflies executing aggressive flight maneuvers and will analyze their flight mechanics; and the University of Florida will support wind tunnel experimentation on live insects as well as our Phase II collision-tolerant MAVs. BENEFIT: An MAV design that is robust to collisions with obstacles will achieve far superior performance compared to other MAV designs. Particularly in situations where the vehicle needs to operate in unknown, complex, cluttered environments, or where environmental conditions reduce the performance of on-board sensors or cause disturbances that overwhelm the flight controls, a collision-tolerant MAV is likely the only platform that can survive and execute its mission. Military operations in urban or wooded areas will clearly benefit from the MAVs developed in this program. Additionally, first responders can deploy this type of vehicle to reconnoiter areas prior to placing personnel at risk. A collision-tolerant MAV will have the agility and robustness to pursue fleeing targets through cluttered environments. In the Phase II program PSI will seek commercial opportunities at the component and system level. We believe that individual technologies developed as part of this program may be used on conventional MAVs to provide a measure of collision robustness. We will also seek to commercialize an MAV system suitable for military and non-military markets. Lastly, we believe that a collision-tolerant remote controlled aircraft will appeal to model airplane hobbyists which could represent a significant market.