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 Aerial-Aquatic Mobility Aerial-Terrestrial Mobility High-performance Flight

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., 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., Floreano, D., et al (2011) 
 IEEE Intern. Conf. on Robotics and Biomimetics

• Best paper award at Robio 2011

I N S P I R E A B S T R A C T I M P L E M E N T

Interdisciplinary curiosity Translational creativity Openness for unconventional designs Biomimetic exploration Modelling and simulation Experimental analysis Prototyping and fabrication Product design frameworks System

• ptimization

Principle

Bioinspired Robot Design

Material selection Applications in robotics Design validation Review of biological systems

Kovac, M. (2013) The Bio-inspired Design Paradigm, A perspective to soft robotics, Journal for Soft Robotics

I N S P I R E A B S T R A C T I M P L E M E N T

disciplinary curiosity Openness f uncon Biomimetic exploration Mode and simulation ing and fabrication

• ptimization

Bioinspired Robot Design

Material in robotics

(a) (b) Body

Ready to jump Before take-off In air

Leg (c)

Light weight body and legs Four bar mechanism Energy storage

Kovac, M. (2013) The Bio-inspired Design Paradigm, A perspective to soft robotics, Journal for Soft Robotics

Aerial Robotics Laboratory

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

£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

Flight Arena Central Computer Quadrotor API & Communication drivers

Camera Tracking Software Camera

ROS node ROS Services Deviation Callbacks Quad X Quad Y Quadrotor control Position Subscriber Timer Deviation Condition Trajectory PID controller Callbacks API Radio

Camera

(a) (b)

Silk thread Attachment hook Passive spool

Constructor NAV

(b)

Thread aligner Suspended thread Bidirectional DC motor 5 cm

Percher NAV

Torque gear mechanism

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

1 g 10 g 0.1 kg 1 kg Comparable biological systems Robotic systems

High control, sensing, and planning Ballooning spider Bumblebee Fly Perching eagle High passivity and mechanical intelligence

• 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? Design trade-offs? Transition between modes? Motion of interfaces? Energetics of locomotion? Scaling?

Concept: AquaMAV

10

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

Aquatic Jumping: Flying Squid

Oceanic Squid Do Fly, Miramatsu et al, 2013

11

Biological design strategy: Aquatic Escape by Jet Propulsion

Squid Rocket Science, O’dor et al., 2012 Oceanic Squid Do Fly, Miramatsu et al, 2013

• 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).

Impulsive Aquatic Take off

Power Density in Robots and Animals

Hummingbird 309 W/kg EPFL Jumper 980 W/kg Desert Locust 500 W/kg Cockroach 25 W/kg VelociRoach 45 W/kg Miniature Quad 283 W/kg

Terrestrial Running Terrestrial Jumping Hovering

Flying Fish 2800 W/kg AquaMAV 2100 W/kg

A

Aquatic Escape: Compressed Gas Jet Thruster

Mass Peak Thrust Total Impulse

• No. of Actuations

Power Density System Specific Impulse 40.1 g 5 N 0.8 Ns per shot 1 5.2 kW/kg 19 m/s

6 b a r

Prototype

Water Tank CO2 Tank Nozzle

• R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Prototype

Water Tank CO2 Tank Nozzle 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

patm T(t) u4(t) XE ZE h1 p1 m1 m1 1 h2 p2 m2 u3(t)

A

2 3 4

• R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory

patm T(t) u4(t) XE ZE h1 p1 m1 m1 1 h2 p2 m2 u3(t)

A

2 3 4

• g-

efficient propellant propellant (1) ˙ m1=KvΥ√κp1ρ1 (5) κ=(p1−p2)/p1 (6) κ= ⇢ κ if κ<κchoke κchoke if κ≥κchoke (7) Υ=1−κ/3κchoke (8)

EN-6054 Valve flow equations

• R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory

patm T(t) u4(t) XE ZE h1 p1 m1 m1 1 h2 p2 m2 u3(t)

A

2 3 4

• ˙

m1h01= d dt  m2 ✓ h2+ u2

3

2 ◆ −p2 ˙ V2 (9) Where is specific enthalpy (subscript denotes

1st Law Energy Balance

g- efficient propellant propellant (1) ˙ m1=KvΥ√κp1ρ1 (5) κ=(p1−p2)/p1 (6) κ= ⇢ κ if κ<κchoke κchoke if κ≥κchoke (7) Υ=1−κ/3κchoke (8)

EN-6054 Valve flow equations

• R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory

patm T(t) u4(t) XE ZE h1 p1 m1 m1 1 h2 p2 m2 u3(t)

A

2 3 4

• T = ˙

m4u4 (1) ater. ysical y e mechanics e Consistent instantaneous gas pressure in the water tank: u4= ˙ V2/A4 (2) A3(t)u3(t)=A4u4(t) (3) Z 4

3

∂u ∂t ds+ p2 ρw + 1 2(u2

4−u2 3)=0

(4) Where is the water velocity, is the pressure of gas Unsteady Bernoulli Equation for water flow

• R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory

patm T(t) u4(t) XE ZE h1 p1 m1 m1 1 h2 p2 m2 u3(t)

A

2 3 4

• patm

p2 = ✓ 2 γ+1 ◆

γ γ−1

(12) ˙ m4 p cpT02 A4p02 = γM √γ−1 ✓ 1+ γ−1 2 M2 ◆− 1

2 γ+1 γ−1

(13) Where the gas heat capacity and is the stagna-

Isentropic Compressible flow relations

(after all water expelled)

• R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Theory

patm T(t) u4(t) XE ZE h1 p1 m1 m1 1 h2 p2 m2 u3(t)

A

2 3 4

Time (ms) 100 200 300 400 500 Thrust (N) 1 2 3 4 5 Predicted Thrust Profile Time (ms) 100 200 300 400 500 Pressure (Pa) 106 2 4 6 Tank Pressures Gas tank pressure Water tank pressure

Water inertia allows pressure to build Water fully expelled Reservoir gas sustains water pressure during jetting Remaining gas escapes

B C

• R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

Water Tank Sizing

0.2 0.4 0.6 0.8 1 2 3 4 5 10 15 20

Nozzle exit diameter (mm) Design Domain: Specifjc Total Impulse (Ns/kg) Specifjc Total Impulse (Ns/kg)

6 8 10 12 14 16 18

Water tank length (m) Nozzle exit diameter (mm)

0.2 0.4 0.6 0.8 2 2.5 3 3.5 4

Water tank length (m)

Fabricated geometry

• R. Siddall and M. Kovac, A Water Jet Thruster for an Aquatic Micro Air Vehicle, ICRA 2015

α

θ

α

θ

DEPLOYED WING RETRACTED WING

Stabilising Fins Control Electronics Tank Connection Water Tank Wing Servos Batteries Gas Tank

B

Jet Nozzle

α

θ

Total length: 552 mm

Aquatic Jumpglider

Mass Max Wingspan Total Length Top speed from water Power Density 101 g 45 cm 55 cm 13 m/s 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

Water Escape Model

Ŷ X Ŷ Ŷ Z AWET T

A

z B

B

FW

θ

mg βcg D FF vf x ŷ xcg xcb xw xf ŷ ŷ α

θ , ω

vcg

• R. Siddall and M. Kovac, Fast Aquatic Escape with a Jet Thruster, IEEE Transactions on Mechatronics, 2016

Winner, Robot Demo Contest, TAROS 2015

Water Escape Model

Clw =2π(αw)/(1+2Æ R−1

w )

Cdw =C2

lw/(πÆ

Rw) while: t≥tdeploy Clw =kpsin(αw)cos2(αw) +kvsin2(αw)cos(αw) Cdw =kpsin2(αw)cos(αw)+kvsin3(αw) while: t<tdeploy

Retracted: Delta Configuration

Polhamus Suction Analogy

Deployed: Elliptic Configuration

Lifting Line Theory

Ŷ X Ŷ Ŷ Z AWET T

A

z B

B

FW

θ

mg βcg D FF vf x ŷ xcg xcb xw xf ŷ ŷ α

θ , ω

vcg

• R. Siddall and M. Kovac, Fast Aquatic Escape with a Jet Thruster, IEEE Transactions on Mechatronics, 2016

Winner, Robot Demo Contest, TAROS 2015

~ B=Vwetρw~ g

(23) (24) D=0.5ρa(Cf(2Aw+4Af)+CfbAb)|~ vcg|2 Cf =0.0307Re−1/7 Cfb=Cf ✓ 1+ 3 2(BW/BL)

3 2 +7(BW/BL)3

◆ Q= ✓ρw ρa Awet Atotal + ✓ 1− Awet Atotal ◆◆ (28)

Parasitic Drag

Water Escape Model

Partial Immersion Correction Buoyancy

Ŷ X Ŷ Ŷ Z AWET T

A

z B

B

FW

θ

mg βcg D FF vf x ŷ xcg xcb xw xf ŷ ŷ α

θ , ω

vcg

• R. Siddall and M. Kovac, Fast Aquatic Escape with a Jet Thruster, IEEE Transactions on Mechatronics, 2016

Winner, Robot Demo Contest, TAROS 2015

Ŷ X Ŷ Ŷ Z AWET T

A

z B

B

FW

θ

mg βcg D FF vf x ŷ xcg xcb xw xf ŷ ŷ α

θ , ω

vcg

m~ a= ~ B−m~ g+R(θ−αw)Q~ F w +R(θ)(T −DQ)ˆ x+R(θ−αf)Qf ~ F f Iyy¨ θˆ z=(~ xw−~ xcg)×R(αw)Qw~ F w +(~ xcb−~ xcg)×R(θ)~ B +(~ xf −~ xcg)×R(αf)Qf ~ F f − ˙ Iyy ˙ θˆ z

Water Escape Model

Equations of Motion

• R. Siddall and M. Kovac, Fast Aquatic Escape with a Jet Thruster, IEEE Transactions on Mechatronics, 2016

Winner, Robot Demo Contest, TAROS 2015

• R. Siddall and M. Kovac, Fast Aquatic Escape with a Jet Thruster, IEEE Transactions on Mechatronics, 2016

Winner, Robot Demo Contest, TAROS 2015

Launch Test vs. Theory

Range (m)

0.5 1 1.5 2 2.5 3

Height (m)

0.5 1 1.5 2 Simulated and Experimental Trajectories

70o (Exp) 70o (Pred) 50o (Exp) 50o (Pred) 30o (Exp) 30o (Pred)

Time (s)

0.1 0.2 0.3 0.4 0.5

Velocity (m/s)

2 4 6 8 10

Initially underwater, delta wing produces additional upward velocity Jet passively pitches

• ver and gains more

forward velocity

Detail: Velocity Profile, 50o Launch

Vx (Experiment) Vx (Prediction) Vy (Experiment) Vy (Prediction) |V| (Experiment) |V| (Prediction) Jet out of water

C B

• R. Siddall and M. Kovac, Fast Aquatic Escape with a Jet Thruster, IEEE Transactions on Mechatronics, 2016

Winner, Robot Demo Contest, TAROS 2015

• R. Siddall, A. Ortega and M. Kovac., Wind and Water Tunnel Testing of a Morphing Aquatic Micro Air Vehicle,

Journal of the Royal Society Interface Focus, 2016

Adaptive washout

• R. Siddall, A. Ortega and M. Kovac., Wind and Water Tunnel Testing of a Morphing Aquatic Micro Air Vehicle,

Journal of the Royal Society Interface Focus, 2016

• R. Siddall, A. Ortega and M. Kovac., Wind and Water Tunnel Testing of a Morphing Aquatic Micro Air Vehicle,

Journal of the Royal Society Interface Focus, 2016

Fuel Line Water Nozzle Control Electronics Calcium Carbide Fuel Tank Priming Servo and Pump LiPo Battery Ignition Transformer Combustion Chamber

Calcium Carbide Powered Aquatic Jumpglider

UNDERSIDE VIEW

Environment Sensors

CaC2: Amount for 10 launches

Calcium Carbide + Water -> Acetylene (C2H2) -> Thrust + CO2 + H20

Siddall, R., Kennedy, G., Kovac, M., A miniature self refuelling explosive water jet for Aquatic Micro Aerial Vehicles, 
 International Symposium on Robotics Research 2015

Aerial Robotics Laboratory

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

Outdoor testing Aerial Robotics Lab Rapid Prototyping Centre


(+ £4m EPSRC in 2014)

13 Wind/Water Tunnels

(+ £13.5m EPSRC in 2014)

Integrated teaching/research labs New Flight Arena

(+ £1.25m gift in 2014)

Robotics @ Imperial (35 PIs, 150 researchers)

46

Multi-terrain lab

£1.25 philanthropic gift

Thank you!

www.imperial.ac.uk/aerialrobotics Funding support: EPSRC, ONRG, Grantham Institute, Thai Government, ONRG, DSTL, EU FP7