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The purpose of this paper is to present the procedure and results from instrumented flight test performed on the flapping MAVs being developed by the authors. A test is performed using a test measurement system to obtain the real characteristics of the flapping vehicles during their flight.

The test is performed in an indoor flight test facility, equipped with a motion capture system and tracking cameras. Spatial position data are obtained from the vehicles with retro‐reflective tracking markers attached. A quantitative analysis is carried out through the investigation and interpretation of the test data for the flight performance assessment of the vehicles.

The finding of the analysis addresses that the test enabled the numerical measurement of vehicles' flying performance and shows the present vehicles have combined characteristics of both birds and insects.

The test metrics attempted in the present study are applicable to the test and evaluation of general flapping micro air vehicles. Thus, this testing method will be useful for the development of future micro air vehicle system.

Full‐scale instrumented flight test and measurement of performance parameters of flapping micro air vehicles other than visual observation are unprecedented and expected to present the guideline of systematic test and evaluation of flapping micro air vehicles.

Since most of the existing literature do not disclose the node coordinate data of its fixed-wing aircraft airfoil, in order to develop and obtain a practical and suitable deformation airfoil for fixed-wing micro air vehicle (MAV), this paper proposes an improved airfoil design method of fixed-wing MAV based on the profile data of S5010 airfoil.

Combined with the body shape variation of the stingray in the propulsion process, the parametric study of the aerodynamic shape of the original design airfoil is carried out to explore the influence of a single parameter change on the aerodynamic performance of the airfoil. Then, according to the influence law of single parameter variation on the aerodynamic performance of the airfoil, the original airfoil is synthetically deformed by changing multiple parameters.

By comparing the aerodynamic performance of the multi-parameter deformed airfoil with the original airfoil, it is found that the lift coefficient of the multi-parameter deformed airfoil changes from negative to positive value when AOA = 0°. When AOA = 2°, the lift coefficient growth rate is the largest, which is 47.27%, and the lift-to-drag ratio is increased by 50.00%. At other angles of attack, the lift, drag, and torque coefficients of the multi-parameter deformed airfoil are optimized to some extent.

Combined the body shape variation of the stingray in the propulsion process, the parametric study of the aerodynamic shape of the original design airfoil is carried out to explore the influence of a single parameter change on the aerodynamic performance of the airfoil.

The purpose of this paper is to describe the research performed on flexible-wing micro air vehicle (MAV). Typical attributes associated with the aerodynamics of MAVs are low Reynolds number, low altitude flying environments and low aspect ratio platforms. These attributes give birth to several challenges such as poor aerodynamic performance, nonlinear lift patterns and reduced gust tolerance. Flexible-wing MAV is renowned for improved aerodynamic characteristics such as smooth flight in gusty conditions than its rigid-wing counterpart.

The wind-tunnel experiments are carried out for various configurations to determine the ways of further enhancing lift. The baseline geometric description for all MAVs includes 15-cm box dimension and an aspect ratio of 1. The experimental results of the baseline configuration are compared with other experimental results available in literature. After due validation, the effects of following parameters are quantized and compared with the rigid-wing counterpart: underlying skeleton; wing membrane extension; wing membrane relaxation; and wing membrane material (latex, silk, poly-vinyl chloride plastic sheet and nylon).

It is found that the skeleton layout significantly governs the lift characteristics. The effect of membrane extension and relaxation proved to be of little advantage. Latex sheets are found to be the best choice for membrane material. The aerodynamic assessment at low Reynolds number has demonstrated significant improvement of lift characteristics for flexible wings over rigid-wing counterparts.

The results presented in this paper are based on wind-tunnel experimentation. Further experimentation through flight test may be needed to reveal the true aerodynamic performance under unsteady maneuvers.

The material properties vary significantly during fabrication. A technique to standardize the properties of flexible membranes is a missing link in literature and warrants further investigation.

This concept of flexible wing has shown high potential. The primary objective of this paper is to experimentally investigate ways of further enhancing the lift of flexible-wing MAVs by controlling flexibility passively. While various researchers have spent many years on developing the optimum wing frame for the flexible wing, research on different wing materials has been limited. This is the first paper of its kind covering all aspects of wing-frame design, material, effects of extension and relaxation on wing membrane.

The purpose of this paper is to provide an overview of the recent research on the interaction between flight mechanics and sensory/control systems in flies. It furthermore, explores the application to biomimetic micro‐air vehicles (MAVs).

A review of recent literature on flight in flies is given first, whereafter two biomimetic case studies are discussed; the optic flow sensor developed by a French team and the micro‐mechanical flying insect project at the University of Berkeley.

The paper discusses the many areas where biological knowledge on flight in flies can be used by designers of MAVs.

Fully autonomous MAVs, inspired by insect flight, could be useful in a wide range of areas including search‐and‐rescue, surveillance and for military purposes.

The paper gives an up to date overview of dipteran flight behaviour and points to ways in which this knowledge can be applied to MAVs. The paper should thus be useful for biologists wishing to collaborate with engineers as well as for engineers and sensor designers seeking inspiration from nature.

To investigate the use of centre of gravity location on reducing cyclic pitch control for helicopter UAV's (unmanned air vehicles) and MAV's (micro air vehicles). Low cyclic pitch is a necessity to implement the swashplateless rotor concept using trailing edge flaps or active twist using current generation low authority piezoceramic actuators.

An aeroelastic analysis of the helicopter rotor with elastic blades is used to perform parametric and sensitivity studies of the effects of longitudinal and lateral center of gravity (cg) movements on the main rotor cyclic pitch. An optimization approach is then used to find cg locations which reduce the cyclic pitch at a given forward speed.

It is found that the longitudinal cyclic pitch and lateral cyclic pitch can be driven to zero at a given forward speed by shifting the cg forward and to the port side, respectively. There also exist pairs of numbers for the longitudinal and lateral cg locations which drive both the cyclic pitch components to zero at a given forward speed. Based on these results, a compromise optimal cg location is obtained such that the cyclic pitch is bounded within ±5° for a BO105 helicopter rotor.

The reduction in the cyclic pitch due to helicopter cg location is found to significantly reduce the maximum magnitudes of the control angles in flight, facilitating the swashplateless rotor concept. In addition, the existence of cg locations which drive the cyclic pitches to zero allows for the use of active cg movement as a way to replace the cyclic pitch control for helicopter MAV's.

This paper aims to investigate the effects of a dielectric barrier discharge (DBD) plasma actuator (PA) qualitatively on aerodynamic characteristics of a 3 D-printed NACA 4412 airfoil model.

Airflow visualization study was performed at a Reynolds number of 35,000 in a small-scale open-loop wind tunnel. The effect of plasma actuation on flow separation was compared for the DBD PA with four different electrode configurations at 10°, 20° and 30° angles of attack.

Plasma activation may delay the onset of flow separation up to 6° and decreases the boundary layer thickness. The effects of plasma diminish as the angle of attack increases. Streamwise electrode configuration, in which electric wind is produced in a direction perpendicular to the freestream, is more effective in the reattachment of the airflow compared to the spanwise electrode configuration, in which the electric wind and the free stream are in the same direction.

The Reynolds number is much smaller than that in cruise aircraft conditions; however, the results are promising for low-velocity subsonic airflows such as improving control capabilities of unmanned aerial vehicles.

Superior efficacy of spanwise-generated electric wind over streamwise-generated one is demonstrated at a very low Reynolds number. The results in the plasma aerodynamics literature can be reproduced using ultra-low-cost off-the-shelf components. This is important because high voltage power amplifiers that are frequently encountered in the literature may be prohibitively expensive especially for resource-limited university aerodynamics laboratories.

The purpose of this paper is to develop an integrated rotorcraft design and virtual manufacturing framework. The framework consists of two major sub‐frameworks which are e‐design and virtual manufacturing frameworks. This paper aims to describe the process of generating a specific framework for helicopter design and manufacturing in general, and a method for main rotor blade design.

The e‐design process integrates a pre‐conceptual, conceptual and preliminary design phases and includes many high accuracy physics‐based analysis tools and in‐house codes. The development of analysis programs and integration of flow data are discussed under the e‐design process. The virtual manufacturing process discusses physical three‐dimensional (3D) prototypes using rapid prototyping, virtual process simulation model development using Delmia Quest, virtual machine tool simulation and process‐based cost model. Vehicle geometry is modelled parametrically in computer‐aided 3D interactive application (CATIA) V5 to enable integration between the e‐design and virtual manufacturing processes, and then saved in Enovia SmartTeam which is commercial software for product data management (PDM). Data saved in Enovia SmartTeam are used as a database for the virtual manufacturing process.

The integration framework was constructed by using Model Center software. A multi‐disciplinary design optimization loop for rotor blade considering manufacturing factors is discussed to demonstrate the robustness and efficiency of the framework.

The manufacturing (practical factors) could be considered at an early stage of the rotor blades design.

The gap between theoretical (engineering design: aerodynamic, structural, dynamic, design, etc.) and practical aspects (manufacturing) is bridged through integrated product/process development framework. The modern concurrent engineering approach is addressed for helicopter rotor blade design throughout the case study.

The purpose of this paper is to reformulate the governing equations incorporating major variables and parameters for the design a Micro Air Vehicle (MAV), to meet the desired mission and design requirements.

Mathematical models for various spherical and cylindrical Coandă MAV configurations were rederived from first principles, and the performance measures were defined. To verify the theoretical prediction to a certain extent, a computational fluid dynamic (CFD) simulation for a Coandă MAV generic models was performed.

The major variables and parameters of Coandă MAV have been formulated into practical guidelines, which relate the lift (or thrust) produced for certain input variables, particularly the Coandă MAV jet momentum coefficient. The influences of the geometrical parameters are elaborated.

The present analysis on Coandă jet-configured MAV is focused on the lift generation due to the Coandă jet effect through a meticulous analysis. The effects of viscosity, the Coandă jet thickness, the radius of curvature of the surface and the stability of Coandă jet are not considered and will be the subject of the following work.

The results obtained can be used for sizing in the preliminary design of Coandă MAVs.

Physical and mathematical models were developed which can describe the physical phenomena of the flow field near the Coandă MAV surfaces influenced by Coandă jet sheets and for obtaining a relationship between relevant variables and parameters to the lift of practical interest.

The aim of this paper is to investigate the effect of wing kinematics change on force generation produced by flapping wings.

Forces produced by flapping wings are measured using a load cell and compared for the investigation. The measured forces are validated by estimation using an unsteady blade element theory.

From the measurement and estimation, the authors found that flapping wings produced positive and negative lifts when the wings are attached with the +30° and −30°, respectively.

The authors quantified the characteristics of change in the force generation by flapping wings for three wing kinematics. The wing kinematics was modified by changing the initial wing attachment angle.

The result may be applicable to design of control mechanism for an insect‐mimicking flapping‐wing micro air vehicle, which has only wings without control surfaces at its tail.

The preliminary work may provide an insight for design strategy of flapping‐wing micro air vehicles with compact and handy configurations, because they may perform controlled flight even without control surfaces at their tails.

The work included here is the first attempt to quantify the force generation characteristics for different wing kinematics. The suggested way of wing kinematics change can provide a concept for control mechanism of a flapping‐wing micro air vehicle.

The purpose of this paper is to demonstrate the uncontrolled vertical takeoff of an insect-mimicking flapping-wing micro air vehicle (FW-MAV) of 12.5 cm wing span with a body weight of 7.36 g after installing batteries and power control.

The forces were measured using a load cell and estimated by the unsteady blade element theory (UBET), which is based on full three-dimensional wing kinematics. In addition, the mean aerodynamic force center (AC) was determined based on the UBET calculations using the measured wing kinematics.

The wing flapping frequency can reach to 43 Hz at the flapping angle of 150°. By flapping wings at a frequency of 34 Hz, the FW-MAV can produce enough thrust to over its own weight. For this condition, the difference between the estimated and average measured vertical forces was about 7.3 percent with respect to the estimated force. All parts for the FW-MAV were integrated such that the distance between the mean AC and the center of gravity is close to zero. In this manner, pitching moment generation was prevented to facilitate stable vertical takeoff. An uncontrolled takeoff test successfully demonstrated that the FW-MAV possesses initial pitching stability for takeoff.

This work has successfully demonstrated an insect-mimicking flapping-wing MAV that can stably takeoff with initial stability.