TY - GEN
T1 - An insect tether system using magnetic levitation
T2 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
AU - Hsu, Shih Jung
AU - Bayiz, Yagiz Efe
AU - Liu, Pan
AU - Cheng, Bo
N1 - Publisher Copyright:
Copyright © 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - Insect flight has gained wide interests in both biology and engineering communities in the past decades regarding its aerodynamics, sensing and flight control. However, studying insect flight experimentally remains a challenge in both freeflight and tethered-flight settings. In free flight experiments, due to highly unpredictable and fast flight behavior of flying insects, it is difficult to apply controlled sensory inputs to their flight system for system identification and modeling analyses. In tethered flight experiments, constrained whole body movement results in silenced proprioceptive feedback therefore breaks the flight control loop and does not reveal any flight dynamics. Therefore, this work aims to develop a novel insect tether system using magnetic levitation. Such a system magnetically fixes an insect in space but allows it to rotate freely about yaw axis with minimal interference from mechanical constraints. This paper presents the development, analysis and feedback control of this system and finally test its performance using a hawkmoth (Manduca Sexta). In addition, a system identification of the magnetic levitation system and detailed analysis in closed-loop stability and performance are provided. In the future, the insect tether system will be applied to study the insect flight aerodynamics, sensing and control.
AB - Insect flight has gained wide interests in both biology and engineering communities in the past decades regarding its aerodynamics, sensing and flight control. However, studying insect flight experimentally remains a challenge in both freeflight and tethered-flight settings. In free flight experiments, due to highly unpredictable and fast flight behavior of flying insects, it is difficult to apply controlled sensory inputs to their flight system for system identification and modeling analyses. In tethered flight experiments, constrained whole body movement results in silenced proprioceptive feedback therefore breaks the flight control loop and does not reveal any flight dynamics. Therefore, this work aims to develop a novel insect tether system using magnetic levitation. Such a system magnetically fixes an insect in space but allows it to rotate freely about yaw axis with minimal interference from mechanical constraints. This paper presents the development, analysis and feedback control of this system and finally test its performance using a hawkmoth (Manduca Sexta). In addition, a system identification of the magnetic levitation system and detailed analysis in closed-loop stability and performance are provided. In the future, the insect tether system will be applied to study the insect flight aerodynamics, sensing and control.
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U2 - 10.1115/DSCC2016-9767
DO - 10.1115/DSCC2016-9767
M3 - Conference contribution
AN - SCOPUS:85015938559
T3 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
BT - Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
PB - American Society of Mechanical Engineers
Y2 - 12 October 2016 through 14 October 2016
ER -