TY - GEN
T1 - Real-Time Learning of Efficient Lift Generation on a Dynamically Scaled Flapping Wing Using Policy Search
AU - Bayiz, Yagiz E.
AU - Chen, Long
AU - Hsu, Shih Jung
AU - Liu, Pan
AU - Aguiles, Aaron N.
AU - Cheng, Bo
N1 - Funding Information:
This research was supported by National Science Foundation (NSF CMMI 1554429), Army Research Office DURIP grant (W911NF1610272) and the Pennsylvania State University
Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - In this work, we present a successful application of a policy search algorithm to a real-time robotic learning problem, where the goal is to maximize the efficiency of lift generation on a dynamically scaled flapping robotic wing. The robotic wing has two degrees-of-freedom, i.e., stroke and pitch, and operates in a tank filled with mineral oil. For all experiments, the Reynolds number is maintained constant at 1000, where learning is performed for different prescribed stroke amplitudes to find the optimal wing pitching amplitude and the stroke-pitch phase difference that maximize the power loading (PL) of lift generation, a measure of aerodynamic efficiency. For the investigated stroke amplitude range (30°-90°), the efficiency is observed to increase with the stroke amplitude and the lift is mainly generated through the delayed stall, a quasi-steady aerodynamic mechanism. Furthermore, the wing rotation becomes more asymmetric with respect to stroke reversal as the stroke amplitude decreases, indicating an increased use of unsteady lift generation mechanisms at lower stroke amplitudes.
AB - In this work, we present a successful application of a policy search algorithm to a real-time robotic learning problem, where the goal is to maximize the efficiency of lift generation on a dynamically scaled flapping robotic wing. The robotic wing has two degrees-of-freedom, i.e., stroke and pitch, and operates in a tank filled with mineral oil. For all experiments, the Reynolds number is maintained constant at 1000, where learning is performed for different prescribed stroke amplitudes to find the optimal wing pitching amplitude and the stroke-pitch phase difference that maximize the power loading (PL) of lift generation, a measure of aerodynamic efficiency. For the investigated stroke amplitude range (30°-90°), the efficiency is observed to increase with the stroke amplitude and the lift is mainly generated through the delayed stall, a quasi-steady aerodynamic mechanism. Furthermore, the wing rotation becomes more asymmetric with respect to stroke reversal as the stroke amplitude decreases, indicating an increased use of unsteady lift generation mechanisms at lower stroke amplitudes.
UR - http://www.scopus.com/inward/record.url?scp=85049839404&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85049839404&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460781
DO - 10.1109/ICRA.2018.8460781
M3 - Conference contribution
AN - SCOPUS:85049839404
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5519
EP - 5525
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -