2022 IEEE IAS Global Conference on Emerging Technologies (GlobConET)

Arad, Romania. May 20-22, 2022

Autonomous Bio-Inspired Micro Aerial Vehicle

(MAV)
Naga Praveen Babu M Prasanth Kumar Duba Gaddipati Chaitanya Sriram P Rajalakshmi
NMICPS TiHAN, IITH NMICPS TiHAN, IITH NMICPS TiHAN, IITH NMICPS TiHAN, IITH
2022 IEEE IAS Global Conference on Emerging Technologies (GlobConET) | 978-1-6654-4357-9/22/$31.00 ©2022 IEEE | DOI: 10.1109/GlobConET53749.2022.9872352

Indian Institute of Technology Indian Institute of Technology Indian Institute of Technology Indian Institute of Technology
(IITH) Hyderabad (IITH) Hyderabad (IITH) Hyderabad (IITH) Hyderabad
Hyderabad, India Hyderabad, India Hyderabad, India Hyderabad, India
ee20pdf09@iith.ac.in ee20resch11008@iith.ac.in me18btech11009@iith.ac.in raji@ee.iith.ac.in

Abstract— The usage and development of Unmanned advance-recede) and has a top speed of 18 km/h. This
Aerial Vehicles (UAVs) have increased rapidly in agriculture, robotic flier's most recent iteration has a total mass of 10 g,
health care, and the military. Based on the weight, UAVs are a maximum size of 75 mm, a load capacity of 2 g, an
classified as Nano, Micro, Small, Medium, and Large Aerial advance speed of 10 m/s, and the ability to hover [1].
Vehicles. More precisely, Nano, Micro, and small UAVs are
widely used for the defence applications such as Intelligence, The bio-inspired aerial vehicles are simple to analyze
Surveillance, and Reconnaissance. Micro Aerial Vehicles and hypothesize in the preliminary stages but when trying to
(MAVs), which come under a weight less than or equal to 2kg, achieve accuracy in the model flow gets complicated. It
are preferable for Surveillance applications. Due to the involves unsteady viscous phenomena on three-dimensional
lightweight and flapping effect, the autonomous flight of MAVs flow making it challenging in terms of accuracy and
is a significant challenge in robotics. An autonomous MAV complexity. Flapping wing type vehicles which are robust
includes independent operations like take-off, cruising, and and affordable can promise better safety and reliability. The
landing. Among all these operations, landing is the most production of wingbeat motion of flapping wing hovering
crucial one. Maintaining the constant speed and glide path is a flight is determined by the actuating, aerodynamic and
challenging task for a MAV during the landing. Also, it has to inertia forces/moments, which influence the dynamic
predict the exact point of landing within less time. An unsteadiness and controllability of flapping wing flying [2].
autonomous Bio-inspired flapping wing MAV is designed and
A more efficient alternative to rotor propellers is the use of
developed for military rescue operations. This MAV consists of
wings, that can flap or maintain a fixed angle for gliding,
two flapping wings with a supporting chassis subjected to
sustain hovering, maneuverability, and more efficient
which would mean significant energy saving. Through the
forwarding flight. Aerial bird is considered as the inspiration use of rapidly oscillating wings, a vehicle can generate
for the designed model. This paper proposed a bio-inspired enough lift and thrust to both move forward and support its
MAV using a Pixhawk flight controller for autonomous weight [3]. This method is quite simple and accurate for
navigation and conducted preliminary experiments on the steady-state problems at small angles of attack, but where
prototype MAV. The overall expected outcome of the current unsteady effects are present, the calculation of the lift and
effort is to generate a simplified independent Bio-Inspired thrust coefficients must be modeled according to other
functioning MAV model with an efficient mechanical and considerations. From a control point of view, the control
electrical system. system needs to consider the time varying effects that
appear during the flight [4]. Flapping wing technology
Keywords— Surveillance, Reconnaissance, MAVs, Bio- eliminates the requirement of an engine generating extra
inspired, Waypoint Navigation, and Pixhawk. thrust, traditionally based on a rapidly rotating propeller.
These are not hazardous to humans and reduces the
I. INTRODUCTION estimated threat unlike other small flying crafts.
Unmanned Airborne Vehicles (UAVs) are flying Aerodynamically, the airflow over a flapping wing is
vehicles without a human pilot on board. These are remotely turbulent, making it difficult to model and control such
operated by a ground control station (GCS) or a pilot robots. The generation of flapping motion in a hoverable
independently. Micro Aerial Vehicles (MAVs) are smaller flapping wing flight is jointly determined by the driving
version UAVs having an extreme dimension of 15 cm or force, aerodynamics and inertial force moment that affect
less, about equivalent to the size of a small bird. Owing to the dynamic discontinuity and controllability of the flapping
its little weight and low cost and its excellent wing flight [5]. To model the aerodynamic forces appearing
maneuverability and quick response time, search and rescue on means, potential theory is known to provide
(S&R) activities benefit from the usage of MAVs. Fixed- approximation to Reynolds number large enough to be
wing, rotary-wing, and flapping wing MAVs are the three ignored viscous effect [6].
types of MAVs. Flapping wing MAVs usually fly at lower
speeds and hover for extended periods. AeroVironment, Inc. Bird wings have a complicated structural makeup, and it
designed and manufactured a hovering ornithopter inspired is challenging to simulate their ability to accommodate
by the hummingbird in 2011 as part of DARPA's NAV dynamic loads. Bird wings are constructed of a complex
program. bone structure covered in skin and feathers, with each
feather tailored to generate distinct aerodynamic forces. In
The overall mass and wingspan of the first iteration of flying muscles, each wing is attached to the upper side
this remote-controlled nano air vehicle (NAV) were 19 g (elevator) and lower side (depressor) muscles at its root,
and 167.5 mm, respectively. The prototype can hover in allowing it to flap self-sufficiently. By modifying the shape
multiple directions (incline-decline, leftward-rightward, and of the tail, the bird generates the forward and hovering

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 motion. Advanced flight mechanisms include gliding and computational methods characterize the dynamic structural
utilizing hot air currents to improve energy efficiency, as features of these idealized bioinspired structures. Finally, an
seen in birds such as eagles and vultures [7]. Harvard Micro autonomous flapping winged MAV model wing kinematics
robotics Laboratory created this insect-scale robotic flier. and identical morphological features to the natural
The model's initial version was launched in 2007. With a equivalents is successfully developed.
wingspan of 30 mm and a mass of 60 mg, this tethered
prototype flew in guided strings with two flapping wings. A The manuscript presented has been structured as
yielding mechanism was constructed to boost the PZT (lead follows: Section II illuminates the development of the MAV
zirconate titanate) actuator deflections, create a simple and the characteristics considered for the structure and
flapping motion with a large amplitude, and achieve passive mechanism. Section III highlights the structural variations
wing twisting. Later, another PZT actuator was used to give observed in the wing during the operation. Section IV
torsional control functionality to the mechanism. The explains and summarises the MAV developed and tested
mechanism is built around the resonance concept of experimentally and initiates further discussion on the data
increasing lift force while lowering input energy enactment. with a follow-up on the possible analyses in Section V.
The most recent model includes an optical flow sensor and II. DEVELOPMENT OF BIO-INSPIRED MAV
the capability to branch via changeable electrostatic
adhesion [8]. A. Description
Flapping wings with maximum lifting surfaces are used
in the MAV design based on aerial birds. The wings
resonate, allowing for more extended flying periods with
less energy consumption, improved maneuverability, and
steady flight performance in the face of wind turbulence.
The 3-D model of bio-inspired Micro Aerial vehicles
(MAV) is shown in (Fig. 2).

Fig . 1. Aerial Bird

Aerial birds are experts at fluttering their wings. They

excelled in the development of active flight and passive
flight techniques (Fig. 1). They are still unrivaled in many
elements of flapping flight, like aerodynamics and
maneuverability. They utilize their unique flapping muscles
and wings to generate required aerodynamic forces to
conduct various flight activities (airborne, ascend, advance- Fig. 2. Autonomous Bio-inspired MAV 3-D Model
recede, floating, and many others). The complicated The bioinspired micro aerial vehicle (MAV) comprises
interaction of compliant wings, wing kinematics, and two flapping wings that are staggered in tandem mode.
aerodynamics produce their lift and thrust. The lift force is These flapping wings are subjected to heaving and pitching
almost independent of flapping frequency and is made motion for generating forward propulsion. In tandem mode,
mainly by pitching motion [9]. The wing and its feathers, the phase angle between the two wings is 180°. The MAV’s
which have a hinged flapping force, minimize force overall length is 710 mm, and each wingspan is 1400 mm.
variations while maximizing lift in rising oscillations. The wings are made of flexible polyethylene sheets with a
Compared to non-bio-inspired designs, aerial-inspired thickness of less than 1 mm. The MAV's actual construction
mechanical methods contribute to superior artificial flyers. is built of carbon fiber, and it comprises two servo motors
Natural wings and systems can be studied extensively and that synchronously operate the wings to generate
used as inspiration for increasing active and effective appropriate lift and thrust forces. The primary servo motor
MAVs. The current study aims to create an efficient flaps the wings predetermined and is coupled to the gear
untethered hovering MAV model (a robotic flyer) that train via crankshafts. The wings have a flapping amplitude
resembles the aerial family, specifically bald eagles[10]. of 45°. Upstroke and downstroke are the actions of the
The contemporary study probes the design and structural wing. The downstroke of wings generates the maximum
investigation of a streamlined Bio-inspired MAV model thrust, but the upstroke is the reclamation stroke. The
created via new resources and expertise. For design vehicle's maximum flight speed is 3m/s. The bioinspired
purposes, giant insects such as dragonflies and aerial birds MAV's design parameters are given in Table I.
are used as inspiration. In this study, flapping wings and
bioinspired mechanisms are considered. Experimental and

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 TABLE I. CHARACTERISTICS OF BIO-INSPIRED MAV
S.NO Main Dimensions
1. Total body length (L) 710 mm

2. Wing Span (s) 1400 mm

3. Number of wings 2

4. Weight 420 gm

5. Flapping frequency (f) 30 Hz

6. Flapping Amplitude (A) 45°

7. Strouhal number (St) 0.2 – 0.3 Fig. 4. Block diagram for Autonomous Navigation
8. Reynolds number (Re) 103 - 104
The angle of attack, (α)
the location and flight direction of the bird instantaneously.
9. 30° The flight controller analyses the data obtained and transfers
the data to an ESC driver. The ESC driver helps convert the
The fixed wings of traditional fixed-wing uncrewed data from the controller to pulses required in adjusting the
aerial vehicles provide stability. The vehicle's motion of the MAV. The pulses obtained from the ESC are
maneuverability will be controlled by the rudder and transferred to a BLDC motor which converts the electrical
propellers, which will provide forward thrust. The flapping current to mechanical rotation. The motor's rotational
wings of bioinspired MAVs replace rudders and propellers. movement is transformed into a fluttering action through
These wings help with propulsion, maneuverability, and various mechanisms. The flapping of wings of the MAV
stability. A transmitter and receiver are installed inside the generates the thrust for the wing. The rotational motion
body and used to control the MAV remotely. from the motor is transferred to a large cylinder of the
appropriate radius. A cuboidal block is connected to the
B. Methodology cylinder, which actuates vertically as the cylinder rotates. A
The current investigation is being carried out using the large rod, which generates the motion for the wing, has a
methods shown in Fig. 3. Both experimental and numerical sideway protrusion connected to the cuboid. The rod's end
research are used in the present methodologies. nearest to the protrusion is connected to the MAV's body
which is the ground. The schematic for the mechanism has
been depicted in Fig. 5.

Fig.5. Autonomous Bio-inspired MAV tandem wings architecture

The bird's tail is constructed as two different flaps,

adjusted as per the changes in altitude, flight direction, and
motion. The motion data of the MAV is obtained from the
Pixhawk controller, which generates pulses to be transferred
to the Servo motor. The servo motor converts the electrical
motion to rotational, which alters the angle of the tail flaps
as per the requirement. The MAV has been constructed with
Fig. 3. Adopted methodology for the current study mechanical and electrical systems and embedded with
autonomous capabilities, as shown in Fig. 6. The image
C. Prototype Fabrication regarding the autonomous test flight of the MAV can be
The experimental setup for the MAV was constructed as seen in Fig. 7.
depicted in the flow chart mentioned in Fig. 4. Various III. AERODYNAMIC ANALYSIS OF FLAPPING-WING
sensors such as receiver, telemetry sensors, GPS, and
compass are mounted on the MAV to sense the data in the A. Force estimation - Results and discussions
MAV's surroundings and maintain autonomy during the An eagle is a unique flier among the birds as it can glide,
flight. The receiver helps overwrite any unwanted motions fly, and take sharp turns during its flight. In the present
observed during the flight. The telemetry sensors help structural analysis study, we try to comprehend the
record the data of the MAV's surroundings. The GPS and structural aspects of the bird's (eagle's) flexible wings,
compass employed in the MAV's structure help determine

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 The meshing of the wing geometry is done in Ansys fluent
2021. For the span-wise analysis, the mesh size considered
is 1mm, and for chordwise study, it is held as 0.5mm. The
front wing is fixed at the root, and a bending force of
0.003N is applied at the tip, as shown in Fig. 8, to achieve
span-wise bending. Similarly, for chordwise bending, the
wing is fixed from root to 1/3rd distance on the leading-edge
side, and a force of 0.005N is applied at mid-span on the
hind (trailing) edge, as shown in Fig. 9. The total
deformation and equivalent stress contours are found as
results from this analysis. For the span-wise bending case,
the maximum deflection occurs at the tip of the wing with a
value of 4.2mm. Though the equivalent stress distribution is
uniform, we can observe the higher stresses at the central
regions with higher chord lengths. The maximum stress is
Fig.6. Autonomous Bio-inspired MAV observed during the analysis is 4.43 MPa. For chordwise
bending cases, the maximum deflection is at the trailing
edge near the point of application of force with a value of
4.9mm. In this case, the stress distribution is about uniform
and is minimal near the tip region.

Fig.7. Autonomous Bio-inspired MAV navigation in free flight condition

which play an essential role in its aerodynamic performance.

The bald eagle has a large wing consisting of a complex
Fig.8. Setup for span-wise bending
pattern of feathers, making it corrugated. This study
neglects the presence of corrugations on the wing of the
bird. Here we took the wing planform of the H.
leucocephalus eagle as a reference for CAD modeling of the
geometry. The wing had varying thickness along the span,
with the thickness being reduced gradually from root to the
tip to achieve span-wise stiffness. The modeled front wing
has an approximate span length of 49mm and an average
chord length of 8 mm. The model has been scaled down to
accommodate the meshing constraints in Ansys Fluent
2021. Using ANSYS Static structural, we performed
structural analysis of the modeled front wing by subjecting
it to span-wise and chordwise bending. After importing the
geometry, we defined a custom material for the wing. The
wing material cannot be isotropic as it does not accurately
map the chordwise stiffness distribution. For this reason, the
wing material is considered an orthotropic material with the Fig.9. Setup for chordwise bending
material properties mentioned in Table II.
The total deformation contour of the wing in the direction of
TABLE II. FRONT WING MATERIAL PROPERTIES the span-wise and chordwise is shown in Fig. 10 - 11. In
S. No Properties free-flight test conditions, preliminary experiments were
1 Component Wing conducted on a bio-inspired MAV. Depending on the
2 Material Orthotropic flapping frequency, amplitude in heave, and pitch modes,
3 Young’s Modulus (GPa) 14 (Spanwise) MAV's maximum velocity varies from 1 to 2.5 m/s. The
0.03 (Chordwise)
MAV's Strouhal number (St) ranges from 0.2 to 0.35. The
14 (Thickness)
4 Poisson’s Ratio 0.3 aerodynamic forces on the flapping wings are measured
5 125.42 using a force transducer (iloadcell, USA). The acquisition
Density (kg/ )
6 Mass (kg)
software is used to analyze the results. At 45% throttle, the

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 Fig. 10: Total deformation due to span-wise bending Fig. 13: Bio-inspired MAV force history at 30% throttle

IV. SUMMARY AND CONCLUSIONS

Bio-inspired drones have various applications in real-
world scenarios. These drones are useful in many
applications, such as defense surveillance. Bio-inspired
drones have the advantage of increased aerodynamic lift and
reduced drag obtained from years of aerial evolution. Bio-
inspired drones benefit from blending into the local
environment without any disturbance to the ecosystem. In
the present study, a bio-inspired MAV has been constructed,
which resembles the motion of a bird. The bio-inspired
MAV involving an obsolete autonomous data acquisition
and processing system has been generated and tested
successfully with various electrical and mechanical systems.
The present study involves the electrical and mechanical
Fig. 11: Total deformation due to chordwise bending systems data, the MAV's design, and fabrication. The
numerical structural study of the wings and thrust force
analysis has been presented in the study. The MAV consists
highest thrust force observed in MAV's test conditions is of a pair of wings that operate symmetrically. These two
1.259 N. as shown in Fig. 12. At 35% throttle, the minimum wings are capable of producing lift and thrust forces. The
thrust force obtained during the test is 0.274 N. Fig. 13 tail controls the direction, ascending and descending of the
shows the force history of a bio-inspired MAV at 30% drone. The MAV and the wing configurations are proven to
throttle. The speed of the MAV increases significantly as be very efficient in producing sufficient lift and thrust forces
the thrust force increases. during the strength analysis and experimental testing,
indicating their capability of flying in real-world situations.
In extension to the present study, the proposed MAV will
further test in zero gravity conditions for space applications.
This will useful to understand the flying capabilities of
MAV in Lunar moon conditions. The experient setup
includes six degree of freedom analysis of a MAV with the
help of six-axis load cell sensor in the different gravity
conditions.
ACKNOWLEDGMENT
This work was supported by DST National Mission
Interdisciplinary Cyber-Physical Systems (NM-
ICPS), Technology Innovation Hub on Autonomous
Navigation and Data Acquisition Systems: TiHAN
Foundations at Indian Institute of Technology (IIT)
Hyderabad.
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