Optimization of Kinematics for Birds and UAVs Using Evolutionary Algorithms
The aim of this work is to present a multi-objective optimization method to find maximum efficiency kinematics for a flapping wing unmanned aerial vehicle. We restrained our study to rectangular wings with the same profile along the span and to harmonic dihedral motion. It is assumed that the birdlike aerial vehicle (whose span and surface area were fixed respectively to 1m and 0.15m2) is in horizontal mechanically balanced motion at fixed speed. We used two flight physics models to describe the vehicle aerodynamic performances, namely DeLaurier-s model, which has been used in many studies dealing with flapping wings, and the model proposed by Dae-Kwan et al. Then, a constrained multi-objective optimization of the propulsive efficiency is performed using a recent evolutionary multi-objective algorithm called є-MOEA. Firstly, we show that feasible solutions (i.e. solutions that fulfil the imposed constraints) can be obtained using Dae-Kwan et al.-s model. Secondly, we highlight that a single objective optimization approach (weighted sum method for example) can also give optimal solutions as good as the multi-objective one which nevertheless offers the advantage of directly generating the set of the best trade-offs. Finally, we show that the DeLaurier-s model does not yield feasible solutions.
[1] G. Berman and J. Wang, Energy-minimizing kinematics in hovering insect
flight, Journal of fluid mechanics. (2007), vol. 582, pp. 153-168.
[2] Dae-Kwan Kim and Jin-Young Lee and Jun-Seong Lee and Jae-Hung
Han, An aerodynamic model of flapping-wing aircraft using modified
strip theory, Joint Intyernational Symposium, Kitakyushu, Japan,10-
12.10.2007.
[3] E. de Margerie and J.-B. Mouret and J.-A. Meyer, Artificial evolution of
the morphology and kinematics in a flapping-wing mini-UAV, Bioinspiration
and Biomimetics,2 (2007) 65-82.
[4] J. W. Langelaan, Long distance/duration trajectory optimization for small
UAVs, Guidance, Navigation and Control Conference, August 16-19 2007,
South Carolina.
[5] H. Rifa, N. Marchand and G. Poulin, OVMI - Towards a 3D-space
flapping flight parametrization, Int. Conf. on Advances in Vehicle Control
and Safety, Argentina, 2007.
[6] Z. A. Khan and S K Agrawal, Force and moment characterization
of flapping wings for micro air vehicle application, American Control
Conference, June 8-10, 2006, Portland, OR, USA.
[7] S. Doncieux and J.-B. Mouret and A. Angeli and R. Barate and J.-
A. Meyer and E. de Margerie, Building an Artificial Bird: Goals and
Accomplishments of the ROBUR Project, Proceedings of the European
Micro Aerial Vehicles (EMAV 2006) conference.
[8] T. Rakotomamonjy, Analyse et contrle du vol d-un microdone ailes
battantes,PhD Thesis,2005.
[9] K. Deb and M. Mohan and S. Mishra, Towards a quick computation
of well-spred pareto-optimal solutions,Proccedings of the Second Evolutionary
Multi-Criterion Optimization (EMO-03) Conference, 8-11 April,
Faro, Portugal.222-236.
[10] G. Pedro and A. Suleman and N. Djilali, A numerical study of propulsive
efficiency of a flapping hydrofoil, International journal for numerical
methods in fluids, 2003; 42:493-526.
[11] J. Yan and R. J.Wood and S. Avadhanula and M. Sitti and R. S. Fearing,
Towards flapping-wing control for a micromechanical flying insect: design
and experimental results,in International Conference on robotics and
Automation, Seoul.IEEE.
[12] K. Deb, Multi-objectives optimization using evolutionnary algorithms,
Wiley, 2001.
[13] J. D. DeLaurier,A nonlinear aeroelastic model for the study of flapping
wing flight,The American Institute of Aeronautics and Astronautics Inc.,
2001.
[14] N. Pornsin-Siriak and Y. c. Tai and C. m. Ho and M. Keenon, Microbat:
a palm-sized electrically powered ornithopter, in NASA/JPL Workshop
on Biomorphic Robotics, Pasadena, 2001.
[15] J. Anderson, A survey of multiobjective optimization in engineering
design, Reports of the Departement of Mechanical Engineering, LiTHIKP-
R-1097.
[16] J. D. DeLaurier,The developpement and testing of a full-scale piloted
ornithopter,Canadian aeronautics and space journal, Vol.45, n 2, June
1999.
[17] W. Shyy, and M. berg and D. Ljungqvist,Flapping and flexible
wings for biological and micro air vehicles, Progress in aerospace
sciences 35 (1999) 455-505.
[18] J. M. Anderson and K. Streitlien and D. S. Barrett nad M. S. Triantafyllou,
Oscillating foils of high propulsive efficiency, Journal of fluid
mechanics. (1998), vol. 360, pp. 41-72.
[19] R. C. Michelson, Update on flappi,ng wing micro air vehicle research,
in 13th Bristol International RPV Conference,1998.
[20] J. D. DeLaurier, An aerodynamic model for flapping-wing flight,The
aeronautical journal of the royal aeronautical society, April 1993.
[21] C. W. Clenshaw and A. R. Curtis, A method for numerical integration
on an automatic computer, Numerische Mathematik 2, 197-205 (1960).
[22] K. Isoga and Y. Harino, Optimum aeroelastic design of a flapping wing,
Journal of Aircraft,Vol. 44, 2007.
[23] M. Harada, Calculation method for optimal circulation distribution on
a finite span flapping wing , Proceedings of the first technical conference
and wokshop on unmanned aerospace vehicles, 2002.
[24] K. Miettinen, Nonlinear Multiobjective Optimization, Kluwer, Boston,
1999.
[25] S. Landau and S. Doncieux and A. Drogoul and J.-A. Meyer, SFERES:
un framework pour la conception de systmes multi-agents adaptatifs, in
Technique et Science Informatiques, 2002a, 21(4):427-446
[1] G. Berman and J. Wang, Energy-minimizing kinematics in hovering insect
flight, Journal of fluid mechanics. (2007), vol. 582, pp. 153-168.
[2] Dae-Kwan Kim and Jin-Young Lee and Jun-Seong Lee and Jae-Hung
Han, An aerodynamic model of flapping-wing aircraft using modified
strip theory, Joint Intyernational Symposium, Kitakyushu, Japan,10-
12.10.2007.
[3] E. de Margerie and J.-B. Mouret and J.-A. Meyer, Artificial evolution of
the morphology and kinematics in a flapping-wing mini-UAV, Bioinspiration
and Biomimetics,2 (2007) 65-82.
[4] J. W. Langelaan, Long distance/duration trajectory optimization for small
UAVs, Guidance, Navigation and Control Conference, August 16-19 2007,
South Carolina.
[5] H. Rifa, N. Marchand and G. Poulin, OVMI - Towards a 3D-space
flapping flight parametrization, Int. Conf. on Advances in Vehicle Control
and Safety, Argentina, 2007.
[6] Z. A. Khan and S K Agrawal, Force and moment characterization
of flapping wings for micro air vehicle application, American Control
Conference, June 8-10, 2006, Portland, OR, USA.
[7] S. Doncieux and J.-B. Mouret and A. Angeli and R. Barate and J.-
A. Meyer and E. de Margerie, Building an Artificial Bird: Goals and
Accomplishments of the ROBUR Project, Proceedings of the European
Micro Aerial Vehicles (EMAV 2006) conference.
[8] T. Rakotomamonjy, Analyse et contrle du vol d-un microdone ailes
battantes,PhD Thesis,2005.
[9] K. Deb and M. Mohan and S. Mishra, Towards a quick computation
of well-spred pareto-optimal solutions,Proccedings of the Second Evolutionary
Multi-Criterion Optimization (EMO-03) Conference, 8-11 April,
Faro, Portugal.222-236.
[10] G. Pedro and A. Suleman and N. Djilali, A numerical study of propulsive
efficiency of a flapping hydrofoil, International journal for numerical
methods in fluids, 2003; 42:493-526.
[11] J. Yan and R. J.Wood and S. Avadhanula and M. Sitti and R. S. Fearing,
Towards flapping-wing control for a micromechanical flying insect: design
and experimental results,in International Conference on robotics and
Automation, Seoul.IEEE.
[12] K. Deb, Multi-objectives optimization using evolutionnary algorithms,
Wiley, 2001.
[13] J. D. DeLaurier,A nonlinear aeroelastic model for the study of flapping
wing flight,The American Institute of Aeronautics and Astronautics Inc.,
2001.
[14] N. Pornsin-Siriak and Y. c. Tai and C. m. Ho and M. Keenon, Microbat:
a palm-sized electrically powered ornithopter, in NASA/JPL Workshop
on Biomorphic Robotics, Pasadena, 2001.
[15] J. Anderson, A survey of multiobjective optimization in engineering
design, Reports of the Departement of Mechanical Engineering, LiTHIKP-
R-1097.
[16] J. D. DeLaurier,The developpement and testing of a full-scale piloted
ornithopter,Canadian aeronautics and space journal, Vol.45, n 2, June
1999.
[17] W. Shyy, and M. berg and D. Ljungqvist,Flapping and flexible
wings for biological and micro air vehicles, Progress in aerospace
sciences 35 (1999) 455-505.
[18] J. M. Anderson and K. Streitlien and D. S. Barrett nad M. S. Triantafyllou,
Oscillating foils of high propulsive efficiency, Journal of fluid
mechanics. (1998), vol. 360, pp. 41-72.
[19] R. C. Michelson, Update on flappi,ng wing micro air vehicle research,
in 13th Bristol International RPV Conference,1998.
[20] J. D. DeLaurier, An aerodynamic model for flapping-wing flight,The
aeronautical journal of the royal aeronautical society, April 1993.
[21] C. W. Clenshaw and A. R. Curtis, A method for numerical integration
on an automatic computer, Numerische Mathematik 2, 197-205 (1960).
[22] K. Isoga and Y. Harino, Optimum aeroelastic design of a flapping wing,
Journal of Aircraft,Vol. 44, 2007.
[23] M. Harada, Calculation method for optimal circulation distribution on
a finite span flapping wing , Proceedings of the first technical conference
and wokshop on unmanned aerospace vehicles, 2002.
[24] K. Miettinen, Nonlinear Multiobjective Optimization, Kluwer, Boston,
1999.
[25] S. Landau and S. Doncieux and A. Drogoul and J.-A. Meyer, SFERES:
un framework pour la conception de systmes multi-agents adaptatifs, in
Technique et Science Informatiques, 2002a, 21(4):427-446
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:64586", author = "Mohamed Hamdaoui and Jean-Baptiste Mouret and Stephane Doncieux and Pierre Sagaut", title = "Optimization of Kinematics for Birds and UAVs Using Evolutionary Algorithms", abstract = "The aim of this work is to present a multi-objective optimization method to find maximum efficiency kinematics for a flapping wing unmanned aerial vehicle. We restrained our study to rectangular wings with the same profile along the span and to harmonic dihedral motion. It is assumed that the birdlike aerial vehicle (whose span and surface area were fixed respectively to 1m and 0.15m2) is in horizontal mechanically balanced motion at fixed speed. We used two flight physics models to describe the vehicle aerodynamic performances, namely DeLaurier-s model, which has been used in many studies dealing with flapping wings, and the model proposed by Dae-Kwan et al. Then, a constrained multi-objective optimization of the propulsive efficiency is performed using a recent evolutionary multi-objective algorithm called є-MOEA. Firstly, we show that feasible solutions (i.e. solutions that fulfil the imposed constraints) can be obtained using Dae-Kwan et al.-s model. Secondly, we highlight that a single objective optimization approach (weighted sum method for example) can also give optimal solutions as good as the multi-objective one which nevertheless offers the advantage of directly generating the set of the best trade-offs. Finally, we show that the DeLaurier-s model does not yield feasible solutions.
", keywords = "Flight physics, evolutionary algorithm, optimization,
Pareto surface.", volume = "2", number = "11", pages = "1279-12", }
