Biomorphic flyers have recently been demonstrated that utilize the approach described earlier in "Bio-Inspired Engineering of Exploration Systems" (NPO-21142), NASA Tech Briefs ,Vol.27, No.5 (May 2003), page 54, to distill the principles found in successful, nature-tested mechanisms of flight control. Two types of flyers are being built, corresponding to the imaging and shepherding flyers for a biomorphic mission described earlier in "Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration" (NPO-30286), NASA Tech Briefs, Vol.28, No.5 (May 2004), page 36. The common features of these two types of flyers are that both are delta-wing airplanes incorporating bio-inspired capabilities of control, navigation, and visual search for exploration. The delta-wing design is robust to ~40 G axial load and offers ease of stowing and packaging.
The prototype that we have built recently is shown in the figure. Such levels of miniaturization and autonomous navigation are essential to enable biomorphic microflyers (<1 kg)that can be deployed in large numbers for distributed measurements and exploration of difficult terrain while avoiding hazards. Individual bio-inspired sensors that will be incorporated in a biomorphic flyer have been demonstrated recently. These sensors include a robust, lightweight (~6 g), and low-power (~40 mW) horizon sensor for flight stabilization. It integrates successfully the principles of the dragonfly ocelli. The ocelli are small eyes on the dorsal and forward regions of the heads of many insects. The ocelli are distinct from the compound eyes that are most commonly associated with insect vision. In many insects, the ocelli are little more than single-point detectors of short-wavelength light and behavioral responses to ocelli stimuli are hard to observe. The notable exception is found in dragonflies, where flight control is notably degraded by any interference with the ocellar system. Our team has discovered recently that the ocelli are a dedicated horizon sensor, with substantial optical processing and multiple spectral sensitivity. To our knowledge, this is the world's first demonstrated use of a "biomorphic ocellus" as a flight-stabilization system. The advantage of the ocelli over a similarly sized system of rate gyroscopes is that both attitude control and rate damping can be realized in one device.
A full inertial unit and significant processing would otherwise be required to achieve the same effect.As a prelude to full autonomy, substantial stability augmentation is provided to the pilot at very low cost in terms of space, power, and mass. The sensor is about 40 times lighter than a comparable inertial attitude reference system.Other significant features of the biomorphic flyer shown in the figure include its ability to fly at high angles of attack ~30° and a deep wing chord which allows scaling to small size and low Reynold 's number situations.Furthermore, the placement of the propulsion system near the center of gravity allows continued control authority at low speeds. These attributes make such biomorphic flyers uniquely suited to planetary and terrestrial exploration where small size and autonomous airborne operation are required.
This work was done by Sarita Thakoor of Caltech for NASA's Jet Propulsion Laboratory and by Dean Soccol, G. Stange, Geno Ewyk, Matt Garratt, M. Srinivasan, and Javaan Chahl of Australian National University and Butler Hine and Steven Zornetzer of Ames Research Center for the NASA Intelligent Systems Program.
For further information, access the Technical Support Package (TSP) free on-line at www.techbriefs.com/tsp under the Machinery/Automation category. NPO-30554
This Brief includes a Technical Support Package (TSP).
Development of Biomorphic Flyers
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Overview
The document titled "Development of Biomorphic Flyers" from NASA's Jet Propulsion Laboratory outlines the design and implementation of two distinct types of biomorphic flyers intended for future Mars missions. These innovative aerial vehicles are inspired by biological systems, particularly the flight mechanics of insects, and aim to enhance exploration capabilities on the Martian surface.
Biomorphic Flyer Type 1 is a micro-UAV (unmanned aerial vehicle) weighing less than 1.5 kg, with a range of 5 km, endurance of 10 minutes, and a maximum speed of 80 km/h. It features a delta wing design, chosen for its structural robustness (capable of withstanding approximately 40 G) and ease of stowing. This vehicle is designed to provide a Mars lander with extended perception capabilities, allowing operators on Earth to gather improved scientific data and plan missions more effectively. Its navigation system focuses on maintaining a low altitude to avoid collisions while adhering to a radial ground track, even in the presence of crosswinds.
Biomorphic Flyer Type 2 is a larger UAV, weighing less than 5 kg, with an endurance of up to 40 minutes and a range exceeding 30 km. This vehicle can be either assisted or conventionally launched and is equipped with advanced navigation functions for course control and terrain following. It is intended for long-range exploration of geological features on Mars, such as the Valles Marineris canyon system. Both types of flyers utilize similar underlying technology, including optic flow for terrain following and avoidance, and biomorphic sensors for navigation without traditional systems like GPS or gyroscopes.
The document also details the materials and construction methods used for the flyers, including lightweight Styrofoam reinforced with fiberglass, Kevlar, and carbon fiber, bonded with epoxy resin. The emphasis on lightweight, high-performance sensors is crucial for meeting the size and weight constraints of the missions.
Overall, the development of these biomorphic flyers represents a significant advancement in autonomous aerial exploration technology, with the potential to greatly enhance scientific understanding of Mars and other planetary bodies. The research highlights the integration of bioinspired designs and advanced engineering to create versatile and efficient exploration tools for future missions.
