Flying insects are capable of flapping their wings to provide the required power and control forces for flight.A coordinated organizational system including muscles,wings,and control architecture plays a significant r...Flying insects are capable of flapping their wings to provide the required power and control forces for flight.A coordinated organizational system including muscles,wings,and control architecture plays a significant role,which provides the sources of inspiration for designing flapping-wing vehicles.In recent years,due to the development of micro-and meso-scale manufacturing technologies,advances in components technologies have directly led to a progress of smaller Flapping-Wing Nano Air Vehicles(FWNAVs)around gram and sub-gram scales,and these air vehicles have gradually acquired insect-like locomotive strategies and capabilities.This paper will present a selective review of components technologies for ultra-lightweight flapping-wing nano air vehicles under 3 g,which covers the novel propulsion methods such as artificial muscles,flight control mechanisms,and the design paradigms of the insect-inspired wings,with a special focus on the development of the driving technologies based on artificial muscles and the progress of the biomimetic wings.The challenges involved in constructing such small flapping-wing air vehicles and recommendations for several possible future directions in terms of component technology enhancements and overall vehicle performance are also discussed in this paper.This review will provide the essential guidelines and the insights for designing a flapping-wing nano air vehicle with higher performance.展开更多
We propose a control moment generator to control the attitude of an insect-like tailless Flapping-wing Micro Air Vehicle （FW-MAV）, where the flapping wings simultaneously produce the flight force and control moments...We propose a control moment generator to control the attitude of an insect-like tailless Flapping-wing Micro Air Vehicle （FW-MAV）, where the flapping wings simultaneously produce the flight force and control moments. The generator tilts the stroke plane of each wing independently to direct the resultant aerodynamic force in the desired direction to ultimately generate pitch and yaw moments. A roll moment is produced by an additional mechanism that shifts the trailing edge, which changes the wing rotation angles of the two flapping wings and produces an asymmetric thrust. Images of the flapping wings are captured with a high-speed camera and clearly show that the FW-MAV can independently change the stroke planes of its two wings. The measured force and moment data prove that the control moment generator produces reasonable pitch and yaw moments by tilting the stroke plane and realizes a roll moment by shifting the position of the trailing edge at the wing root.展开更多
This paper introduces the Chinese"Dove"——A practical application system of bird-mimetic air vehicles developed for more than a decade by the Institute of Flight Vehicle Innovation of Northwest Polytechnic ...This paper introduces the Chinese"Dove"——A practical application system of bird-mimetic air vehicles developed for more than a decade by the Institute of Flight Vehicle Innovation of Northwest Polytechnic University(NWPU)in China.Firstly,the main components,flight capability and flight verification of the Chinese"Dove"are presented.Then,the methods for the aerodynamic simulation and wind tunnel experiments are put forward.Secondly,the design of high-lift and high-thrust flexible flapping wings,a series of flapping mechanisms,gust-resistance layout and micro flight control/navigation system are presented.Some future studies on the application system of bionic micro air vehicles are given,including observation of natural flight creatures,aerodynamics in flight,mechanical and new material driving systems,structural mechanics,flight mechanics,and the information perception and intelligent decision-making control,which are related to research of flight bioinformatic perception and brain science.Finally,some application examples of complex flapping movements,active/passive deformation of bird wings,new low-energy motion-driven system,bionic intelligent decision-making and control/navigation are discussed.展开更多
To overcome the drawbacks such as large wing deformations,poor performance encountering gusts,limits in taking off and landing,inconvenience of transportation of High-Altitude Long-Endurance(HALE)Unmanned Aerial Vehic...To overcome the drawbacks such as large wing deformations,poor performance encountering gusts,limits in taking off and landing,inconvenience of transportation of High-Altitude Long-Endurance(HALE)Unmanned Aerial Vehicles(UAVs),a new conceptual aircraft called wingtip-docked Multi-Body Aircraft(MBA)has attracted lots of attentions.Aiming to investigate the feasibility of this concept,two UAV models were designed,manufactured and connected by a wingtip-docking mechanism,which only allows the relative roll motion between the two aircraft.The trim solution of the two connected aircraft is firstly obtained by solving the developed nonlinear flight dynamic equations,followed by the stability analysis based on the linearized model.The results show that the connected aircraft is inherently unstable and cannot fly without a reasonable flight control system.A set of Proportional-Integral-Derivative(PID)control laws was then developed and implemented in the two experimental aircraft.The success of the flight tests show that the flight control can effectively eliminate the unstable motion and the wingtip-docked MBA is controllable and feasible。展开更多
[Objectives] To systematically study the main active components of Fufang Changtai(FFCT) in the treatment of colorectal cancer(CRC), and to explore its mechanism of action. [Methods] The main chemical components of FF...[Objectives] To systematically study the main active components of Fufang Changtai(FFCT) in the treatment of colorectal cancer(CRC), and to explore its mechanism of action. [Methods] The main chemical components of FFCT were analyzed by ultra-high performance liquid chromatography with quadrupole time-of-flight mass spectrometry(UPLC-Q-TOF-MS) combined with automatic analysis platform, and the main pharmacodynamic substances of FFCT were studied by network pharmacology method and its mechanism of action was explored. The binding degree between the active components and the core targets were verified by molecular docking technology. [Results] A total of 86 compounds were identified from FFCT, among which 26 compounds were Ginsenoside Rg3, Ginsenoside Rb1, Astragaloside III, etc. The key target pathway enrichment analysis showed that FFCT played its role in the treatment of CRC mainly through the PI3K-Akt signaling pathway and MAPK signaling pathway. [Conclusions] This study comprehensively identified the FFCT components. Supplemented by network pharmacology and molecular docking technology, it is expected to provide a scientific theoretical basis and an important reference for FFCT therapeutic components identification, key target verification and mechanism of action in the treatment of CRC.展开更多
With the development of power-by-wire technology for more electric aircraft,the electromechanical actuator(EMA)has the advantages to replace the conventional hydraulic servo actuator in some aerospace flight controls....With the development of power-by-wire technology for more electric aircraft,the electromechanical actuator(EMA)has the advantages to replace the conventional hydraulic servo actuator in some aerospace flight controls.Conventional hydraulically powered trimmable horizontal stabilizer actuation(THSA)system is nowadays developed to be electrically supplied.Given their safety-criticality,no-back mechanism and redundant load paths are utilized to meet the flight control requirements.However,rare literatures have introduced these functions and addressed the virtual prototyping activities from system-level point of view.This paper proposed such a model of a THSA system with dual electric power sources and fault-tolerant mechanical load paths.The nonlinear effects of components are considered with realism,and system-level simulation test is conducted to support the model-based system engineering(MBSE)approach.The models are developed with a power view instead of a pure signal view.Focusing on the friction effect and compliance effect with backlash or preload,some improved and novel approaches are adopted for these crucial components and validated via experimental results.Meanwhile,the implemented systemlevel model enables injection of crucial faults.Finally,the simulation of the proposed model shows that it is an efficient resource to investigate the actuator’s dynamic performance,to virtually prove that the actuator meets the fail/safe constraint,and to demonstrate the soundness of the fault monitoring functions.展开更多
基金supported by the National Natural Science Foundation of China(Nos.52175277,51905431).
文摘Flying insects are capable of flapping their wings to provide the required power and control forces for flight.A coordinated organizational system including muscles,wings,and control architecture plays a significant role,which provides the sources of inspiration for designing flapping-wing vehicles.In recent years,due to the development of micro-and meso-scale manufacturing technologies,advances in components technologies have directly led to a progress of smaller Flapping-Wing Nano Air Vehicles(FWNAVs)around gram and sub-gram scales,and these air vehicles have gradually acquired insect-like locomotive strategies and capabilities.This paper will present a selective review of components technologies for ultra-lightweight flapping-wing nano air vehicles under 3 g,which covers the novel propulsion methods such as artificial muscles,flight control mechanisms,and the design paradigms of the insect-inspired wings,with a special focus on the development of the driving technologies based on artificial muscles and the progress of the biomimetic wings.The challenges involved in constructing such small flapping-wing air vehicles and recommendations for several possible future directions in terms of component technology enhancements and overall vehicle performance are also discussed in this paper.This review will provide the essential guidelines and the insights for designing a flapping-wing nano air vehicle with higher performance.
文摘We propose a control moment generator to control the attitude of an insect-like tailless Flapping-wing Micro Air Vehicle （FW-MAV）, where the flapping wings simultaneously produce the flight force and control moments. The generator tilts the stroke plane of each wing independently to direct the resultant aerodynamic force in the desired direction to ultimately generate pitch and yaw moments. A roll moment is produced by an additional mechanism that shifts the trailing edge, which changes the wing rotation angles of the two flapping wings and produces an asymmetric thrust. Images of the flapping wings are captured with a high-speed camera and clearly show that the FW-MAV can independently change the stroke planes of its two wings. The measured force and moment data prove that the control moment generator produces reasonable pitch and yaw moments by tilting the stroke plane and realizes a roll moment by shifting the position of the trailing edge at the wing root.
基金supported by the National Key Research and Development Program of China(No.2017YFB1300102)the National Natural Science Foundation of China(No.U1613227)。
文摘This paper introduces the Chinese"Dove"——A practical application system of bird-mimetic air vehicles developed for more than a decade by the Institute of Flight Vehicle Innovation of Northwest Polytechnic University(NWPU)in China.Firstly,the main components,flight capability and flight verification of the Chinese"Dove"are presented.Then,the methods for the aerodynamic simulation and wind tunnel experiments are put forward.Secondly,the design of high-lift and high-thrust flexible flapping wings,a series of flapping mechanisms,gust-resistance layout and micro flight control/navigation system are presented.Some future studies on the application system of bionic micro air vehicles are given,including observation of natural flight creatures,aerodynamics in flight,mechanical and new material driving systems,structural mechanics,flight mechanics,and the information perception and intelligent decision-making control,which are related to research of flight bioinformatic perception and brain science.Finally,some application examples of complex flapping movements,active/passive deformation of bird wings,new low-energy motion-driven system,bionic intelligent decision-making and control/navigation are discussed.
文摘To overcome the drawbacks such as large wing deformations,poor performance encountering gusts,limits in taking off and landing,inconvenience of transportation of High-Altitude Long-Endurance(HALE)Unmanned Aerial Vehicles(UAVs),a new conceptual aircraft called wingtip-docked Multi-Body Aircraft(MBA)has attracted lots of attentions.Aiming to investigate the feasibility of this concept,two UAV models were designed,manufactured and connected by a wingtip-docking mechanism,which only allows the relative roll motion between the two aircraft.The trim solution of the two connected aircraft is firstly obtained by solving the developed nonlinear flight dynamic equations,followed by the stability analysis based on the linearized model.The results show that the connected aircraft is inherently unstable and cannot fly without a reasonable flight control system.A set of Proportional-Integral-Derivative(PID)control laws was then developed and implemented in the two experimental aircraft.The success of the flight tests show that the flight control can effectively eliminate the unstable motion and the wingtip-docked MBA is controllable and feasible。
基金Supported by Key Project of National Clinical Research Base of Traditional Chinese Medicine (JD2022SZXZD01)Open Project of Jiangsu Health Development Research Center (JSHD2021014&JSHD2021040)+1 种基金National Natural Science Foundation of China (81573620)Jiangsu Province Six Talent Summit Innovation Team Funding Project (SWYY-CXTD-004)。
文摘[Objectives] To systematically study the main active components of Fufang Changtai(FFCT) in the treatment of colorectal cancer(CRC), and to explore its mechanism of action. [Methods] The main chemical components of FFCT were analyzed by ultra-high performance liquid chromatography with quadrupole time-of-flight mass spectrometry(UPLC-Q-TOF-MS) combined with automatic analysis platform, and the main pharmacodynamic substances of FFCT were studied by network pharmacology method and its mechanism of action was explored. The binding degree between the active components and the core targets were verified by molecular docking technology. [Results] A total of 86 compounds were identified from FFCT, among which 26 compounds were Ginsenoside Rg3, Ginsenoside Rb1, Astragaloside III, etc. The key target pathway enrichment analysis showed that FFCT played its role in the treatment of CRC mainly through the PI3K-Akt signaling pathway and MAPK signaling pathway. [Conclusions] This study comprehensively identified the FFCT components. Supplemented by network pharmacology and molecular docking technology, it is expected to provide a scientific theoretical basis and an important reference for FFCT therapeutic components identification, key target verification and mechanism of action in the treatment of CRC.
基金supported by the National Natural Science Foundation of China(No.52275062)the Fundamental Research Funds for the Central Universities of Beihang University(YWF-22-L-912).
文摘With the development of power-by-wire technology for more electric aircraft,the electromechanical actuator(EMA)has the advantages to replace the conventional hydraulic servo actuator in some aerospace flight controls.Conventional hydraulically powered trimmable horizontal stabilizer actuation(THSA)system is nowadays developed to be electrically supplied.Given their safety-criticality,no-back mechanism and redundant load paths are utilized to meet the flight control requirements.However,rare literatures have introduced these functions and addressed the virtual prototyping activities from system-level point of view.This paper proposed such a model of a THSA system with dual electric power sources and fault-tolerant mechanical load paths.The nonlinear effects of components are considered with realism,and system-level simulation test is conducted to support the model-based system engineering(MBSE)approach.The models are developed with a power view instead of a pure signal view.Focusing on the friction effect and compliance effect with backlash or preload,some improved and novel approaches are adopted for these crucial components and validated via experimental results.Meanwhile,the implemented systemlevel model enables injection of crucial faults.Finally,the simulation of the proposed model shows that it is an efficient resource to investigate the actuator’s dynamic performance,to virtually prove that the actuator meets the fail/safe constraint,and to demonstrate the soundness of the fault monitoring functions.
