Abstract: A fluid-structure interactive analysis is performed while n types of wing structure models are caused to flap in accordance with a prescribed model of flapping manner. Based on an analysis, data 1, data 2, . . . data n of physical values related to fluid behavior and physical values related to structural behavior are calculated. Among data 1, data 2, . . . data n, a data having a prescribed parameter such as the lift force optimized is extracted. A prototype of a wing portion is formed, which has such a structure that is specified by various parameter values of the numerical model of wing structure corresponding to the extracted data. A driving unit 905 drives the prototype of the wing portion in a manner of flapping that is represented by the flapping motion model equivalent to the manner of flapping of an insect. At this time, the wing has a stiffness that is suitable for flapping flight so that prescribed parameters come to have optimal values.

Abstract: A wing-drive mechanism is described that permits, with proper control, movement of a wing about multiple wing trajectories. The wing-drive is capable of independent movement about three rotational degrees of movement; movement about a flap axis is independent of movement about a yaw axis, and both are independent of changes in the pitch of the wing. Methods of controlling the wing-drive mechanism to affect a desired wing trajectory include the use of a non-linear automated controller that generates input signals to the wing-drive mechanism by comparing actual and desired wing trajectories in real time. Specification of wing trajectories is preferably also accomplished in real time using an automated trajectory specification system, which can include a fuzzy logic processor or a neural network.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: An ornithopter with an airframe structure that is lightweight, simple and stable and can generate sufficient lift and thrust. The ornithopter comprises a body, a main wing attached to an upper portion of a front section of the body, and a tail wing attached to a rear section of the body. The ornithopter further comprises a power source and a power transmission mechanism installed within a housing of the body. The main wing includes a wing frame composed of a plurality of frame rods and a skin attached to the wing frame for forming an outline of the main wing. The wing frame of the main wing is supported by a support means exposed to the outside at the upper portion of the front section of the body. The power transmission mechanism includes a gear train for adjusting the rotational motion of the power source at a proper speed and transferring it to the main wing, and connecting rods for converting the rotational motion into a swing motion of the main wing.

Abstract: A reconnaissance system and method utilizes an unmanned surface vehicle (USV) and at least one micro-aerial vehicle (MAV). The MAV, equipped for unmanned flight after a launch thereof, is mounted on the USV. Each MAV has onboard wireless communications coupled to an onboard video surveillance system. Each MAV launched into the air collects video data using its video surveillance and transmits the video data using its wireless communications.

Abstract: External state detection device detects an environmental state indicating whether there is an obstacle, external light, or a pheromone signal. On the basis of the detection result, sensor identification unit determining device determines an identifying unit that matches the environmental state. In response to determination of the sensor identifying unit, action units defining actions such as “move forward” or “move backward” related to the sensor identifying unit in an instruction unit are sequentially selected. Action unit execution device executes the action defined by the selected action unit for a preassigned execution time by rotating left and right leg driving wheels in a driving mode including a combination of “forward rotation”, reverse rotation”, and “stop”. Thus, there is provided an insect robot for simulating behavior in a vivid and realistic manner.

Abstract: An ornithopter has the capability of slow speed flight as a result of vertical movement of its wings. Two sets of wings are provided with vertical movement of each set of wings 180 degrees out of phase for counterbalancing vertical forces on the fuselage. The direction of the flight path is changed by deflecting the fuselage.

Abstract: An ornithopter with two set of opposed wings maintains powered flight by flapping each set of wings. To dampen vibration, each set of wings move 180 degrees out of phase. To further dampen vibration, the empennage and cockpit are articulated to move vertically in response to the movement of the wings. Changes of flight direction result from wing warping and changing the center of gravity of the ornithopter.

Abstract: A compressed air engine and a flying object using the engine are disclosed. The flying object includes the following elements. That is, the compressed air engine includes: a top member 11 provided with an air inlet 16; an upper cylinder 12; a lower cylinder 13; a bottom member 14; an air pipe, for passing of a compressed air; a shuttle 20 for performing up/down movements within a cylinder formed by the upper and lower cylinders; and a pair of pistons 21a and 21b over and under the shuttle respectively. The pair of the wings are symmetrically and pivotally assembled to the shuttle and the lower cylinder through securing shafts so as to perform up/down movements in accordance with the up/down movements of the shuttle. A compressed air container 2 is assembled to the bottom of the bottom member, for storing the compressed air.

Abstract: The present invention relates to a winding device and a flying toy ornithopter device which employs the winding device. The flying toy ornithopter comprises a hollow body which simulates the appearance of a bird, insect or flying machine. A pair of wings are provided which oscillate, the wings are powered by the stored energy of a wound rubber band. One end of the rubber band is connected to a hook mounted in the tail of the hollow body, the other end of the rubber band is mounted to a winding device mounted near the head of the hollow body. The winding device comprises a frame which has a generally oval shape and conforms to the cross-sectional of the hollow body to mount therein, a central annular bore and a pair of lugs located at the periphery of the frame to which the wings are attached; a pin projects from the frame toward the front of the hollow body for the attachment of a locking lever.

Abstract: A wing-drive mechanism is described that permits, with proper control, movement of a wing about multiple wing trajectories. The wing-drive is capable of independent movement about three rotational degrees of movement; movement about a flap axis is independent of movement about a yaw axis, and both are independent of changes in the pitch of the wing. Methods of controlling the wing-drive mechanism to affect a desired wing trajectory include the use of a non-linear automated controller that generates input signals to the wing-drive mechanism by comparing actual and desired wing trajectories in real time. Specification of wing trajectories is preferably also accomplished in real time using an automated trajectory specification system, which can include a fuzzy logic processor or a neural network. A vehicle that derives controlled motion as a whole from the wing-drive mechanism is also disclosed.

Abstract: A wing-drive mechanism is described that permits, with proper control, movement of a wing about multiple wing trajectories. The wing-drive is capable of independent movement about three rotational degrees of movement; movement about a flap axis is independent of movement about a yaw axis, and both are independent of changes in the pitch of the wing. Methods of controlling the wing-drive mechanism to affect a desired wing trajectory include the use of a non-linear automated controller that generates input signals to the wing-drive mechanism by comparing actual and desired wing trajectories in real time. Specification of wing trajectories is preferably also accomplished in real time using an automated trajectory specification system, which can include a fuzzy logic processor or a neural network.

Abstract: A power-driven ornithopter piloted by a remote controller wherein a takeoff and landing motion, a climbing and descending motion, and a turning motion of the ornithopter can be controlled using the remote controller. The ornithopter comprises a body, a main wing attached to an upper portion of a front section of the body, and tail wings attached to a rear section of the body. An electric motor, a power transmission mechanism, a battery, first and second servo motors and a controller are installed within a housing of the body. A crank arm is connected to a rotating shaft of the first servo motor and a connecting rod attached to a free end of the crank arm is then pivotally connected to a lower edge of the horizontal tail support. The second servo motor is mounted into a recess formed at an upper side of a rectangular parallelepiped of the horizontal tail support and a rotating shaft of the second servo motor is disposed on a central axis of the horizontal tail.

Abstract: The present invention to a flying object by flapping motion of two pair of wings, which comprises a compressed air engine, a flying body (or compressed air container) assembled with the compressed air engine and in which compressed air is contained, two pair of wings symmetrically assembled with the compressed air engine and functioning flapping motion up and dawn in the range of 70° while the individual wing being able to get twisted in the range of 15°, a head cover for covering the front and upper part of the compressed air engine, and a tail wing with a horizontal wing and a vertical wing.

Abstract: A flapping wing flying device comprises wings that pivot about a pivot axis extending generally perpendicularly to an elongate body of the flying device, and wings that move relative to said elongate body of the flying device, so that the entire leading edge of each of the wings is moved away from and toward to the body of the flying device during flight.

Abstract: A compressed air engine and a flying object using the engine are disclosed. The flying object includes the following elements. That is, the compressed air engine includes: a top member 11 provided with an air inlet 16; an upper cylinder 12; a lower cylinder 13; a bottom member 14; an air pipe, for passing of a compressed air; a shuttle 20 for performing up/down movements within a cylinder formed by the upper and lower cylinders; and a pair of pistons 21a and 21b over and under the shuttle respectively. The pair of the wings are symmetrically and pivotally assembled to the shuttle and the lower cylinder through securing shafts so as to perform up/down movements in accordance with the up/down movements of the shuttle. A compressed air container 2 is assembled to the bottom of the bottom member, for storing the compressed air.

Abstract: A wing-drive mechanism is described that permits, with proper control, movement of a wing about multiple wing trajectories. The wing-drive is capable of independent movement about three rotational degrees of movement; movement about a flap axis is independent of movement about a yaw axis, and both are independent of changes in the pitch of the wing. Methods of controlling the wing-drive mechanism to affect a desired wing trajectory include the use of a non-linear automated controller that generates input signals to the wing-drive mechanism by comparing actual and desired wing trajectories in real time. Specification of wing trajectories is preferably also accomplished in real time using an automated trajectory specification system, which can include a fuzzy logic processor or a neural network.

Abstract: A preferred apparatus for generating power from a non-combustive chemical reaction with the power being sufficient to enable motion of the apparatus includes a reaction chamber containing a catalyst that is configured to receive monopropellant fuel. The catalyst is chemically reactive with the monopropellant fuel so that, in response to a fuel metering device providing the fuel to the reaction chamber, a chemical reaction occurs which produces heat and gas. Additionally, a reciprocating motion-producing mechanism is provided that is configured to generate reciprocating motion from the heat and gas so as to enable motion of the apparatus. Thereafter, at least a portion of the remaining heat and gas may be utilized to influence a motion characteristic of the apparatus, such as during flight. Methods also are provided.

Abstract: On a main body portion of a fluttering apparatus, a wing (left wing) is formed which has a front wing shaft, a rear wing shaft and a wing film provided spreading over the front and rear wing shafts. Further, on the main body portion, a rotary actuator for driving the front wing shaft and a rotary actuator for driving the rear wing shaft are mounted. The front (rear) wing shafts reciprocate in a plane orthogonally crossing an axis of rotation with the actuator serving as the fulcrum. Thus, a moving apparatus is obtained which has superior maneuverability and can move not hindered by any obstacle or geometry both indoors and outdoors.

Abstract: A vehicle with improved maneuverability includes: a vehicle body; a first bladelike element; a first tuned compliant transmission shaft attached to the bladelike element; and a reciprocating unit for reciprocally driving the bladelike element within a fluid medium in a first travel path such that interaction between the bladelike element and a fluid medium produces propulsive forces that propel the vehicle body in a desired direction. Preferably, the pitch and heave natural frequencies of the natural transmission shaft are approximately equal to each other and to the natural bending frequency and torsional frequency of the bladelike element, and the natural thrust frequency of the transmission shaft is often approximately twice that of the pitch frequency. In this configuration, the vehicle can be directed in virtually any direction, the directing force is be generated far more quickly than is the case for prior art vehicles, and energy typically lost as shaking or vibration instead provides thrust.

Abstract: The wing movement has a gearbox, a reference gear extending through the gearbox and being movably mounted to the gearbox, an input shaft extending through the reference gear and into the gearbox and first and second output shafts movably extending from the gearbox at right angles with the input shaft. There is also provided a motor having a drive shaft connected to the input shaft of the gearbox for rotation of the input shaft. A bracket is connected to the motor base and to the reference gear for retaining the reference gear to the motor base, with an axis of the reference gear in alignment with the drive shaft of the motor. A gearing system is mounted inside the gearbox for rotating the first and second output shafts one full turn in opposite directions relative to each other, upon a rotation of the input shaft one full turn, and for rotating the gearbox one full turn about the reference gear upon a rotation of the first and second output shafts one full turn.

Abstract: A wing-drive mechanism is described that permits, with proper control, movement of a wing about multiple wing trajectories. The wing-drive is capable of independent movement about three rotational degrees of movement; movement about a flap axis is independent of movement about a yaw axis, and both are independent of changes in the pitch of the wing. Methods of controlling the wing-drive mechanism to affect a desired wing trajectory include the use of a non-linear automated controller that generates input signals to the wing-drive mechanism by comparing actual and desired wing trajectories in real time. Specification of wing trajectories is preferably also accomplished in real time using an automated trajectory specification system, which can include a fuzzy logic processor or a neural network. A vehicle that derives controlled motion as a whole from the wing-drive mechanism is also disclosed.

Abstract: The present invention is an apparatus and method for a multimodal electromechanical insect known as an entomopter. The entomopter is a species of micro air vehicle (MAV), which is defined as a flying vehicle having no dimension greater than 15 cm. The entomopter mimics the flight characteristics of an insect by flapping wings to generate lift. The entomopter's wings are powered by a reciprocating power source. The same power source may be used to power legs to enable the entomopter to crawl along the ground. In a preferred embodiment, the power source is a compact noncombustive engine known as a reciprocating chemical muscle (RCM).

Abstract: An aircraft having a reduced-load wing structure is provided with a controllable canard stabilizer (5G, 5D) at the front end of the aircraft and a controller that controls the canard stabilizer. The controller generates a turn command corresponding to an increase in the lift of the canard stabilizer when, simultaneously, the turn command applied by the pilot to the elevational control surfaces (6G, 6D) exceeds a threshold and the measurement of the vertical acceleration of the aircraft exceeds a threshold.

Abstract: A new method for boundary layer energization and boundary layer propulsion or use on vehicles moving through fluids, which comprises mounting small airfoils parallel or perpendicular to the vehicle's surface, said airfoils being embedded within the said vehicle's boundary layer and juxtaposed the surface of said vehicle, said airfoils being approximately the height of the boundary layer thickness and exciting said airfoils into flapping oscillation parallel to the chord plane of said airfoils, said oscillation at a frequency up to 100 cycles per second at an amplitude up to 20 percent of the chord length of said airfoil, whereby flow separation is delayed or suppressed which enables the redesign of said vehicle.

Abstract: An ornithopter aircraft which flys by flapping a wing. The wing is flapped by a constructively sympathetically forced dampened harmonic oscillation induced in a leading edge strut which preferable is a single flexible steel rod extending the length of the wing. The wing releases the air on its upward recovery stroke by means of flexible flaps which uncover holes in a structural flexible web forming the wing. On the downward power stroke of the wing, the flaps sealingly abut and occlude the holes of the web, forming a wing surface relatively impermeable to the passage of air. An inner section of the wing, on both sides of the aircraft, where relatively little flapping motion displacement occurs, has a flexible layer which permanently covers and seals the holes of the web. This area of the wing generates lift during both upward and downward motion of the wing, due to the forward motion of the ornithopter and due to the capture of pressurized air from the downstroke of the wing.

Abstract: A lift enhancing device for a solid wing is disclosed wherein a where a mr driven, flap dynamically oscillating flap mechanism produces an increase in the lifting capabilities of the wing.

Abstract: The present invention pertains to an aircraft that is capable of converting between vertical flight or helicopter mode flight, and horizontal flight or airplane mode flight where a two-bladed rotor is employed as both helicopter rotor blades in vertical flight and as a fixed wing in horizontal flight. In vertical flight, a bearing connection between two fuselage sections enables a forward section supporting the rotor blades to rotate relative to an aft section of the aircraft fuselage about the longitudinal axis of the aircraft. The exhaust or thrust force created by the mode of power (either a propeller engine or a turbine jet engine) is partially routed over the exterior of the aircraft to provide both vertical and horizontal thrust force, and in one embodiment a portion of the exhaust is routed through the interiors of the rotor blades and out exhaust ports at the blades' distal ends to rotate the blades in vertical flight and to provide a thrust force for the blades in horizontal flight.

Abstract: A propulsion device for a floating structure, especially a watercraft, includes an essentially horizontally disposed wing which is rotatably connected to the craft and is arranged to carry out a tilting movement and provide for propulsion of the craft by relative vertical movement between the wing and the surrounding water. The wing is mounted in such a manner as to be capable of turning 360.degree. about its tilting axis, the tilting axis being located at or somewhat ahead of the balance point for lift of the wing, as viewed in the horizontal direction in which the craft is moving. A system for returning the wing towards a neutral horizontal position after the wing has angularly deviated therefrom includes a control system which, based upon a signal received from a position detector, controls a motor that exerts torque on the wing in the direction towards the neutral position.

Abstract: A human powered hang glider has a right main wing and a left main wing, both of which are swingably attached to a post by a universal joint. A rope is stretched in a loop shape between a pedal provided at a lower part of the post and the main wing, and is fixed to the pedal and the main wing. By operation of the pedals, the main wings are flapped like a bird flaps its wing. By this flapping action of the main wings, the hand glider can take wing, whether or not an upcurrent is present.

Abstract: A machine designed to move a pair of light weight graphite fiber composite covered wings in such a way that their tips will describe a horizontal figure eight through the air. Thereby sustaining an attack angle and creating lift throughout as much as 80% of their travel path. The mechanism retains 100% control over the wing movement and with a locking device in place the preferred embodiment should be capable of a good glide ratio.

Abstract: An ornithopter which is propelled upwardly and forwardly by means of flapping wings, similar to the flight of a bird or bat. The power is supplied by a small engine that is mechanically-connected to a hydraulic pump which drives a single hydraulic cylinder and utilizes only the retraction stroke to power both wings simultaneously downwardly. The wings are brought back to the normal position by an elastic device, which in addition will not permit the wings to go beyond optimum positions. A double-acting hydralic cylinder is also provided to move the horizontal tail in an up and down motion. The operation of the wings can be automatic or manually-operated by the pilot. The rear legs and front support are constructed in such a manner that allows the ornithopter to rise and land vertically which permits takeoff and landing from most any type of terrain. The ornithopter can be assembled and disassembled quickly.

Abstract: An ornithopter aircraft has at least a fuselage and four rigid wings which are tandem mounted, in pairs, on opposite sides of the fuselage, in what might be called a "dragonfly configuration". The forward wing in a first of the tandem pairs on one side of the fuselage beats upwardly simultaneously with the diagonally opposed rear wing in the tandem pair on the opposite side of the fuselage, while the remaining two wings are beating downwardly. Then, the wings reverse their direction of travel. The previously upwardly moving wings beat downwardly while the previously downwardly moving wings beat upwardly. The pitch of the wings are varied throughout the beat to produce lift on the downstroke and minimum air resistance on the upstroke, considering the forward speed of the aircraft or the lack thereof. The pitch of the wings are set at the sink angle of a glider wing flying at the same speed.

Abstract: Disclosed is a single control thruster having the expanded capability of operating at various thrust levels and more than one propellant fluid so that the number of control thrusters for a maneuvering vehicle can be reduced to one third from that now required for appropriate maneuverability in space, resulting in large cost savings and improved reliability. Also disclosed is a "plug in" package with control thruster which can be removed from the vehicle and replaced to make the vehicle easily maintainable.

Abstract: A human powered hang glider (10) has a fixed wing portion (12) and a pair of movable wing portions (14, 16). Flexible sheet material (26, 28) is connected to trailing edges (30, 32) of the movable wing portions (14, 16). A support structure (34, 36) for the flexible sheet material (26, 28) overlies each flexible sheet material (26, 28). Elastic bands (52) and wires (74, 76) are connected in opposing relationship to the movable wing portions (14, 16) to allow reciprocation of the movable wing portions (14, 16). When the flexible bands (52) cause upward movement of the movable wing portions (14, 16) the flexible sheet members (26, 28) move away from their associated support structures (34, 36), allowing air to pass through the support structures (34, 36). When pilot (70 pulls on wires (74, 76) to move the movable wing portions (14, 16) downward, the flexible sheet portions (26, 28) move against their associated support structures (34, 36) to provide increased lift from the movable wing portions (14, 16).

Abstract: A heavier-than-air structure has a delta-shaped wing and a plurality of rearwardly-directed flat fans mounted upon the rear thereof. The fans are driven in up and down arcuate oscillations by a rotating shaft carrying flap board assemblies, one board for each fan. The shaft is rotated by a bicycle-type pedal crank driven by the operator of the machine and connected to rotate the shaft by a chain and sprocket. Each flap board engages its corresponding fan forwardly of a pivot axis of the fan, driving the fan downwardly against an opposing force of an elastic band affixed to the fan aft of its pivot point. When the fan is released by continued rotation of the shaft and flap board the fan is returned upwardly by the elastic band. Fanning of ambient air at a rate of two oscillations per second gives sufficient propulsive thrust to drive the machine forwardly.