学 术 报 告
报告人：Prof. Dr. Ingo Rechenberg
德国柏林工业大学教授
由昆虫的飞行到微型飞行器的设计
时间：2007年10月17日18点到20点
地点：理科楼A楼504大会议室
报告简介：Ingo Rechenberg 教授，1934 年生。他是 Bionik
( Biology+Technics, 有译为科学进化仿生学） 的创始人，主要从工
程学的角度研究生物进化的结果,目的是从生物进化仿照设计新的技
术 , 例如像蜻蜓大小的飞行器。Rechenberg 教授是一个充满好奇心、
创造力的学者，他曾在撒哈拉沙漠设立了一个研究所，研究一种在沙
子下面生活的 sandfish. 最近两年，Rechenberg 数次访问中国。这
次在本校的报告，Rechenberg 将演示他制造的微型飞行器实物，他
的报告，将给我们带来惊叹和无限的启发！
关于 Bionik 的更多介绍，请参考 http://www.bionik.tu-berlin.de/
欢 迎 广 大 师 生 踊 跃 参 加
Insect flight and Micro Air Vehicles
With Flight Demonstrations
Ingo Rechenberg
Technische Universität Berlin
CAS-MPG Partner Institute for
Computational Biology, Shanghai
The bee and
the Institute MAV
Ernst Jünger
(1805 – 1998)
Reconstruction of Jünger‘s glass bee
At first I was struck by
the large size of these bees…
Novel 1957
Zapparoni, this devil of a fellow, had
again outwitted nature. Probably he
sat comfortably in his armchair and
looked on the screen what the glass
bee would send.
Leading character
…they were considerably larger than a normal
bee or even a hornet. They were about the size
of a walnut still encased in its green shell. The
wings were not movable like the wings of birds
or insects, but were arranged around their
bodies in a rigid band and acted as stabilizing
and supporting surfaces.
To my person
Ingo Rechenberg
Vice World Champion
Winning Team
1954 World championship
for F1A gliders (Denmark)
Mini Air Vehicle
Start to a mission in the dunes
Mini Air Vehicle
Flying straight ahead into the dunes
Mini Air Vehicle
Poking around in the dunes
Indoor MAV of the institute with extreme manoeuverability
Micro Air Vehicle
(MAV)
Nano Air Vehicle
(NAV)
Pico Air Vehicle
(PAV)
The smallest flying insect
(Ptenidium sp.)
Pico Air Vehicles
In the Nevada desert, an
experiment has gone horribly
wrong. A cloud of
nanoparticles - micro-robots has escaped from the
laboratory. This cloud is selfsustaining and selfreproducing. It is intelligent
and learns from experience.
For all practical purposes, it
is alive. It has been
programmed as a predator. It
is evolving swiftly, becoming
more deadly with each
passing hour. Every attempt
to destroy it has failed.
Micro Air Vehicle
(MAV)
Nano Air Vehicle
(NAV)
2.5 cm
2.5 cm
University Berkely
Ronald S. Fearing
The MFI-Project - Micromechanical Flying Insect
Announcement of the
aerospace manufacturer
Lockheed Martin
Defense Advanced Research Projects Agency
Lockheed Martin, has won a $1.7
million contract from US defense
research agency DARPA to
develop a nano air vehicle. The
remote-controlled device will be
"the size and shape of a maple
tree seed" and will be able to
collect military intelligence indoors
and outdoors. The system will
incorporate a one-bladed wing,
chemical rocket, sensor module,
battery and communications,
navigation and imaging kit.
The maple tree seed as a
model for a Nano Air Vehicle
Rotational axis
Rocket drive
Picoflyer of the Norwegian
Nano
Petter Muren
Micro Air Vehicle
(MAV)
12 cm
15 cm
The airfoil has greater path length on the upper surface than on the lower.
The fluid must run faster on the upper surface.
Bernoulli‘s principle: Higher flow velocity produces lower pressure.
Nonsense !
A cambered sail also produces lift, though the path on the upper side is as long
than on the lower side.
The flow particle moves on a curved path.
Observation: The particle does not fly away due to the centrifugal effect.
There must be a lower pressure at the surface to force the particle on its curved path.
Centrifugal effect
Lower pressure
Centripetal force
Why does a cambered sail produces lift ?
US Student‘s MAV
The decisive question
Epson‘s MAV
Flapping movement
or
rotational movement
Rotation cuts the connection
between bearing and shaft
Interrupted
rotation
In Biology
MAV
Dragonfly
Flapping is a substitute of rotation !
Abstracted view of
flapping movement
Hovering
hummingbird
Abstracted view of
flapping movement
Hovering
hummingbird
A hovering fly
Recorded wing trajectory
of a hovering fly
Experiment by Michael Dickinson
Engineering versus Biology
MAV (full charged battery)
Dragonfly (fed on honey)
Flight duration: 4 minutes
Flight duration: 4 houres
Power to weight
Ratio: 0.1 W/g
Energy density:
3.9 Wh/g
26 times more
effective
Flight muscle
Electric motor
Honey droplet
LiPo-accumulator
Power to weight
Ratio: 3 W/g
Energy density:
0.15 Wh/g
30 times more
effective
MAV
manoeuvreability
Swash plate
Low
High
lift
Low
High
lift
lift
Low
High
lift
lift
High
Low
lift
RC receiver: The brain of the MAV
up
anticlockwise clockwise
down
MAV
control in
4 freedoms
foreward
left
right
backward
1m
Proposel for an indoor competition
with Micro Air Vehicles (MAV)
Pylons !
Outdoor Micro Air Vehicle Competition
MAV Event Rules
The objetive is to build and fly the smallest
radio-controlled MAV that can complete
the most laps around a pylon course in a
2-minute time period. There will be two
pylons spaced 12 meters apart. A circular
path (green) flown around the pylons will
result in a 1-point addition to the total
score, while a figure-8 path (blue) flown
around the pylons will result in a 2-point
addition to the total score.
MAV
Competition
Score =
Number of points
Dimension 3
12 meters
pylon
pylon
2 points
1 point
Vision-based control of
autonomously flying micro air vehicles
Optical flow as seen by a dragonfly flying above ground.
Displacement of a pixel
from one frame to the other
Optical flow and
manoeuvre of a dragonfly
Weight 33 g
HeliCommand
Realization of a
vision-based control unit
A future
view
Advertisement of an all-purpose artificial dragonfly
The near future
Personal MAV
The path of the MAV video signal
using UMTS technique
Molecule „fishing net“
!
Single molecule dedection by
the male of the silkworm moth
An autonomous swarm of
artificial dragonflies on an
environmental inspection
Artificial dragonfly with a single molecule sensor
for local pest control (eliminating potato beetles)
Potato field
attract
Artificial dragonflies examine a sewer
Humens hidden under the snow masses
Artificial dragonflies form a smart antenna to detect alavanche victims
3Ch RC Mosquito Mini Helicopter
smallest in the world
The Norwegian Petter Muren
with his Nanoflyer
320 Y
hide
Thank You
www.bionik.tu-berlin.de