Experimental Validation and Evaluation of a Coupled Twist-Camber Morphing Wing Concept

A morphing wing concept allowing for coupled twist-camber shape adaptation is proposed. The design is based on an optimized thickness distribution both spanwise and chordwise to be able to morph the wing sections into targeted airfoil shapes. Simultaneously, the spanwise twist is affected by the actuation. The concept provides a higher degree of control on the lift distribution which can be used for roll control, drag minimization, and active load alleviation. Static deformation and flight tests have been performed to evaluate and quantify the performance of the proposed mechanism. The ground tests include mapped actuated wing shapes, and wing mass and actuation power requirements. Roll authority, load alleviation, and aerodynamic efficiency estimates for different configurations were calculated using a lifting line theory coupled with viscous 2D airfoil data. Roll authority was estimated to be low when compared to a general aviation aircraft while the load alleviation capability was found to be high. Differences between the lift to drag ratio between the reference and morphing wing configurations are considerable. Mass and actuation energy present challenges that can be mitigated. The flight tests were used to qualitatively assess the roll control capability of the prototype, which was found to be adequate.

Three ways social identity shapes climate change adaptation

Adaptation to climate change is inescapably influenced by processes of social identity – how people perceive themselves, others, and their place in the world around them. Yet there is sparse evidence into the specific ways in which identity processes shape adaptation planning and responses. This paper proposes three key ways to understand the relationship between identity formation and adaptation processes: 1) how social identities change in response to perceived climate change risks and threats; 2) how identity change may be an objective of adaptation; and 3) how identity issues can constrain or enable adaptive action. It examines these three areas of focus through a synthesis of evidence on community responses to flooding and subsequent policy responses in Somerset county, UK and the Gippsland East region in Australia, based on indepth longitudinal data collected among those experiencing and enacting adaptation. The results show that adaptation policies are more likely to be effective when they give individuals confidence in the continuity of their in-groups, enhance the self-esteem of these groups, and develop their sense of self-efficacy. These processes of identity formation and evolution are therefore central to individual and collective responses to climate risks.

Image Denoising Using Nonlocal Means with Shape-Adaptive Patches and New Weights

Digital images captured from CMOS/CCD image sensors are prone to noise due to inherent electronic fluctuations and low photon count. To efficiently reduce the noise in the image, a novel image denoising strategy is proposed, which exploits both nonlocal self-similarity and local shape adaptation. With wavelet thresholding, the residual image in method noise, derived from the initial estimate using nonlocal means (NLM), is exploited further. By incorporating the role of both the initial estimate and the residual image, spatially adaptive patch shapes are defined, and new weights are calculated, which thus results in better denoising performance for NLM. Experimental results demonstrate that our proposed method significantly outperforms original NLM and achieves competitive denoising performance compared with state-of-the-art denoising methods.

Power-efficient adaptive behavior through a shape-changing elastic robot

The adaptive morphology of a robot, such as shape adaptation, plays a significant role in adapting its behaviors. Shape adaptation should ideally be achieved without considerable cost, like the power required to deform the robot’s body, and therefore, it is reasonably considered as the last resort in classical rigid robots. However, the last decade has seen an increasing interest in soft robots: robots that can achieve deformability through their inherent material properties or structural compliance. Nevertheless, the dynamics of these types of robots is often complex and therefore it is difficult to substantiate whether the cost like the required power for changing its shape will be worthwhile to achieve the desired behavior. This article presents an approach in the development and analysis of a shape-changing locomoting robot, which relies on the ability of elastic beams to deform and vibrate. Through a proper use of elastic materials and the robot’s vibration-based dynamics, it will be shown both analytically and experimentally how shape adaptation can be designed such that it leads to desirable behaviors, with better power efficiency compared to when the robot solely relies on changing its control input. The results encourage emerging direction in robotics that investigates approaches to change robots’ behaviors through their adaptive morphology.

Actuators based on a controlled particle-matrix interaction in magnetic hybrid materials for applications in locomotion and manipulation systems

The paper deals with the investigation of magneto-sensitive elastomers (MSE) and their application in technical actuator systems. MSE consist of an elastic matrix containing suspended magnetically soft and/or hard particles. Additionally, they can also contain silicone oil, graphite particles, thermoplastic components, etc., in various concentrations in order to tune specific properties such as viscosity, conductivity and thermoelasticity, respectively. The focuses of investigations are the beneficial properties of MSE in prototypes for locomotion and manipulation purposes that possess an integrated sensor function. The research follows the principle of a model-based design, i.e. the working steps are ideation, mathematical modelling, material characterization as well as building first functional models (prototypes). The developed apedal (without legs) and non-wheeled locomotion systems use the interplay between material deformations and the mechanical motion in connection with the issues of control and stability. Non-linear friction phenomena lead to a monotonous forward motion of the systems. The aim of this study is the design of such mechanical structures, which reduce the control costs. The investigations deal with the movement and control of ‘intelligent’ mechanisms, for which the magnetically field-controlled particle-matrix interactions provide an appropriate approach. The presented grippers enclose partially gripped objects, which is an advantage for handling sensitive objects. Form-fit grippers with adaptable contour at the contact area enable a uniform pressure distribution on the surface of gripped objects. Furthermore, with the possibility of active shape adaptation, objects with significantly differing geometries can be gripped. To realise the desired active shape adaptation, the effect of field-induced plasticity of MSE is used. The first developed prototypes mainly confirm the functional principles as such without direct application. For this, besides the ability of locomotion and manipulation itself, further technological possibilities have to be added to the systems. The first steps are therefore being taken towards integrated MSE based adaptive sensor systems.